CN111175742B - Pendulum type ground penetrating radar data acquisition device - Google Patents
Pendulum type ground penetrating radar data acquisition device Download PDFInfo
- Publication number
- CN111175742B CN111175742B CN202010051983.7A CN202010051983A CN111175742B CN 111175742 B CN111175742 B CN 111175742B CN 202010051983 A CN202010051983 A CN 202010051983A CN 111175742 B CN111175742 B CN 111175742B
- Authority
- CN
- China
- Prior art keywords
- ground penetrating
- penetrating radar
- pendulum
- loading platform
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000000149 penetrating effect Effects 0.000 title claims abstract description 47
- 238000001514 detection method Methods 0.000 claims abstract description 13
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 18
- 230000008878 coupling Effects 0.000 claims description 14
- 238000010168 coupling process Methods 0.000 claims description 14
- 238000005859 coupling reaction Methods 0.000 claims description 14
- 238000003466 welding Methods 0.000 claims description 10
- 229910052742 iron Inorganic materials 0.000 claims description 9
- 238000013480 data collection Methods 0.000 claims description 7
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 4
- 239000002023 wood Substances 0.000 claims description 2
- 230000010355 oscillation Effects 0.000 claims 2
- 239000000725 suspension Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
- G01S7/022—Road traffic radar detectors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/15—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat
- G01V3/17—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat operating with electromagnetic waves
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention relates to a 'pendulum type' ground penetrating radar data acquisition device, which comprises a system moving platform vehicle, a ground penetrating radar host, a ground penetrating radar antenna and a pendulum control system. During on-site detection operation, the ground penetrating radar antenna performs pendulum type motion under the control of the pendulum control system, and the ground penetrating radar host machine performs three-dimensional radar data acquisition and antenna position information acquisition.
Description
Technical Field
The invention relates to the technical field of ground penetrating radar data acquisition, in particular to a pendulum type ground penetrating radar data acquisition device.
Background
With the continuous development of social economy, the automobile sales volume is rapidly increased, the pressure born by various roads is also rapidly increased, the number of corresponding various road diseases is also greatly increased, and a Ground Penetrating Radar (GPR) is widely applied to road detection as a rapid, nondestructive and convenient geophysical detection method.
The existing three-dimensional data acquisition mode of the ground penetrating radar is that a plurality of measuring lines are arranged in a detection area, but the data volume needing to be processed and explained in the later period is overlarge, the indoor workload is greatly increased, the period of the whole work is prolonged on the contrary, and the efficiency is reduced. Therefore, how to further improve the work efficiency of the ground penetrating radar and shorten the detection period is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide a pendulum type ground penetrating radar data acquisition device to solve the problems of overlarge data processing and interpretation amount in a ground penetrating radar detection chamber, long detection working period and low efficiency of the ground penetrating radar.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a 'pendulum type' ground penetrating radar data acquisition device, which comprises a system moving platform vehicle, a ground penetrating radar host, a ground penetrating radar antenna and a pendulum control system, wherein the system moving platform vehicle comprises a flat trolley, a distance measuring wheel system, a system loading platform and a telescopic device thereof, the flat trolley comprises a directional wheel, a trolley and a first fixed groove, the distance measuring wheel system is positioned at the position of a left front wheel of the flat trolley, the system loading platform and the telescopic device thereof comprise a control system loading platform, a telescopic device and a slide bar, the lower surface of the control system loading platform is provided with a second fixed groove, the upper surface of the control system loading platform is provided with a slide rail, the front end of the slide bar is provided with an iron sheet, the telescopic device consists of four groups of same 'X' -shaped compression structures, the ground penetrating radar host is arranged at the upper part of the control system loading platform and is connected with the ground penetrating radar antenna through an optical cable, the ground penetrating radar antenna comprises an air coupling antenna, a gyroscope and an antenna hanging device, the gyroscope is arranged in the air coupling antenna, the pendulum control system comprises a stepping motor, a control system and a telescopic pendulum rod, the control system comprises a power supply and a drive, the telescopic pendulum rod comprises an inner tube and an outer tube, and an opening is formed in the upper end of the outer tube.
Furthermore, the system loading platform is connected with the flat car through a telescopic device, and the area is Xm.
Furthermore, the ground penetrating radar host is installed on the upper portion of the control system loading platform and connected with the ground penetrating radar antenna through an optical cable.
Furthermore, the telescopic device is composed of four groups of same X-shaped compression structures, the telescopic device is connected with the flat car through a first fixing groove, and the telescopic device is connected with the system loading platform through a second fixing groove.
Furthermore, the stepping motor is arranged on the upper surface of the front end of the sliding rod and connected with an iron sheet at the front end of the sliding rod through a screw.
Further, the control system comprises a drive and a power supply, and is connected with the upper surface of the loading platform of the system through screws.
Furthermore, the telescopic swinging rod is connected with the stepping motor in an embedded mode through occlusion.
Further, the gyroscope is fixed inside the air coupling antenna through screws.
Further, the hanging device and the radar antenna are connected through screws.
Furthermore, the hanging device and the telescopic clock swing rod are connected in a welding mode.
Further, the handle and the flat plate are connected through a welding mode.
Further, the orientation wheel is connected with the flat plate through a screw.
Furthermore, the slide bar is connected with the upper surface of the system loading platform through a slide rail, and the slide bar is connected with the iron sheet through welding.
Further, the outer tube upper end is equipped with the opening, step motor with the outer tube is through the interlock inlay connection.
Further, the inner pipe is connected with the hanging device through welding, and the length of the inner pipe is B mm.
Furthermore, the drive and the power supply are mounted on one side of the slide rail on the upper surface of the system loading platform and connected with the system loading platform through screws.
Furthermore, the hanging device is connected with the inner pipe in a welding mode, and the hanging device is connected with the air coupling antenna through a wood screw.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of a "pendulum type" ground penetrating radar data acquisition device of the present invention;
FIG. 2 is a schematic structural diagram of a system loading platform of the "pendulum type" ground penetrating radar data acquisition device of the present invention.
Wherein 1 is the range finding wheel, 2 is first fixed slot, 3 is the directive wheel, 4 is the dull and stereotyped dolly, 5 is system loading platform, 6 is the slide rail, 7 is the radar host computer, 8 is the slide bar, 9 is step motor, 10 is the iron sheet, 11 is the outer tube, 12 is the inner tube, 13 is the antenna cable suspension device, 14 is the air coupling antenna, 15 is the second fixed slot, 16 is extending structure, 17 is the power, 18 is the drive.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme provided by the invention can have the following beneficial effects:
1. when the ground penetrating radar is used for acquiring three-dimensional road data, the distance measuring wheel system can accurately measure the position coordinate corresponding to each piece of data in the line measuring direction, and the gyroscope can accurately position the spatial position of each piece of radar data in the direction perpendicular to the line measuring direction;
2. in the detection process, the swinging speed and the swinging range of the radar antenna can be controlled by adjusting the control system, the swinging range of the radar is set to be 60 degrees respectively at the left and right sides in the direction vertical to the road surface, the swinging speed is divided into three stages, and the periods are 1s, 2s and 3s respectively;
3. in the actual detection process, according to the detection area condition, the height of the air coupling antenna from the road surface can be adjusted by adjusting the length of the telescopic pendulum rod, so that the optimal height meeting the optimal detection effect of the air coupling antenna is selected, and the length adjustment range of the telescopic pendulum rod is A mm- (A + B) mm;
4. after the detection is finished, the system loading platform can be zoomed through the telescopic device so as to be stored.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1-2, the present embodiment provides a "pendulum type" ground penetrating radar data collection device, which includes a system moving platform vehicle, a ground penetrating radar host, a ground penetrating radar antenna, and a pendulum control system, wherein the system moving platform vehicle includes a flat car, a distance wheel system, a system loading platform, and a telescopic device thereof, the flat car includes a directional wheel, a car, and a first fixing groove, the distance wheel system is located at a left front wheel position of the flat car, a second fixing groove is disposed on a lower surface of the control system loading platform, a slide rail is disposed on an upper surface of the control system loading platform, an iron sheet is disposed at a front end of the slide bar for fixing the stepping motor, the telescopic device includes two sets of symmetrical compression structures, the telescopic device is used for achieving a function of device contraction and storage, the ground penetrating radar host is mounted on the control system loading platform, the ground penetrating radar antenna includes an air-coupled antenna, and the stepping motor is mounted on the control system loading platform, The gyroscope comprises a gyroscope and an antenna hanging device, the gyroscope is arranged in the air coupling antenna, the pendulum control system comprises a stepping motor, a control system and a telescopic pendulum rod, the control system comprises a power supply and a drive, the telescopic pendulum rod comprises an inner tube and an outer tube, and an opening is formed in the upper end of the outer tube.
The system loading platform is connected with the flat car through a telescopic device, the area is X m X Y m, the telescopic device is composed of four groups of same X-shaped compression structures, the telescopic device is connected with the flat car through a first fixing groove, the telescopic device is connected with the system loading platform through a second fixing groove, the ground penetrating radar host is arranged at the upper part of the control system loading platform and is connected with the ground penetrating radar antenna through an optical cable, the gyroscope is fixed in the air coupling antenna through a screw, the hanging device is connected with the radar antenna through a screw, the stepping motor is arranged on the upper surface of the front end of the sliding rod and is connected with an iron sheet at the front end of the sliding rod through a screw, the control system comprises a driving source and a power source, the driving source and the upper surface of the system loading platform are connected through screws, the hanging device is connected with the telescopic clock swing rod through a welding mode, and the handle is connected with the flat board through a welding mode, the directional wheel passes through bolted connection with the flat board, slide bar and system loading platform upper surface pass through sliding rail connection, slide bar and iron sheet pass through welded connection, the retractable bell pendulum rod includes outer tube and inner tube, the outer tube upper end is equipped with the opening, inlay through the interlock with step motor and be connected, the long B mm of inner tube, pass through welded connection with cable suspension device, drive and power are installed in system loading platform upper surface slide rail one side, pass through bolted connection with system loading platform, cable suspension device passes through welded connection with the inner tube, cable suspension device passes through wooden screw with the air coupling antenna and is connected.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (7)
- "pendulum type" ground penetrating radar data acquisition device, its characterized in that: the system comprises a system moving platform vehicle, a ground penetrating radar host, a ground penetrating radar antenna and a pendulum control system;the system moving platform vehicle is provided with a distance measuring wheel (1) and a system loading platform (5), and the ground penetrating radar host and the pendulum control system are arranged on the system moving platform vehicle;the pendulum control system comprises a stepping motor (9), a control system and telescopic pendulum bars (11, 12), wherein the stepping motor (9) is arranged on the upper surface of the front end of the sliding rod (8) and is connected with an iron sheet (10) at the front end of the sliding rod through a screw, the control system comprises a power supply (17) and a drive (18) and is connected with the upper surface of the loading platform (5) of the control system through a screw, and the stepping motor (9) is connected with the outer tube (11) through occlusion and embedding;the ground penetrating radar antenna comprises an air coupling antenna (14), a gyroscope and an antenna hanging device (13), wherein the gyroscope is fixed inside the air coupling antenna (14) through screws, and the hanging device (13) is connected with the air coupling antenna (13) through wood screws;the hanging device (13) is connected with the inner pipe (12) of the telescopic bell swing rod in a welding mode;when the ground penetrating radar is used for acquiring three-dimensional road data, the distance measuring wheel system can accurately measure the position coordinate corresponding to each piece of data in the line measuring direction, and the gyroscope can accurately position the spatial position of each piece of radar data in the direction perpendicular to the line measuring direction;during detection, the control system can be adjusted to control the rate of the radar antenna oscillation and the range of the oscillation.
- 2. The "pendulum-type" ground penetrating radar data collection device of claim 1, wherein: the system moving platform vehicle further comprises a telescopic device (16) and a flat trolley (4), the distance measuring wheel (1) is located at the position of a left front wheel of the flat trolley (4), the system loading platform (5) is connected with the flat trolley (4) through the telescopic device (16), the telescopic device (16) is composed of four groups of same X-shaped compression structures, the telescopic device (16) is connected with the flat trolley (4) through a first fixing groove (2), and the telescopic device (16) is connected with the system loading platform (5) through a second fixing groove (15).
- 3. The "pendulum-type" ground penetrating radar data collection device of claim 2, wherein: the flat trolley (5) comprises four directional wheels (3), a trolley and first fixing grooves (2), wherein the directional wheels (3) are connected with the trolley through screws, and the four first fixing grooves and the trolley are connected through welding and are arranged on the upper surface of the trolley.
- 4. The "pendulum-type" ground penetrating radar data collection device of claim 2, wherein: the system loading platform is characterized by further comprising a sliding rod (8), four second fixing grooves (15) are formed in the lower surface of the system loading platform (5), a sliding rail (6) is arranged on the upper surface of the system loading platform, the sliding rod (8) is connected with the upper surface of the system loading platform (5) through the sliding rail (6), an iron sheet (10) is arranged at the front end of the sliding rod (8) and used for fixing a stepping motor and is connected with the sliding rod (8) in a welding mode.
- 5. The "pendulum-type" ground penetrating radar data collection device of claim 1, wherein: the ground penetrating radar host (7) is arranged on the upper part of the system loading platform (5) and is connected with the ground penetrating radar air coupling antenna (14) through an optical cable.
- 6. The "pendulum-type" ground penetrating radar data collection device of claim 1, wherein: the telescopic bell swing rods (11, 12) comprise inner tubes (12) and outer tubes (11), and openings are formed in the upper ends of the outer tubes (11).
- 7. The "pendulum-type" ground penetrating radar data collection device of claim 1, wherein: the control system comprises a power supply (17) and a drive (18), wherein the power supply (17) and the drive (18) are installed on one side of the upper surface sliding rail (5) of the system loading platform and are connected with the system loading platform through screws.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010051983.7A CN111175742B (en) | 2020-01-17 | 2020-01-17 | Pendulum type ground penetrating radar data acquisition device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010051983.7A CN111175742B (en) | 2020-01-17 | 2020-01-17 | Pendulum type ground penetrating radar data acquisition device |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111175742A CN111175742A (en) | 2020-05-19 |
CN111175742B true CN111175742B (en) | 2021-11-19 |
Family
ID=70624557
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010051983.7A Active CN111175742B (en) | 2020-01-17 | 2020-01-17 | Pendulum type ground penetrating radar data acquisition device |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111175742B (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111608645B (en) * | 2020-05-28 | 2021-10-08 | 中国矿业大学(北京) | Directional ground penetrating radar device for drilling |
CN112595733A (en) * | 2020-12-18 | 2021-04-02 | 北京城市排水集团有限责任公司 | Swing control data acquisition method based on ground penetrating radar |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN203350463U (en) * | 2013-05-17 | 2013-12-18 | 内蒙古灵奕(集团)电磁波探测技术有限公司 | Ground-penetrating radar |
CN206960648U (en) * | 2017-07-28 | 2018-02-02 | 河南工程学院 | A kind of GPR integrated data acquisition device |
CN108547202A (en) * | 2018-03-20 | 2018-09-18 | 中国地质大学(北京) | A kind of road quality dynamic monitoring method based on sanitation cart |
CN208235278U (en) * | 2018-05-03 | 2018-12-14 | 广西交通工程检测有限公司 | A kind of road detections of radar auxiliary device |
CN109507663A (en) * | 2018-11-27 | 2019-03-22 | 贵州省交通规划勘察设计研究院股份有限公司 | A kind of subgrade defect detection vehicle based on multichannel ground penetrating radar exploration |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7113124B2 (en) * | 2003-11-25 | 2006-09-26 | Metrotech Corporation, Inc. | Centerline and depth locating method for non-metallic buried utility lines |
US7834801B2 (en) * | 2003-11-25 | 2010-11-16 | Metrotech Corporation, Inc. | Sensor fusion for model-based detection in pipe and cable locator systems |
US8842035B2 (en) * | 2010-04-08 | 2014-09-23 | L-3 Communications Security And Detection Systems, Inc. | Sensor head |
CN202216653U (en) * | 2011-10-10 | 2012-05-09 | 中国北车集团大同电力机车有限责任公司 | Pendulum surface measuring device |
US9915727B1 (en) * | 2014-08-14 | 2018-03-13 | L-3 Communications Security And Detection Systems, Inc. | Agile sensing for radar and metal detection |
CN106680807A (en) * | 2016-12-13 | 2017-05-17 | 山东大学 | Automatic recording system used for measuring line tracks of ground penetrating radar and method |
CN106737554A (en) * | 2017-01-19 | 2017-05-31 | 成都圭目机器人有限公司 | A kind of autonomous type road Non-Destructive Testing robot system |
CN110520754B (en) * | 2017-01-27 | 2023-08-01 | 麻省理工学院 | Method and system for vehicle positioning using surface penetrating radar |
CN206609968U (en) * | 2017-04-05 | 2017-11-03 | 陈超 | A kind of swing type tunnel arch crown detection device |
CN107390291B (en) * | 2017-07-04 | 2019-07-19 | 山东大学 | A kind of comprehensive vehicle-mounted monitoring system of modular Tunnel Engineering and working method |
CN108254746B (en) * | 2018-03-20 | 2018-11-13 | 中国地质大学(北京) | A kind of road quality dynamic monitor based on sanitation cart |
CN208537709U (en) * | 2018-08-03 | 2019-02-22 | 华东交通大学 | Radar trolley device for tunnel geological forecast and tunnel non-destructive testing |
-
2020
- 2020-01-17 CN CN202010051983.7A patent/CN111175742B/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN203350463U (en) * | 2013-05-17 | 2013-12-18 | 内蒙古灵奕(集团)电磁波探测技术有限公司 | Ground-penetrating radar |
CN206960648U (en) * | 2017-07-28 | 2018-02-02 | 河南工程学院 | A kind of GPR integrated data acquisition device |
CN108547202A (en) * | 2018-03-20 | 2018-09-18 | 中国地质大学(北京) | A kind of road quality dynamic monitoring method based on sanitation cart |
CN208235278U (en) * | 2018-05-03 | 2018-12-14 | 广西交通工程检测有限公司 | A kind of road detections of radar auxiliary device |
CN109507663A (en) * | 2018-11-27 | 2019-03-22 | 贵州省交通规划勘察设计研究院股份有限公司 | A kind of subgrade defect detection vehicle based on multichannel ground penetrating radar exploration |
Also Published As
Publication number | Publication date |
---|---|
CN111175742A (en) | 2020-05-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111175742B (en) | Pendulum type ground penetrating radar data acquisition device | |
CN107380204B (en) | Track geometric parameter detection vehicle and track geometric parameter detection method | |
CN201297927Y (en) | Automobile outline size measuring machine | |
CN101685005B (en) | Machine for measuring outline dimension of vehicle | |
US5005652A (en) | Method of producing a contoured work surface | |
CN205014956U (en) | A 3d scanner | |
CN207215086U (en) | A kind of Portable non-contact rail tunnel Clearance Detection | |
CN106705844A (en) | Method for measuring size and contour of vehicle | |
CN107228628A (en) | A kind of vehicle traveling dynamic measurement system and its measuring method | |
CN102914290A (en) | Metro gauge detecting system and detecting method thereof | |
CN104575001A (en) | Vehicle superelevation and super-width monitoring method based on laser ranging | |
CN110118088B (en) | Positioning tunneling method and system of tunneling machine | |
CN104406530A (en) | Vehicular height and width overlimit monitoring system based on laser ranging | |
CN201535668U (en) | Device for measuring nonstraightness of core rod | |
CN112114327A (en) | Coal mine tunnel drilling and anchoring robot precise positioning method and system based on multi-sensor fusion | |
CN202166895U (en) | Laser navigation system of intelligent patrol robot at transformer substation | |
CN204116955U (en) | Based on the magnetic navigation intelligent vehicle locating device of magnetic field symmetry | |
CN112947441A (en) | Control method for automatic butt-joint charging of robot and charging seat | |
CN204944427U (en) | A kind of contact net geometric parameter detection of dynamic dolly | |
CN207274715U (en) | Orbit geometry parameter detects car | |
CN110081904A (en) | Biplane photosensor arrays push-bench attitude measuring and measurement method | |
CN206178142U (en) | Optical locating range finding instrument swashs | |
CN113343341B (en) | Method for acquiring assembly parameters of big data subway overhead line system in rail transit area | |
CN102175147A (en) | Dynamic revising method of three-coordinate measuring machine | |
CN106584418B (en) | Omnidirectional robot and control method thereof |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |