CN104947585A - Intelligent obstacle-avoiding control system of bridge detection robot - Google Patents
Intelligent obstacle-avoiding control system of bridge detection robot Download PDFInfo
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- CN104947585A CN104947585A CN201510193523.7A CN201510193523A CN104947585A CN 104947585 A CN104947585 A CN 104947585A CN 201510193523 A CN201510193523 A CN 201510193523A CN 104947585 A CN104947585 A CN 104947585A
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- control system
- detection robot
- bridge detection
- intelligent barrier
- barrier avoiding
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Abstract
The invention provides an intelligent obstacle-avoiding control system of a bridge detection robot. The intelligent obstacle-avoiding control system comprises a distance measuring obstacle-avoiding system and a monitoring system which are connected, the distance measuring obstacle-avoiding system comprises a first control system and a second control system which are connected, the first control system comprises a first operating platform and a controller which are connected, the second control system comprises a second operating platform and a control system industrial control computer which are connected, and the monitoring system comprises a display, an industrial control computer, a switchboard and a photographing device which are connected sequentially. The intelligent obstacle-avoiding control system has the advantages that needed manpower cost is low, a control person does not need professional control technology, and the control system is high in intelligent obstacle-avoiding detection efficiency, supportive of matched adjusting through a rough adjusting structure and a fine adjusting structure and capable of realizing manual adjusting and automatic adjusting.
Description
Technical field
The present invention relates to Bridge Testing Equipment technical field, especially, relate to a kind of bridge detection robot intelligent barrier avoiding control system.
Background technology
Along with the development of communication, the bridge construction development speed as traffic important component part is advanced by leaps and bounds, and in order to ensure the safety of traffic participant, after bridge builds up and comes into operation, regularly must do conventional detection, comprising the detection to bridge substructure.
Bridge detection robot is a kind of conventional Bridge Testing Equipment.To in bridge machinery operation process, because bridge substructure is complicated, operating mode is uncertain, bridge detection robot may be made to encounter obstruction, affect Detection job and even damage Bridge Testing Equipment.Thus, bridge detection robot is needed also automatically can again to plan detection path by automatic accurately avoiding obstacles in real time during operation at the bottom of bridge.
The bridge detection robot of prior art generally adopts surveillance to monitor the movement of bridge robot, according to surveillance, the movement of manual adjustment bridge robot, reach the object of avoiding obstacles, but when using above-mentioned bridge detection robot to carry out bridge machinery, need higher cost of labor, operator needs professional manipulation technology and detection efficiency is low, simultaneously, when moving adjustment to above-mentioned bridge detection robot, can only be regulated by single structure, do not have coarse adjustment structure and fine tuning structure with the use of.
Summary of the invention
In order to solve above-mentioned bridge detection robot exist needed for high, the operator of cost of labor need professional manipulation technology, detection efficiency low and can only carry out by single structure the technical problem that regulates, the invention provides that a kind of required cost of labor is low, operator without the need to professional manipulation technology, intelligent barrier avoiding detection efficiency high and by coarse adjustment structure and fine tuning structure with the use of bridge detection robot intelligent barrier avoiding control system.
Bridge detection robot intelligent barrier avoiding control system provided by the invention, comprise range finding obstacle avoidance system, described range finding obstacle avoidance system comprises the first control system and the second control system, the two is connected by RS485 bus, described first control system comprises the first operating desk and controller, the two is connected, described controller comprises the first alarm unit, first range cells and the first performance element, described first alarm unit is all connected with described first range cells with described first performance element, described second control system comprises the second operating desk and control system Industrial Personal Computer (IPC), the two is connected, described operating system Industrial Personal Computer (IPC) comprises the second alarm unit, second range cells and the second performance element, described second alarm unit is all connected with described second range cells with described second performance element.
In a kind of preferred embodiment of bridge detection robot intelligent barrier avoiding control system provided by the invention, described first alarm unit comprises alarm lamp and display screen, and described first range cells comprises multiple distance measuring sensor.
In a kind of preferred embodiment of bridge detection robot intelligent barrier avoiding control system provided by the invention, described first operating desk is operating grip or touch-screen.
In a kind of preferred embodiment of bridge detection robot intelligent barrier avoiding control system provided by the invention, described first performance element comprises more piece jib, banked direction control valves group and arm support oil cylinder, described banked direction control valves group is connected with described arm support oil cylinder, and described banked direction control valves is mounted on described more piece jib junction.
In a kind of preferred embodiment of bridge detection robot intelligent barrier avoiding control system provided by the invention, described banked direction control valves group is multi-channel electromagnetic control ratio valve group.
In a kind of preferred embodiment of bridge detection robot intelligent barrier avoiding control system provided by the invention, multiple distance measuring sensors that described second range cells comprises single-chip microcomputer and is connected with described single-chip microcomputer.
In a kind of preferred embodiment of bridge detection robot intelligent barrier avoiding control system provided by the invention, described second performance element comprises shell and is located at the robot in described shell.
In a kind of preferred embodiment of bridge detection robot intelligent barrier avoiding control system provided by the invention, described distance measuring sensor can be ultrasonic distance-measuring sensor or laser sensor, and detection range is 0.3m-8m.
In a kind of preferred embodiment of bridge detection robot intelligent barrier avoiding control system provided by the invention, also comprise surveillance, described surveillance comprises the surveillance display, surveillance Industrial Personal Computer (IPC), switch and the filming apparatus that connect successively.
In a kind of preferred embodiment of bridge detection robot intelligent barrier avoiding control system provided by the invention, described filming apparatus is panorama camera.
Compared to prior art, bridge detection robot intelligent barrier avoiding control system provided by the invention has following beneficial effect:
One, by the design of employing range finding obstacle avoidance system, by automatic range and the adjustment automatically of obstacle avoidance system of finding range, reducing cost of labor without the need to carrying out manual operation to carry out avoiding obstacles, by adopting automated manner, accelerating detection speed, promoting detection efficiency;
Two, by adopting the design of the design, particularly alarm lamp of alarm unit, when control device breaks down, giving a warning in time, avoiding dangerous generation or expansion;
Three, by adopting the combination design of surveillance and range finding obstacle avoidance system, realize automated intelligent by range finding obstacle avoidance system and keep away barrier, when the input unit of obstacle avoidance system of finding range breaks down, still carry out bridge machinery by manned mode, strengthen the applicability of bridge detection robot;
Four, designed by the combination of employing first performance element and the second performance element, carry out coarse adjustment by the first performance element and finely tuned by the second performance element, strengthen compliance and the accuracy of bridge detection robot intelligent barrier avoiding control system.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is the principle schematic of the range finding obstacle avoidance system of bridge detection robot intelligent barrier avoiding control system provided by the invention;
Fig. 2 is the principle schematic of the surveillance of bridge detection robot intelligent barrier avoiding control system provided by the invention;
Fig. 3 is the part-structure schematic diagram of an embodiment of bridge detection robot intelligent barrier avoiding control system provided by the invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
See also Fig. 1, Fig. 2 and Fig. 3, wherein, Fig. 1 is the principle schematic of the range finding obstacle avoidance system of bridge detection robot intelligent barrier avoiding control system provided by the invention; Fig. 2 is the principle schematic of the surveillance of bridge detection robot intelligent barrier avoiding control system provided by the invention; Fig. 3 is the part-structure schematic diagram of an embodiment of bridge detection robot intelligent barrier avoiding control system provided by the invention.Described bridge detection robot intelligent barrier avoiding control system 1 comprises range finding obstacle avoidance system 11 and surveillance 13, and the two is connected.
Described range finding obstacle avoidance system 11 comprises the first control system 111 and the second control system 113, and the two is connected, and in the present embodiment, described first control system 111 is connected by RS485 bus with described second control system 113.
Described first control system 111 comprises the first operating desk 1111 and controller 1113, the two electrical connection.
In the present embodiment, described first operating desk 1111 is touch-screen, can also be operating grip in other cases.Described first operating desk 1111 is for inputting information and to described controller 1113 transmit operation instruction.
Described controller 1113 comprises the first alarm unit 11131, first range cells 11133 and the first performance element 11135, and described first alarm unit 11131 is all connected with described first range cells 11133 with described first performance element 11135.
Described first alarm unit 11131 comprises alarm lamp 111311 and display screen 111313, described alarm lamp 111311 is for sending the ruddiness of flicker when breaking down, described display screen 111313, for showing the type of fault, is convenient to staff and is obtained fault message in time.Whether described first alarm unit 11131 for breaking down to described first range cells 11133 reports to the police.
Described first range cells 11133 comprises multiple distance measuring sensor 111331, and described multiple distance measuring sensor 111331 is located at described first performance element 11135 surface.In the present embodiment, described first range cells 11133 comprises three distance measuring sensors 111331, described in three, distance measuring sensor 111331 is ultrasonic distance-measuring sensor or laser sensor, in the present embodiment, described in three, distance measuring sensor 111331 is ultrasonic distance-measuring sensor, and described in three, the detection range of distance measuring sensor 111331 is 0.3m-8m.
Described first performance element 11135 comprises more piece jib 111351, banked direction control valves group 111353 and arm support oil cylinder 111355, described banked direction control valves group 111353 is connected with described arm support oil cylinder 111355, and described banked direction control valves group 111353 is located at described more piece jib 111351 junction.In the present embodiment, the quantity of described more piece jib 111351 is three and is box section, be respectively the first jib 10 connected successively, second jib 20 and the 3rd jib 30, described first jib 10 is connected with the carrier (sign) of the described bridge detection robot intelligent barrier avoiding control system 1 of carrying, the quantity of described banked direction control valves group 111353 is three, be located at described first jib 10 and carrier (sign) junction carrying described bridge detection robot intelligent barrier avoiding control system 1 respectively, described first jib 10 and described second jib 20 junction and described second jib 20 and described 3rd jib 30 junction, described banked direction control valves group 111353 is for controlling the rotation of connected jib, described arm support oil cylinder 111355 is located at the carrier (sign) carrying described bridge detection robot intelligent barrier avoiding control system 1.Described first jib 10 and described 3rd jib 30 scalable, three described jibs 10,20,30 are box section, wherein, distance measuring sensor 111331 described in three be located at respectively described 3rd jib 30 adjacent three surface.
Described second control system 113 comprises the second console 1131 and control system Industrial Personal Computer (IPC) 1133, the two electrical connection.
Described second console 1131 is for handling described control system Industrial Personal Computer (IPC) 1133.
Described control system Industrial Personal Computer (IPC) 1133 comprises the second alarm unit 11331, second range cells 11333 and the second performance element 11335, and described second alarm unit 11331 is all connected with described second range cells 11333 with described second performance element 11335.
Described second alarm unit 11331 comprises attention display 113311, and described attention display 113311 is for showing fault message.
Multiple distance measuring sensors 113333 that described second range cells 11333 comprises single-chip microcomputer 113331 and is connected with described single-chip microcomputer 113331.Described single-chip microcomputer 113331 for receive multiple described distance measuring sensor 113333 detect information and Treatment Analysis again by information conveyance give described control system Industrial Personal Computer (IPC) 1133.In the present embodiment, described distance measuring sensor 113333 is for ultrasonic distance-measuring sensor or laser sensor and quantity is five, and in the present embodiment, described distance measuring sensor 113333 is ultrasonic distance-measuring sensor, and its detection range is 0.3m-8m.
The robot 113353 that described second performance element 11335 comprises shell 113351 and is located in described shell 113351.In the present embodiment, the shape of described shell 113351 is square body, five described distance measuring sensors 113333 are located at five surfaces of described shell 113351 respectively, another surface of described shell 113351 is connected with described 3rd jib 30, and described shell 113351 by the control of described robot 113353 around described 3rd jib 30 flexible rotating, be beneficial to described distance measuring sensor 113333 can regulate under different working condition, reach preferably Detection results, thus lifting keeps away barrier efficiency and quality.
Described surveillance 13 comprises the surveillance display 131, surveillance Industrial Personal Computer (IPC) 133, switch 135 and the filming apparatus 137 that connect successively.
Described surveillance display 131 be installed on carry described bridge detection robot intelligent barrier avoiding control system 1 carrier (sign) on, show the information of described surveillance Industrial Personal Computer (IPC) 133 conveying, described surveillance Industrial Personal Computer (IPC) 133 receives the information of described switch 135 conveying, described surveillance display 131 is transferred to after process, information captured by described filming apparatus 137 is transferred to described surveillance Industrial Personal Computer (IPC) 133 by described switch 135, the setting of described switch 135 is simultaneously beneficial to connect multiple described filming apparatus 137 and avoid multiple described filming apparatus 137 to produce and influences each other.In the present embodiment, the quantity of described filming apparatus 137 is three, is installed on one end that described first jib 10 and described second jib 20 junction, described second jib 20 and described 3rd jib 30 junction and described 3rd jib 30 are far away apart from described second jib 20 respectively.Described filming apparatus 137 is panorama camera.
Operating principle: start described range finding obstacle avoidance system, a safe distance numerical value H0 is inputted by described first operating desk 1111, described controller receives safe distance numerical value H0 and remembers, drive three described jibs 10, 20, 30 launch, move, three the described distance measuring sensors 111331 being installed on described 3rd jib 30 surface transfer to described controller 1113 by what detect separately with the distance H1 of obstruction, when there is H1 <=H0, show obstruction and may affect movement, then described controller 1113 sends to described first performance element 11135 and keeps away barrier move, and realize intelligent barrier avoiding, when five the described distance measuring sensors 113333 being installed on described shell 113351 surface are transported to described control system Industrial Personal Computer (IPC) 1133 with the distance H2 of obstruction through described single-chip microcomputer 113331 by what detect, when there is H2 <=H0, then show obstruction and may affect movement, then described control system Industrial Personal Computer (IPC) 1133 sends to described second performance element 11335 and keeps away barrier move, realizes intelligent barrier avoiding.Carry out adjustment by a relatively large margin by described first performance element 11135 and carry out the less adjustment of amplitude by described second performance element 11335, during the distance H > H0 with obstruction that eight described distance measuring sensors 111331,113333 are detected, then drive described 3rd jib 30 to move to the position of bridge needs detection, taken pictures by described filming apparatus 137.When one or two in described first range cells and the second range cells all breaks down, intelligent barrier avoiding cannot be carried out, or bridge construction is complicated, when being not suitable for carrying out intelligent barrier avoiding, then undertaken keeping away barrier by manual type, staff carries out keeping away barrier according to the instant image in described surveillance 13.
The beneficial effect that the present invention has:
One, by adopting the design of described range finding obstacle avoidance system 11, by automatic range and the adjustment automatically of described range finding obstacle avoidance system 11, reduce cost of labor without the need to carrying out manual operation to carry out avoiding obstacles, by adopting automated manner, accelerate detection speed, promote detection efficiency;
Two, by adopting the design, the particularly design of described alarm lamp 111311 of described first alarm unit 11131, when described controller 113 breaks down, giving a warning in time, avoiding dangerous generation or expansion;
Three, by adopting the combination design of described surveillance 13 and described range finding obstacle avoidance system 11, realize automated intelligent by described range finding obstacle avoidance system 11 and keep away barrier, when described first range cells 11133 and described second range cells 11333 break down, still carry out bridge machinery by manned mode, strengthen the applicability of bridge detection robot;
Four, by adopting the combination design of described first performance element 11135 and described second performance element 11335, carry out coarse adjustment by described first performance element 11135 and finely tuned by described second performance element 11335, strengthening compliance and the accuracy of described bridge detection robot intelligent barrier avoiding control system 1.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize manual of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. a bridge detection robot intelligent barrier avoiding control system, comprise range finding obstacle avoidance system, it is characterized in that: described range finding obstacle avoidance system comprises the first control system and the second control system, the two is connected by RS485 bus, described first control system comprises the first operating desk and controller, the two is connected, described controller comprises the first alarm unit, first range cells and the first performance element, described first alarm unit is all connected with described first range cells with described first performance element, described second control system comprises the second operating desk and control system Industrial Personal Computer (IPC), the two is connected, described operating system Industrial Personal Computer (IPC) comprises the second alarm unit, second range cells and the second performance element, described second alarm unit is all connected with described second range cells with described second performance element.
2. bridge detection robot intelligent barrier avoiding control system according to claim 1, it is characterized in that: described first alarm unit comprises alarm lamp and display screen, described first range cells comprises multiple distance measuring sensor.
3. bridge detection robot intelligent barrier avoiding control system according to claim 1, is characterized in that: described first operating desk is operating grip or touch-screen.
4. bridge detection robot intelligent barrier avoiding control system according to claim 1, it is characterized in that: described first performance element comprises more piece jib, banked direction control valves group and arm support oil cylinder, described banked direction control valves group is connected with described arm support oil cylinder, and described banked direction control valves is mounted on described more piece jib junction.
5. bridge detection robot intelligent barrier avoiding control system according to claim 4, is characterized in that: described banked direction control valves group is multi-channel electromagnetic control ratio valve group.
6. bridge detection robot intelligent barrier avoiding control system according to claim 1, is characterized in that: multiple distance measuring sensors that described second range cells comprises single-chip microcomputer and is connected with described single-chip microcomputer.
7. bridge detection robot intelligent barrier avoiding control system according to claim 1, is characterized in that: described second performance element comprises shell and is located at the robot in described shell.
8. the bridge detection robot intelligent barrier avoiding control system according to claim 2 or 6, is characterized in that: described distance measuring sensor can be ultrasonic distance-measuring sensor or laser sensor, and detection range is 0.3m-8m.
9. bridge detection robot intelligent barrier avoiding control system according to claim 1, it is characterized in that: described bridge detection robot intelligent barrier avoiding control system also comprises surveillance, described surveillance comprises the surveillance display, surveillance Industrial Personal Computer (IPC), switch and the filming apparatus that connect successively.
10. bridge detection robot intelligent barrier avoiding control system according to claim 9, is characterized in that: described filming apparatus is panorama camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510193523.7A CN104947585A (en) | 2015-04-22 | 2015-04-22 | Intelligent obstacle-avoiding control system of bridge detection robot |
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| CN201510193523.7A CN104947585A (en) | 2015-04-22 | 2015-04-22 | Intelligent obstacle-avoiding control system of bridge detection robot |
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| CN104947585A true CN104947585A (en) | 2015-09-30 |
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| CN201510193523.7A Pending CN104947585A (en) | 2015-04-22 | 2015-04-22 | Intelligent obstacle-avoiding control system of bridge detection robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105568851A (en) * | 2016-01-20 | 2016-05-11 | 招商局重庆交通科研设计院有限公司 | Bridge checking vehicle control system and method |
| CN106869023A (en) * | 2017-03-06 | 2017-06-20 | 张家港市欧微自动化研发有限公司 | A kind of bridge detection robot |
| CN110735391A (en) * | 2019-09-04 | 2020-01-31 | 湖南桥康智能科技有限公司 | kinds of rod winding devices and bridge detection device |
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| CN102799193A (en) * | 2012-09-07 | 2012-11-28 | 三一重工股份有限公司 | Arm frame position control device and concrete pump truck |
| CN104420417A (en) * | 2013-09-09 | 2015-03-18 | 宋美玥 | Bridge detection work system |
| CN204570478U (en) * | 2015-04-22 | 2015-08-19 | 湖南桥康智能科技有限公司 | Bridge detection robot intelligent barrier avoiding control system |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101713167A (en) * | 2009-10-23 | 2010-05-26 | 周劲宇 | Bridge structural health monitoring car |
| EP2506073A1 (en) * | 2011-03-28 | 2012-10-03 | Structure et Rehabilitation | Device for monitoring the condition of an engineering structure |
| CN102799193A (en) * | 2012-09-07 | 2012-11-28 | 三一重工股份有限公司 | Arm frame position control device and concrete pump truck |
| CN104420417A (en) * | 2013-09-09 | 2015-03-18 | 宋美玥 | Bridge detection work system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105568851A (en) * | 2016-01-20 | 2016-05-11 | 招商局重庆交通科研设计院有限公司 | Bridge checking vehicle control system and method |
| CN106869023A (en) * | 2017-03-06 | 2017-06-20 | 张家港市欧微自动化研发有限公司 | A kind of bridge detection robot |
| CN110735391A (en) * | 2019-09-04 | 2020-01-31 | 湖南桥康智能科技有限公司 | kinds of rod winding devices and bridge detection device |
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