CN105926419A - Automatic detection robot system and detection method for road surface - Google Patents
Automatic detection robot system and detection method for road surface Download PDFInfo
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- CN105926419A CN105926419A CN201610345810.XA CN201610345810A CN105926419A CN 105926419 A CN105926419 A CN 105926419A CN 201610345810 A CN201610345810 A CN 201610345810A CN 105926419 A CN105926419 A CN 105926419A
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- 238000001514 detection method Methods 0.000 title claims abstract description 136
- 238000012544 monitoring process Methods 0.000 claims abstract description 58
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000004458 analytical method Methods 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 230000007797 corrosion Effects 0.000 claims description 4
- 238000005260 corrosion Methods 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 230000001934 delay Effects 0.000 claims description 3
- 230000008595 infiltration Effects 0.000 claims description 3
- 238000001764 infiltration Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 description 19
- 238000000034 method Methods 0.000 description 12
- 238000009659 non-destructive testing Methods 0.000 description 7
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/08—Investigating permeability, pore-volume, or surface area of porous materials
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N17/00—Investigating resistance of materials to the weather, to corrosion, or to light
- G01N17/006—Investigating resistance of materials to the weather, to corrosion, or to light of metals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/048—Marking the faulty objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/14—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object using acoustic emission techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
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- General Physics & Mathematics (AREA)
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- Dispersion Chemistry (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic detection robot system for a road surface. The automatic detection robot system for the road surface comprises a robot body and a remote monitoring auxiliary system. Information is transmitted between the robot body and the remote monitoring auxiliary system in a wireless communication way. A control system, a nondestructive detection system and an operation mechanism are arranged on the robot body. The operation mechanism is installed on the robot body. The nondestructive detection system is connected with the operation mechanism. The control system is electrically connected with the operation mechanism. The control system is electrically connected with the nondestructive detection system. The nondestructive detection system comprises a resistivity meter. The operation mechanism comprises a telescopic mechanism. The resistivity meter is connected with the telescopic mechanism. The invention further discloses a detection method for the road surface. By the adoption of the robot system, intelligent detection can be achieved, and since manual driving is not needed, the detection safety and the accuracy of detection data are improved; since various nondestructive detection sensors are integrated, comprehensive estimation of the road surface and the internal condition can be achieved at a time, the detection efficiency is greatly improved, and the influence of the trafficability of a road is also reduced.
Description
Technical field
The present invention relates to face detection device and method, particularly relate to a kind of face, road autonomous measuring robots system and detection method.
Background technology
After highway builds up, in order to ensure current safety and efficiency, need periodic inspection maintenance.Along with China is the most public
Quickly growth, the increase of the road service time limit of road mileage open to traffic, highway has been enter into building the period laid equal stress on maintenance, and 2000
More than the 10000 kilometer of highway built up before year enters overhaul time the most comprehensively, and more than 50,000 kilometer built up in the past for the end of the year 2008 is the most public
Road the most generally enters the normal maintenance curing period of defects liability after date, maintenance industry entirety staff size rapid development.Along with traffic
Medium-capital overhauling ratio is risen to 17% by 13% by portion's " 12 highway maintenance management development outline ", and ratio promotes close to 30%, and 2015
Year needs the highway accepting medium-capital overhauling maintenance just close to 1.3 ten thousand kilometers.
Highway Maintenance includes that roadbed maintenance, maintenance of surface, bridges and culverts maintenance, passage maintenance, tunnel maintenance, identifier marking are supported
Protect, house maintenance, electromechanical facility maintenance etc., wherein maintenance of surface is the important content of Highway Maintenance.Maintenance of surface
Premise is detection and the assessment of road pavement situation.At present, pavement behavior check and evaluation is mainly by artificial range estimation, and this is mainly by experience,
Detection accuracy is poor.Alternative is to use manually to hold instrument detection, and this is better than range estimation data accuracy, but there is also following
The problem of several respects: one is that collected by hand data are easily affected by manual operation mistake, data accuracy can not get ensureing, and the person
Safety can not get ensureing；Two is that the speed of manual detection is low, needs substantial amounts of manpower, and labor intensity is big and inefficiency, detection
Time is long, affects traffic efficiency；Three be manual detection can only be single instrument, once can only detect a kind of defect, it is impossible to satisfy the need
Planar condition carries out comprehensive assessment.
Therefore, in conjunction with the development of modern science and technology, it is provided that a kind of energy road pavement situation carries out the automatization of comprehensive detection and assessment
System seems particularly necessary.There is the multifunctional examining measuring car that road surface condition can be detected at present, may be used for height
On speed highway and ordinary highway information material instant collect (real time position, surface evenness, texture, pavement track situation,
The image etc. of road geometry data, global positioning system, road landscape and pavement distress), and it is instant and prolong to carry out computer
Post processing.But the shortcoming of the type detection car is to need nonetheless remain for manual control and artificial judgment, it is impossible to meet some characterization processes
Requirement (as the most just stopped) to motor control, it is impossible to independently detect and data merged and then automatically comments
Estimate, and the situation of road surface can only be detected, it is impossible to the situation below detection road surface.
Summary of the invention
It is an object of the invention to, it is provided that a kind of face, road autonomous measuring robots system, use the design concept of automatization's formula, logical
Cross robot and gather road condition information, it is possible to greatly improving detection efficiency, and examination criteria is identical, data accuracy is relatively
High.The present invention additionally provides a kind of face, road detection method simultaneously, is controlled robot body in real time by control system, energy
Enough improve detection efficiency and testing result accuracy.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that:
A kind of face, road autonomous measuring robots system, including robot body and long-range auxiliary monitoring system, robot body sets
Having control system, nondestructive detection system and operating mechanism, operating mechanism is arranged on robot body, nondestructive detection system and behaviour
Make mechanism to be connected, control system and operating mechanism electrical connection, control system and nondestructive detection system electrical connection；Nondestructive detection system
Including resistivity meter, operating mechanism includes that telescoping mechanism, resistivity meter are connected with described telescoping mechanism；Remotely auxiliary monitoring system
All electrically connect with control rack including controlling rack, operating board and monitoring screen, operating board and monitoring screen；Robot body and
Remotely transmit information by wireless communication mode between auxiliary monitoring system.Wherein, resistivity meter be used for detecting pavement concrete and
The corrosion condition of reinforcing bar, telescoping mechanism is for controlling the form of resistivity meter.Under non-working condition, telescoping mechanism is in contraction-like
State, on the one hand can reduce taking up room of entirety, is on the other hand also possible to prevent resistivity meter and damages owing to colliding；Make
With under state, resistivity meter can be moved to the position specified by telescoping mechanism, and puts into the angle specified, in order to improve
The detection data accuracy of resistivity meter.Remotely auxiliary monitoring system has the function of remotely control, it is possible to the detection that will collect
Data are sent to exterior display device, for monitoring and the people to robot body action if desired of robot body running status
Work intervenes (mobile platform and the start and stop etc. of operating mechanism), and the storage of Non-destructive Testing Data and process.
In order to improve the detection efficiency of robot system, nondestructive detection system also includes impact echo instrument and ultrasonoscope, ultrasonic
Ripple instrument is connected with telescoping mechanism.Wherein, impact echo instrument is used for detecting road surface inner transverse crackle；It is ultrasonic that ultrasonoscope produces
Ripple has stronger penetration capacity, it is possible to the geological condition below detection road surface, provides reference for comprehensive analysis.Non-Destructive Testing system
System also includes GPR, and GPR is connected with telescoping mechanism.Wherein, GPR is used for detecting the internal impaired condition in road surface.
Nondestructive detection system also includes that the first laser measuring apparatus, the first laser measuring apparatus are connected with telescoping mechanism.Wherein, the first Laser Measuring
Amount instrument is used for detecting surface evenness and macro-texture.Nondestructive detection system also includes the second laser measuring apparatus, the second laser measurement
Instrument is connected with telescoping mechanism.Wherein, the second laser measuring apparatus is used for detecting pavement rutting depth.Nondestructive detection system also includes height
Clear camera and panorama camera, high definition camera is all connected with telescoping mechanism with panorama camera.The integrated multiple nothing of robot system of the present invention
Damage detection sensor, in one, can disposably realize the comprehensive assessment of road surface (including inside) situation, carries for assessment pavement behavior
For the multiple data that refer to, and detection efficiency is substantially improved, and decreases the impact on road.
By using telescoping mechanism, when robot body inoperative, each element of nondestructive detection system is all located at robot body
In, prevent each element from wearing and tearing, collide, damaging, thus improve the service life of equipment.
As one of which embodiment, robot body is provided with wheel, reducing gear, driving motor and supply unit,
Motor via reducer structure is driven to be connected with wheel, supply unit and driving motor electrical connection, drive motor and described control system
Electrical connection, described wheel is the independent directional wheel driven, preferably Mecanum wheel.Use directional wheel, can realize keep straight on,
45 degree of diagonals, walk crosswise, the omnibearing movable such as pivot stud, system flexibility is substantially improved.
Described control system include navigate sensor-based system and robot body control chamber, navigation sensor-based system include global positioning system,
Gyroscope, encoder and avoidance laser radar.Use based on global positioning system, gyroscope, encoder and avoidance laser thunder
Reach the navigation scheme of Multi-Sensor Data Fusion, it is achieved that the high accuracy navigation of outdoor Centimeter Level and the location position of detection data, can
To be greatly enhanced the accuracy of detection.
Wherein, described telescoping mechanism is straight line cylinder and/or multi-stage expansion mechanism.In order to make robot system structure compacter,
Described telescoping mechanism can also use another form of structure, is i.e. made up of straight line cylinder and connecting rod, and straight line cylinder is arranged on institute
Stating on robot body, connecting rod is hinged with described straight line cylinder.
The invention also discloses a kind of face, road detection method, comprise the steps:
S1: control robot body and move the position that superior self-cultivation face is specified；
S2: manually determine the key point coordinate in (using prior art means, such as differential global positioning system etc.) region to be detected；
S3: the artificial detection region setting face, road, robot body detects according to face, region shape size contexture by self road to be detected
Path；
S4: controlling robot body and move along detection path, face, described road, stopping every 0.5-10m carries out road surface and internal state
Detection, and gather road conditions information；
S5: the road conditions information according to collecting carries out real-time monitoring analysis or delays analysis.
Detecting path described in step S3 uses following method to plan: the length in detection region, measuring channels face and wide (rectangle road surface)
Or key point coordinate and then simulate the shape and size (non-rectangle road surface) in region to be detected, control robot body along S-shaped road
Line moves thus detection region, face, road is carried out complete detection.Described detection region, face, road is carried out complete detection refer to, robot
Body moves line by line along length or the wide direction in detection region, measuring channels face, and the detection width of the robot body single that every time moves forward
Degree, thus road pavement carries out complete detection (diagram asks for an interview Figure 10).
In the detection method of face, aforesaid road, described road conditions information includes pavement concrete and the corrosion condition of reinforcing bar and/or road
Infiltration situation below the thickness of each layer in face and/or road surface underbead crack and/or road surface and/or the empty situation below road surface,
And/or the bearing capacity on road surface and/or surface evenness and macro-texture and/or pavement rutting depth and/or the ground on road surface
Road surface panorama around table image and/or robot body.
Compared with prior art, advantages of the present invention is as follows:
1, face, the road autonomous measuring robots system of the present invention use the outdoor navigation system of high accuracy, integrated form nondestructive detection system and
Multi-data fusion system, can realize the autonomous efficient detection of road surface and internal state thereof, and detection efficiency, economy and safety are big
Width promotes, and overall system performance is good；
2, the present invention use " macroscopic view remote control, microcosmic independently, remotely monitoring " control mode, can contexture by self detection path,
Examinations operation, possesses detection parameter and arranges and on-line tuning function；Panorama camera is used to realize robot working environment and shape
State monitors, and completes to detect front starting point macrotechnique and the necessary manual intervention of detection process；Possess macro and micro detection monitoring and
Autonomous operation function, it is achieved that intellectualized detection, simultaneously because without pilot steering, improve detection safety；
3, the present invention uses based on GPS, gyroscope, encoder and the navigation scheme of laser radar Multi-Sensor Data Fusion, real
Show high accuracy navigation and the location position of detection data of outdoor Centimeter Level, drastically increase the accuracy of detection data；
4, the integrated multiple Non-Destructive Testing sensor of the present invention is in one, can disposably realize the comprehensive of road surface (including inside) situation
Assessment, detection efficiency is substantially improved, and decreases the impact on road；
5, present invention achieves automatically analyzing and merging of detection data, testing result is intuitively visual, and detection efficiency is substantially improved,
And the long-term dynamics that can realize road condition detects, more proactive maintenance maintenance can be realized on this basis；
6, operating mechanism of the present invention needs custom design according to characterization processes, it is ensured that Detection results, improves the accuracy of detection；
7, mobile platform of the present invention uses the Omnibearing wheel type travel mechanism as a example by Mecanum wheel, can realize craspedodrome, oblique row
Sail, the omnibearing movable such as cross running, pivot stud, the track route of robot body can be set more flexibly, and then
It is more efficiently completed and independently detects operation.
8, the autonomous measuring robots in face, road of the present invention system also can use multirobot cooperative work mode, can carry further
Rise detection efficiency.
Accompanying drawing explanation
Fig. 1 is the running status structural representation of a kind of embodiment of robot body；
Fig. 2 is the structural representation of robot body non-operating state；
Fig. 3 is the basic control principle schematic diagram of the present invention；
Fig. 4 is the arrangement schematic diagram of a kind of embodiment of nondestructive detection system；
Fig. 5 is the structural representation of a kind of embodiment of telescoping mechanism；
Fig. 6 is the structural representation of telescoping mechanism another kind embodiment；
Fig. 7 is the structural representation of telescoping mechanism another embodiment；
Fig. 8 is the control cage composition of a kind of embodiment of the present invention；
Fig. 9 is the robot system overall schematic containing long-range auxiliary monitoring system configuration diagram；
Figure 10 is robot body mode of operation schematic diagram；
Figure 11 is the running status structural representation of the another kind of embodiment of robot body.
Reference: 1-robot body, 2-telescoping mechanism, 3-operating mechanism, 4-panorama camera, 5-wheel, 6-ultrasound wave
Instrument, 7-the first laser measuring apparatus, 8-the second laser measuring apparatus, 9-resistivity meter, 10-GPR, 11-high definition camera, 12-
Straight line cylinder, 13-connecting rod, 14-operating board, 15-monitoring screen, 16-refitted car, 17-supply unit, 18-controls rack,
19-nondestructive detection system, 20-control system, the long-range auxiliary monitoring system of 21-.
The present invention is further illustrated with detailed description of the invention below in conjunction with the accompanying drawings.
Detailed description of the invention
Embodiments of the invention 1: as shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 9, a kind of face, road autonomous measuring robots system, bag
Including robot body 1 and long-range auxiliary monitoring system 21, robot body 1 is provided with control system 20, nondestructive detection system
19 and operating mechanism 3, operating mechanism 3 is arranged on robot body 1, and nondestructive detection system 19 is connected with operating mechanism 3,
Control system 20 and operating mechanism 3 electrically connect, and control system 20 and nondestructive detection system 19 electrically connect；Nondestructive detection system
19 include that resistivity meter 9, operating mechanism 3 include that telescoping mechanism 2, resistivity meter 9 are connected with described telescoping mechanism 2；Remotely
Auxiliary monitoring system 21 include controlling rack 18, operating board 14 and monitoring screen 15, operating board 14 and monitoring screen 15 all with
Control rack 18 to electrically connect；Information is transmitted by wireless communication mode between robot body 1 and remotely auxiliary monitoring system 21.
Wherein, telescoping mechanism 2 is for controlling robot body by freely changing between running status to non-operating state, running status
The lower each unit by nondestructive detection system 19 is put to the position being conducive to playing each unit effect.In the present embodiment, connect resistance
The telescoping mechanism 2 of rate instrument 9 is arranged on the front side of robot body 1, uses the telescoping mechanism 2 of structure shown in Fig. 5.
As shown in Figure 4: nondestructive detection system 19 also includes impact echo instrument and ultrasonoscope 6, ultrasonoscope 6 and telescoping mechanism
2 are connected.The telescoping mechanism 2 connecting impact echo instrument and ultrasonoscope 6 in the present embodiment is arranged on the front side of robot body 1,
Using the telescoping mechanism 2 of structure shown in Fig. 5, this telescoping mechanism 2 includes straight line cylinder 12 and connecting rod 13, and straight line cylinder 12 is pacified
Being contained on described robot body 1, connecting rod 13 is hinged with described straight line cylinder 12.Nondestructive detection system 19 also includes visiting ground
Radar 10, GPR 10 is connected with telescoping mechanism 2, and the telescoping mechanism 2 connecting GPR 10 is arranged on robot body
The rear side of 1, uses the telescoping mechanism 2 of structure shown in Fig. 5.Nondestructive detection system 19 also includes the first laser measuring apparatus 7, the
One laser measuring apparatus 7 is connected with telescoping mechanism 2.Nondestructive detection system 19 also includes the second laser measuring apparatus 8, the second Laser Measuring
Amount instrument 8 is connected with telescoping mechanism 2.The telescoping mechanism 2 connecting the first laser measuring apparatus 7 and the second laser measuring apparatus 8 is arranged on
In the middle part of the front side of robot body 1, all use telescoping mechanism 2 as shown in Figure 6.Nondestructive detection system 19 also includes high definition phase
Machine 11 and panorama camera 4, high definition camera 11 is all connected with telescoping mechanism 2 with panorama camera 4.Connect stretching of panorama camera 4
Contracting mechanism 2 is arranged on the top of robot body 1, uses telescoping mechanism 2 as shown in Figure 7；Connect stretching of high definition camera 11
Contracting mechanism 2 is arranged on robot body 1 top, uses telescoping mechanism 2 as shown in Figure 6.
Wheel 5, reducing gear, driving motor and supply unit are installed on robot body 1, drive motor via reducer
Structure is connected with wheel 5, supply unit and driving motor electrical connection, drives motor and described control system 20 to electrically connect.Described electricity
Source apparatus, for driving motor to power, drives the controlled system of motor 20 to control, and drives driven by motor wheel 5 to rotate, thus controls
Robot body moves.Being provided with four wheels 5 on robot body 1, wheel 5 is the directional wheel of independent driving, depends on
Realize the craspedodrome of robot body 1,45 degree of diagonals by the speed difference of each directional wheel, walk crosswise and the comprehensive fortune such as pivot stud
Dynamic.
Described control system 20 includes that navigate sensor-based system and robot body control chamber, navigation sensor-based system include global positioning system
System, gyroscope, encoder and avoidance laser radar.
Embodiment 2: as shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 9, a kind of face, road autonomous measuring robots system, including robot
Body 1 and long-range auxiliary monitoring system 21, robot body 1 is provided with control system 20, nondestructive detection system 19 and operation
Mechanism 3, operating mechanism 3 is arranged on robot body 1, and nondestructive detection system 19 is connected with operating mechanism 3, control system
20 and operating mechanism 3 electrically connect, control system 20 and nondestructive detection system 19 electrically connect；Nondestructive detection system 19 includes electricity
Resistance rate instrument 9, operating mechanism 3 includes that telescoping mechanism 2, resistivity meter 9 are connected with described telescoping mechanism 2；Remotely monitoring auxiliary system
System 21 include controlling rack 18, operating board 14 and monitoring screen 15, operating board 14 and monitoring screen 15 all with control rack
18 electrical connections；Information is transmitted by wireless communication mode between robot body 1 and remotely auxiliary monitoring system 21.
Wheel 5, reducing gear, driving motor and supply unit are installed on robot body 1, drive motor via reducer
Structure is connected with wheel 5, supply unit and driving motor electrical connection, drives motor and described control system 20 to electrically connect；Described car
Wheel 5 is Mecanum wheel.Described control system 20 includes navigate sensor-based system and robot body control chamber, and navigate sensor-based system
Including global positioning system, gyroscope, encoder and avoidance laser radar.Described telescoping mechanism 2 be straight line cylinder 12 and/or
Multi-stage expansion mechanism.
Embodiment 3: as shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 9, a kind of face, road autonomous measuring robots system, including robot
Body 1 and long-range auxiliary monitoring system 21, robot body 1 is provided with control system 20, nondestructive detection system 19 and operation
Mechanism 3, operating mechanism 3 is arranged on robot body 1, and nondestructive detection system 19 is connected with operating mechanism 3, control system
20 and operating mechanism 3 electrically connect, control system 20 and nondestructive detection system 19 electrically connect；Nondestructive detection system 19 includes electricity
Resistance rate instrument 9, operating mechanism 3 includes that telescoping mechanism 2, resistivity meter 9 are connected with described telescoping mechanism 2；Remotely monitoring auxiliary system
System 21 include controlling rack 18, operating board 14 and monitoring screen 15, operating board 14 and monitoring screen 15 all with control rack
18 electrical connections；Information is transmitted by wireless communication mode between robot body 1 and remotely auxiliary monitoring system 21.
As shown in Figure 4, nondestructive detection system 19 also includes impact echo instrument and ultrasonoscope 6, ultrasonoscope 6 and telescoping mechanism
2 are connected.Nondestructive detection system 19 also includes that GPR 10, GPR 10 are connected with telescoping mechanism 2.Non-Destructive Testing system
System 19 also includes that the first laser measuring apparatus 7, the first laser measuring apparatus 7 are connected with telescoping mechanism 2.Nondestructive detection system 19 is also
Including the second laser measuring apparatus 8, the second laser measuring apparatus 8 is connected with telescoping mechanism 2.
Wheel 5, reducing gear, driving motor and supply unit are installed on robot body 1, drive motor via reducer
Structure is connected with wheel 5, supply unit and driving motor electrical connection, drives motor and described control system 20 to electrically connect；Described car
Wheel 5 is Mecanum wheel.Described control system 20 includes navigate sensor-based system and robot body control chamber, and navigate sensor-based system
Including global positioning system, gyroscope, encoder and avoidance laser radar.Described telescoping mechanism 2 (as shown in Figure 5) includes
Straight line cylinder 12 and connecting rod 13, straight line cylinder 12 is arranged on described robot body 1, connecting rod 13 and described straight line cylinder
12 is hinged.
The information collected, for gathering the geological information on below face and road surface, is then sent out by the robot body 1 of the present invention
Give long-range auxiliary monitoring system 21, long-range auxiliary monitoring system 21 can be the form (as shown in Figure 9) of refitted car 16,
Being provided with supply unit 17 in refitted car, control rack 18, operating board 14 and monitoring screen 15, monitoring screen 15 is multi-screen
Display system, supply unit 17 powers for long-range auxiliary monitoring system 21, and the geological information detected is first sent to control
Rack 18, is then shown by monitoring screen 15, can process, by operating board 14, the geological information collected；The most remotely
Auxiliary monitoring system 21 can be used for controlling the duty of robot body, it is also possible to as the long-distance transport of robot body
And storing unit.
Embodiment 4: as shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 9, a kind of face, road autonomous measuring robots system, including robot
Body 1 and long-range auxiliary monitoring system 21, robot body 1 is provided with control system 20, nondestructive detection system 19 and operation
Mechanism 3, operating mechanism 3 is arranged on robot body 1, and nondestructive detection system 19 is connected with operating mechanism 3, control system
20 and operating mechanism 3 electrically connect, control system 20 and nondestructive detection system 19 electrically connect；Nondestructive detection system 19 includes electricity
Resistance rate instrument 9, operating mechanism 3 includes that telescoping mechanism 2, resistivity meter 9 are connected with described telescoping mechanism 2；Remotely monitoring auxiliary system
System 21 include controlling rack 18, operating board 14 and monitoring screen 15, operating board 14 and monitoring screen 15 all with control rack
18 electrical connections；Information is transmitted by wireless communication mode between robot body 1 and remotely auxiliary monitoring system 21.
As shown in Figure 4: nondestructive detection system 19 also includes impact echo instrument, ultrasonoscope 6, GPR the 10, first laser
Measuring instrument 7, high definition camera 11 and panorama camera 4, ultrasonoscope 6, GPR the 10, first laser measuring apparatus 7, high definition
Camera 11 is all connected with telescoping mechanism 2 with panorama camera 4.
Embodiment 5: use face, the road detection method of robot system of the present invention, comprise the steps:
S1: control robot body and move the position that superior self-cultivation face is specified；
S2: manually determine the key point coordinate in (passing through differential global positioning system) region to be detected；
S3: the artificial detection region setting face, road, robot body detects according to face, region shape size contexture by self road to be detected
Path；
S4: controlling robot body and move along detection path, face, described road, stopping every 0.5-10m carries out road surface and internal state
Detection, and gather road conditions information；
S5: the road conditions information according to collecting carries out real-time monitoring analysis or delays analysis.
Detecting path described in step S3 uses following method to plan: when detecting region and being rectangle, detection region, measuring channels face
Length and width；When detecting region non-rectangle, measure the key point coordinate in detection region and then simulate the shape in region to be detected
And size；Then control robot body moves along zigzag thus detection region, face, road is carried out complete detection.
Concrete, described road conditions information include each layer of pavement concrete and the corrosion condition of reinforcing bar and/or road surface thickness,
And/or the infiltration situation below road surface underbead crack and/or road surface and/or the empty situation below road surface and/or road surface
The earth's surface image on bearing capacity and/or surface evenness and macro-texture and/or pavement rutting depth and/or road surface and/
Or the road surface panorama around robot body.
The operation principle of a kind of embodiment of the present invention: first robot body is extremely detected operation initial point position by manual remote control,
Then according to the artificial detection width of roadway set and length contexture by self detection path examinations, overhaul data transmits to far
Range monitoring aid system 21 realizes the post processings such as data fusion and visualization；The control system 20 of robot body uses Industrial PC
As master control system, each function plate is modularized design, including robot body 1 and the control module of operating mechanism 3, with
And the control module of responsible Non-destructive Testing Data collection transmission；Remotely auxiliary monitoring system 21 possesses detection parameter setting and adjusts online
Whole function, possesses data visualization and Data Fusion and overall merit function, possesses remote control robot body operation
Function.
Robot body operationally, first will be carried the robot body fortune of nondestructive detection system by long-range auxiliary monitoring system 21
Transporting to operation field, then robot body moves to detect starting point, sets manually the road surface scope that must detect, machine
Human body's contexture by self detects path well.After detection job initiation, robot body is according to requirement (the motion speed of characterization processes
Degree, motion start and stop etc.) motion, the action (flexible, expansion etc.) simultaneously coordinating to control operating mechanism carries out detecting operation.?
During detection, detection data are sent to remotely monitoring auxiliary by robot body by wireless telecommunications (WIFI, 4G etc.) mode
System 21, the data of detection can be by artificial monitoring analysis in real time or delay analysis, it is possible to carried out real-time automated analysis by instrument
Or process；Meanwhile, manually can the duty of supervisory-controlled robot body in real time, control as necessary by long-range auxiliary monitoring system 21
Make it to run.
As shown in Figure 8, for entirety control cage composition of the present invention.Overall system control is mainly by being arranged on robot body
Controller two and remote monitoring platform (i.e. remotely auxiliary monitoring system 21) composition on controller one and machine on machine.Control on machine
Device one uses real time operating system, and to being derived from laser radar, GPS, inertial navigation sensor, the data of encoder are acquired and melt
Conjunction processes, and by WIFI and hand-held controller communication, on machine, controller one also is responsible for motor control and the road of robot body
Footpath planning and the control of operating mechanism.On machine, controller two uses Windows system, and main responsible each Non-destructive testing passes
The collection of sense instrument data, and by WIFI and long-range auxiliary monitoring system 21 communication.Remotely auxiliary monitoring system 21 is mainly born
The duty monitoring of robot body running status, the display of Non-destructive Testing Data and process.
As shown in Figure 10 and Figure 11, for robot body mode of operation schematic diagram.After setting detection beginning and end, machine
Device human body goes out its motion path according to area and the robot body single detectable area contexture by self in face, road to be detected, main
The all standing in face, road to be detected and robot body motion path are the shortest to want principle to be to ensure that.
Claims (10)
1. the autonomous measuring robots in face, road system, it is characterised in that include robot body (1) and remotely monitor auxiliary
System (21), robot body (1) is provided with control system (20), nondestructive detection system (19) and operating mechanism (3),
Operating mechanism (3) is arranged on robot body (1), and nondestructive detection system (19) is connected with operating mechanism (3), controls
System (20) and operating mechanism (3) electrical connection, control system (20) and nondestructive detection system (19) electrical connection；Lossless inspection
Examining system (19) includes that resistivity meter (9), operating mechanism (3) include telescoping mechanism (2), resistivity meter (9) and described
Telescoping mechanism (2) is connected；Remotely auxiliary monitoring system (21) includes controlling rack (18), operating board (14) and monitor screen
Curtain (15), operating board (14) and monitoring screen (15) all electrically connect with control rack (18)；Robot body (1) and
Remotely transmit information by wireless communication mode between auxiliary monitoring system (21).
Face, road the most according to claim 1 autonomous measuring robots system, it is characterised in that nondestructive detection system (19)
Also include impact echo instrument, ultrasonoscope (6) and GPR (10), ultrasonoscope (6), GPR (10) all with
Telescoping mechanism (2) is connected.
Face, road the most according to claim 1 autonomous measuring robots system, it is characterised in that nondestructive detection system (19)
Also include that the first laser measuring apparatus (7), the first laser measuring apparatus (7) are connected with telescoping mechanism (2).
Face, road the most according to claim 3 autonomous measuring robots system, it is characterised in that nondestructive detection system (19)
Also include that the second laser measuring apparatus (8), the second laser measuring apparatus (8) are connected with telescoping mechanism (2).
Face, road the most according to claim 1 autonomous measuring robots system, it is characterised in that nondestructive detection system (19)
Also include high definition camera (11) and panorama camera (4), high definition camera (11) and panorama camera (4) all with telescoping mechanism (2)
It is connected.
6. according to face, the road autonomous measuring robots system described in any one of claim 1 to 5, it is characterised in that robot is originally
Wheel (5), reducing gear, driving motor and supply unit are installed on body (1), drive motor via reducer structure and wheel
(5) it is connected, supply unit and driving motor electrical connection, drive motor and described control system (20) electrical connection；Described wheel
(5) it is the independent directional wheel driven, preferably Mecanum wheel.
Face, road the most according to claim 6 autonomous measuring robots system, it is characterised in that described control system (20)
Including navigation sensor-based system and robot body control chamber, navigation sensor-based system includes global positioning system, gyroscope, encoder
With avoidance laser radar.
Face, road the most according to claim 7 autonomous measuring robots system, it is characterised in that described telescoping mechanism (2)
It is straight line cylinder (12) and/or multi-stage expansion mechanism；Or described telescoping mechanism (2) is by straight line cylinder (12) and connecting rod (13)
Constituting, straight line cylinder (12) is installed on described robot body (1), and connecting rod (13) is hinged with straight line cylinder (12).
9. use face, the road detection method of robot system described in any one of claim 1-8, it is characterised in that include following step
Rapid:
S1: control robot body and move the position that superior self-cultivation face is specified；
S2: manually determine the key point coordinate in region to be detected；
S3: the artificial detection region setting face, road, robot body detects according to face, region shape size contexture by self road to be detected
Path；
S4: controlling robot body and move along detection path, face, described road, stopping every 0.5-10m carries out road surface and internal state
Detection, and gather road conditions information；
S5: the road conditions information according to collecting carries out real-time monitoring analysis or delays analysis.
Face, road the most according to claim 9 detection method, it is characterised in that described step S3 is particularly as follows: measuring channels face
The length in detection region and wide or key point coordinate and then simulate the shape and size in region to be detected, control robot body along S
Shape route moves thus detection region, face, road is carried out complete detection；Described road conditions information includes pavement concrete and reinforcing bar
Infiltration situation below the thickness of each layer of corrosion condition and/or road surface and/or road surface underbead crack and/or road surface and/or
Empty situation below road surface and/or the bearing capacity on road surface and/or surface evenness and macro-texture and/or pavement track
Road surface panorama around the earth's surface image on the degree of depth and/or road surface and/or robot body.
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| CN201610345810.XA CN105926419A (en) | 2016-05-23 | 2016-05-23 | Automatic detection robot system and detection method for road surface |
| DE212017000120.8U DE212017000120U1 (en) | 2016-05-23 | 2017-05-23 | Autonomous intelligent roadway tester and robotic system |
| PCT/CN2017/085444 WO2017202284A1 (en) | 2016-05-23 | 2017-05-23 | Pavement autonomous detection intelligent apparatus, robot system and detection method |
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| CN201610345810.XA CN105926419A (en) | 2016-05-23 | 2016-05-23 | Automatic detection robot system and detection method for road surface |
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