CN105951569B - Independently detect robot system and detection method in crawler type road face - Google Patents

Independently detect robot system and detection method in crawler type road face Download PDF

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Publication number
CN105951569B
CN105951569B CN201610347309.7A CN201610347309A CN105951569B CN 105951569 B CN105951569 B CN 105951569B CN 201610347309 A CN201610347309 A CN 201610347309A CN 105951569 B CN105951569 B CN 105951569B
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China
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detection
road
robot
control
telescoping
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CN201610347309.7A
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Chinese (zh)
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CN105951569A (en
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桂仲成
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桂仲成
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Priority to CN201610347309.7A priority Critical patent/CN105951569B/en
Publication of CN105951569A publication Critical patent/CN105951569A/en
Priority claimed from PCT/CN2017/085444 external-priority patent/WO2017202284A1/en
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Publication of CN105951569B publication Critical patent/CN105951569B/en

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    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01CCONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/01Devices 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
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N15/00Investigating characteristics of particles; Investigating permeability, pore-volume, or surface-area of porous materials
    • G01N15/08Investigating permeability, pore-volume, or surface area of porous materials
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N17/00Investigating resistance of materials to the weather, to corrosion, or to light

Abstract

The invention discloses a kind of crawler type road faces independently to detect robot system, including caterpillar type robot and long-range auxiliary monitoring system, information is transmitted by wireless communication mode between caterpillar type robot and long-range auxiliary monitoring system, caterpillar type robot is equipped with control system, nondestructive detection system and operating mechanism, operating mechanism is mounted on caterpillar type robot, nondestructive detection system is connected with operating mechanism, control system and operating mechanism electrical connection, control system and nondestructive detection system electrical connection;Nondestructive detection system includes resistivity meter, and operating mechanism includes telescoping mechanism, and resistivity meter is connected with the telescoping mechanism.The invention also discloses a kind of road face detection methods.Intellectualized detection can be realized using robot system of the invention, due to being not necessarily to pilot steering, improve the accuracy of detection safety and detection data;A variety of non-destructive testing sensors are integrated in one, can disposably realize the comprehensive assessment of road surface and its internal state, detection efficiency is substantially improved, and decreases the influence to road.

Description

Independently detect robot system and detection method in crawler type road face

Technical field

The present invention relates to road face detection device and methods, independently detect system of robot more particularly to a kind of crawler type road face System and detection method.

Background technique

After highway is built up, in order to guarantee current safety and efficiency, periodic inspection is needed to conserve.With Chinese high The increase of the rapid growth, the road service time limit of fast mileage in highway open to traffic, highway entered construction with maintenance lay equal stress on when Phase, more than the 10000 kilometers of highways built up before 2000 enter overhaul time, more than 50,000 built up before the end of the year 2008 comprehensively Kilometer highway also generally enters the normal maintenance curing period after defects liability period, and maintenance industry entirety staff size increases fast Speed.As Ministry of Communications's " 12 highway maintenance management development outline " promotes medium-capital overhauling ratio to 17% by 13%, ratio is mentioned The highway for needing to receive medium-capital overhauling maintenance close to 30%, 2015 year is risen just close to 1.3 ten thousand kilometers.

Highway Maintenance includes roadbed maintenance, maintenance of surface, bridges and culverts maintenance, channel maintenance, tunnel maintenance, identifier marking Maintenance, house maintenance, electromechanical facility maintenance etc., wherein maintenance of surface is the important content of Highway Maintenance.Maintenance of surface Premise be road pavement situation detection and assessment.Currently, pavement behavior check and evaluation is mainly manually estimated, this is mainly by warp It tests, detection accuracy is poor.Alternative is detected using artificial instrument of holding, this gets well than estimating data accuracy, but there is also The problem of following several respects: first is that influence of the collected by hand data vulnerable to manual operation mistake, data accuracy cannot ensure, And personal safety cannot ensure;Second is that the rate of artificial detection is low, a large amount of manpower, large labor intensity and low efficiency are needed Under, detection time is long, influences traffic efficiency;Third is that artificial detection can only be single instrument, a kind of defect can only be once detected, no Energy road pavement situation is fully assessed.

Therefore, in conjunction with the development of modern science and technology, provide it is a kind of can road pavement situation carry out comprehensive detection and assessment Automated system seems particularly necessary.Having had at present can be to the multifunctional examining measuring car that road surface condition is detected, can With instant collection (real time position, surface evenness, texture, the road surface vehicle of the information material on highway and ordinary highway Rut situation, road geometry data, global positioning system, road landscape and image of pavement distress etc.), and carry out computer Immediately and processing is delayed.But the shortcomings that the type detection vehicle is that there is still a need for manual control and artificial judgments, is not able to satisfy certain A little requirements (as at a certain distance if stop) of the characterization processes to motion control, cannot independently detect and melt to data It closes and then assesses automatically, and the situation of road surface can only be detected, road surface situation below cannot be detected.

Summary of the invention

The object of the present invention is to provide a kind of crawler type road faces independently to detect robot system, using automation formula Design concept acquires road condition information by robot, can greatly improve detection efficiency, and examination criteria is identical, Data accuracy is higher.The present invention additionally provides a kind of road face detection method simultaneously, is carried out by control system to robot real When control, can be improved detection efficiency and testing result accuracy.

In order to solve the above technical problems, the present invention adopts the following technical scheme that:

Robot system, including caterpillar type robot and long-range auxiliary monitoring system are independently detected in a kind of crawler type road face, Caterpillar type robot is equipped with control system, nondestructive detection system and operating mechanism, and operating mechanism is mounted on caterpillar type robot On, nondestructive detection system is connected with operating mechanism, control system and operating mechanism electrical connection, control system and nondestructive detection system Electrical connection;Nondestructive detection system includes resistivity meter, and operating mechanism includes telescoping mechanism, resistivity meter and the telescoping mechanism phase Even;Long-range auxiliary monitoring system includes control cabinet, station and monitoring screen, and station and monitoring screen are and control cabinet Electrical connection;Information is transmitted by wireless communication mode between caterpillar type robot and long-range auxiliary monitoring system.Wherein, resistivity Instrument is used to detect the corrosion condition of pavement concrete and reinforcing bar, and telescoping mechanism is used to control the form of resistivity meter.It is non-to use shape Under state, telescoping mechanism is in contraction state, on the one hand can reduce whole occupied space, is on the other hand also possible to prevent resistance Rate instrument is damaged due to collision;Under use state, resistivity meter can be moved to specified position by telescoping mechanism, and be put At specified angle, in order to improve the detection data accuracy of resistivity meter.Long-range auxiliary monitoring system has long-range control Function, collected detection data can be sent to exterior display device, for robot operating status monitoring and must To the storage of the manual intervention of robot motion (mobile platform and the start and stop of operating mechanism etc.) and Non-destructive Testing Data when wanting And processing.

In order to improve the detection efficiency of robot system, nondestructive detection system further includes impact echo instrument and ultrasonic wave Instrument, ultrasonoscope are connected with telescoping mechanism.Wherein, impact echo instrument is for detecting road surface inner transverse crackle;Ultrasonoscope produces Raw ultrasonic wave has stronger penetration capacity, is able to detect road surface geological condition below, provides reference for comprehensive analysis.Nothing Damaging detection system further includes Ground Penetrating Radar, and Ground Penetrating Radar is connected with telescoping mechanism.Wherein, Ground Penetrating Radar is for detecting inside road surface Impaired condition.Nondestructive detection system further includes first laser measuring instrument, and first laser measuring instrument is connected with telescoping mechanism.Wherein, First laser measuring instrument is for detecting surface evenness and macro-texture.Nondestructive detection system further includes second laser measuring instrument, Second laser measuring instrument is connected with telescoping mechanism.Wherein, second laser measuring instrument is for detecting pavement rutting depth.Non-destructive testing System further includes high definition camera and panorama camera, and high definition camera is connected with telescoping mechanism with panorama camera.Robot of the present invention The a variety of non-destructive testing sensors of the system integration can disposably realize the comprehensive assessment of road surface (including inside) situation, be in one Assessment pavement behavior offer is a variety of to can refer to data, and detection efficiency is substantially improved, and decreases the shadow to road It rings.

By using telescoping mechanism, in robot inoperative, each element of nondestructive detection system is all placed in robot In vivo, prevent each element from abrasion, collision, damage occurs, to improve the service life of equipment.

As one of embodiment, crawler belt, deceleration mechanism, driving motor and electricity are installed on caterpillar type robot Source device, driving motor are connected by deceleration mechanism with crawler belt, and power supply device and driving motor are electrically connected, driving motor and described Control system electrical connection.

The control system includes navigation sensor-based system and robot control cabinet, and navigation sensor-based system includes global positioning system System, gyroscope, encoder and avoidance laser radar.Using based on global positioning system, gyroscope, encoder and avoidance laser It marks the position of the navigation scheme of radar Multi-Sensor Data Fusion, the high-precision navigation and detection data that realize outdoor Centimeter Level It is fixed, the accuracy of detection can be greatlyd improve.

Wherein, the telescoping mechanism is straight line cylinder and/or multi-stage expansion mechanism.In order to make robot system structure more Step up to gather, the telescoping mechanism can also use another form of structure, i.e., be made of straight line cylinder and connecting rod, straight line cylinder It is mounted on the caterpillar type robot, connecting rod and the straight line cylinder are hinged.

The invention also discloses a kind of road face detection methods, include the following steps:

S1: control caterpillar type robot is moved to the specified position in face;

S2: the artificial key point coordinate for determining and (use prior art means, such as differential global positioning system) area to be tested, And set the detection zone in face;

S3: caterpillar type robot detects path according to area to be tested geomery contexture by self road face;

S4: control caterpillar type robot is moved along road face detection path, is stopped every 0.5-10m and is carried out road surface and interior Portion's condition detection, and acquire road conditions information;

S5: it collected road conditions information is sent to long-range auxiliary monitoring system carries out real time monitoring and analysis or delay Analysis.

It is planned using following methods in detection path described in step S3: the length of measuring channels face detection zone and wide (rectangle Road surface) or key point coordinate and then the shape and size (non-rectangle road surface) of area to be tested are fitted, control crawler frame People moves to carry out complete detection to road face detection zone along zigzag.It is described that complete detection is carried out to road face detection zone Refer to, caterpillar type robot moves line by line along the length of measuring channels face detection zone or wide direction, and the robot that moves forward every time The detection width of single, so that road pavement carries out complete detection (diagram is see Figure 10).

Road conditions information described above includes the thickness of each layer of corrosion condition, and/or road surface of pavement concrete and reinforcing bar Degree, and/or road surface underbead crack, and/or road surface infiltration situation below, and/or road surface empty situation below, and/or road The earth's surface image on the bearing capacity, and/or surface evenness and macro-texture, and/or pavement rutting depth in face, and/or road surface, And/or the road surface panorama around caterpillar type robot.

Compared with prior art, advantages of the present invention is as follows:

1, crawler type road face of the invention is independently detected robot system and is led using crawler-type mobile platform, high-precision outdoor Boat system, integrated form nondestructive detection system and multi-data fusion system, it can be achieved that road surface and its internal state autonomous efficient inspection It surveys, detection efficiency, economy and safety are substantially improved, and overall system performance is good;

2, the present invention, can contexture by self detection road using the control mode of " macroscopical remote control, microcosmic autonomous, long-range monitoring " Diameter, examinations operation have detection parameters setting and on-line tuning function;Robot working environment is realized using panorama camera And condition monitoring, complete the necessary manual intervention of starting point macrotechnique and detection process before detecting;Has macro and micro detection Monitoring and autonomous operation function, realize intellectualized detection, simultaneously because being not necessarily to pilot steering, improve detection safety;

3, the present invention uses the navigation side based on GPS, gyroscope, encoder and laser radar Multi-Sensor Data Fusion Case realizes the location position of the high-precision navigation and detection data of outdoor Centimeter Level, greatly improves the standard of detection data True property;

4, the present invention integrates a variety of non-destructive testing sensors in one, can disposably realize road surface (including inside) situation It fully assesses, detection efficiency is substantially improved, and decreases the influence to road;

5, the present invention realizes automatically analyzing and merging for detection data, and testing result is intuitively visual, and detection efficiency is substantially It is promoted, and can realize the long-term dynamics detection of road condition, can realize more proactive maintenance maintenance on this basis;

6, operation of the present invention mechanism needs custom design according to characterization processes, it is ensured that detection effect improves detection Accuracy;

7, mobile platform of the present invention is using double caterpillar belt structures, can pivot stud, the adaptability of road pavement situation is good, Ke Yishi A variety of different road surfaces are answered, the scope of application of the robot is extended.

8, robot system is independently detected also in crawler type road of the present invention face can be used multirobot collaborative work mould Formula can further promote detection efficiency.

Detailed description of the invention

Fig. 1 is a kind of operating status structural schematic diagram of embodiment of caterpillar type robot;

Fig. 2 is the structural schematic diagram of caterpillar type robot non-operating state;

Fig. 3 is basic control principle schematic diagram of the invention;

Fig. 4 is a kind of arrangement schematic diagram of embodiment of nondestructive detection system;

Fig. 5 is a kind of structural schematic diagram of embodiment of telescoping mechanism;

Fig. 6 is the structural schematic diagram of telescoping mechanism another kind embodiment;

Fig. 7 is the structural schematic diagram of telescoping mechanism another embodiment;

Fig. 8 is a kind of control architecture diagram of embodiment of the invention;

Fig. 9 is the robot system overall schematic containing long-range auxiliary monitoring system configuration diagram;

Figure 10 is caterpillar type robot operating mode schematic diagram.

Appended drawing reference: 1- caterpillar type robot, 2- telescoping mechanism, 3- operating mechanism, 4- panorama camera, 5- crawler belt, 6- are super Sonic apparatus, 7- first laser measuring instrument, 8- second laser measuring instrument, 9- resistivity meter, 10- Ground Penetrating Radar, 11- high definition camera, 12- straight line cylinder, 13- connecting rod, 14- station, 15- monitoring screen, 16- refitted car, 17- power supply device, 18- control cabinet, 19- nondestructive detection system, 20- control system, the long-range auxiliary monitoring system of 21-.

The present invention is further illustrated with reference to the accompanying drawings and detailed description.

Specific embodiment

The embodiment of the present invention 1: shown in as shown in Figure 1, Figure 2, Fig. 3 and Fig. 9, system of robot is independently detected in a kind of crawler type road face System, including caterpillar type robot 1 and long-range auxiliary monitoring system 21, caterpillar type robot 1 are equipped with control system 20, lossless inspection Examining system 19 and operating mechanism 3, operating mechanism 3 are mounted on caterpillar type robot 1, nondestructive detection system 19 and operating mechanism 3 It is connected, control system 20 and operating mechanism 3 are electrically connected, and control system 20 and nondestructive detection system 19 are electrically connected;Non-destructive testing system System 19 includes resistivity meter 9, and operating mechanism 3 includes telescoping mechanism 2, and resistivity meter 9 is connected with the telescoping mechanism 2;Long-range prison Controlling auxiliary system 21 includes control cabinet 18, station 14 and monitoring screen 15, and station 14 and monitoring screen 15 are and control Cabinet 18 is electrically connected;Information is transmitted by wireless communication mode between caterpillar type robot 1 and long-range auxiliary monitoring system 21.Its In, telescoping mechanism 2 is for controlling caterpillar type robot by operating status to freely converting between non-operating state, operating status The lower each unit by nondestructive detection system 19 is placed into the position for being conducive to play each unit effect.In the present embodiment, connection electricity The telescoping mechanism 2 of resistance rate instrument 9 is mounted on the front side of caterpillar type robot 1, using the telescoping mechanism 2 of structure shown in Fig. 5.

As shown in Figure 4: nondestructive detection system 19 further includes impact echo instrument and ultrasonoscope 6, ultrasonoscope 6 and telescopic machine Structure 2 is connected.Before the telescoping mechanism 2 of connection impact echo instrument and ultrasonoscope 6 is mounted on caterpillar type robot 1 in the present embodiment Side, 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 On the caterpillar type robot 1, connecting rod 13 and the straight line cylinder 12 are hinged.Nondestructive detection system 19 further includes visiting land mine Up to 10, Ground Penetrating Radar 10 is connected with telescoping mechanism 2, and the telescoping mechanism 2 of connection Ground Penetrating Radar 10 is mounted on caterpillar type robot 1 Rear side, using the telescoping mechanism 2 of structure shown in Fig. 5.Nondestructive detection system 19 further includes first laser measuring instrument 7, first laser Measuring instrument 7 is connected with telescoping mechanism 2.Nondestructive detection system 19 further includes second laser measuring instrument 8,8 He of second laser measuring instrument Telescoping mechanism 2 is connected.The telescoping mechanism 2 of connection first laser measuring instrument 7 and second laser measuring instrument 8 is mounted on crawler frame In the middle part of the front side of people 1, it is all made of telescoping mechanism 2 as shown in FIG. 6.Nondestructive detection system 19 further includes high definition camera 11 and panorama Camera 4, high definition camera 11 and panorama camera 4 are connected with telescoping mechanism 2.The telescoping mechanism 2 of connection panorama camera 4 is mounted on shoe The top of belt robot 1, using telescoping mechanism 2 as shown in Figure 7;The telescoping mechanism 2 of connection high definition camera 11 is mounted on shoe 1 top of belt robot, using telescoping mechanism 2 as shown in FIG. 6.

Crawler belt 5, deceleration mechanism, driving motor and power supply device are installed, driving motor is by subtracting on caterpillar type robot 1 Fast mechanism is connected with crawler belt 5, and power supply device and driving motor electrical connection, driving motor and the control system 20 are electrically connected.Institute Power supply device is stated as driving motor power supply, driving motor is controlled by control system 20, and driving motor drives crawler belt 5 to move, thus Control caterpillar type robot movement.

The control system 20 includes navigation sensor-based system and robot control cabinet, and navigation sensor-based system includes global location System, gyroscope, encoder and avoidance laser radar.

Embodiment 2: shown in as shown in Figure 1, Figure 2, Fig. 3 and Fig. 9, robot system is independently detected in a kind of crawler type road face, including Caterpillar type robot 1 and long-range auxiliary monitoring system 21, caterpillar type robot 1 are equipped with control system 20, nondestructive detection system 19 and operating mechanism 3, operating mechanism 3 be mounted on caterpillar type robot 1, nondestructive detection system 19 is connected with operating mechanism 3, control System 20 processed and operating mechanism 3 are electrically connected, and control system 20 and nondestructive detection system 19 are electrically connected;Nondestructive detection system 19 includes Resistivity meter 9, operating mechanism 3 include telescoping mechanism 2, and resistivity meter 9 is connected with the telescoping mechanism 2;Long-range monitoring auxiliary system System 21 includes control cabinet 18, station 14 and monitoring screen 15, and station 14 and monitoring screen 15 are electric with control cabinet 18 Connection;Information is transmitted by wireless communication mode between caterpillar type robot 1 and long-range auxiliary monitoring system 21.

Crawler belt 5, deceleration mechanism, driving motor and power supply device are installed, driving motor is by subtracting on caterpillar type robot 1 Fast mechanism is connected with crawler belt 5, and power supply device and driving motor electrical connection, driving motor and the control system 20 are electrically connected.Institute Stating control system 20 includes navigation sensor-based system and robot control cabinet, and navigation sensor-based system includes global positioning system, gyro Instrument, encoder and avoidance laser radar.The telescoping mechanism 2 is straight line cylinder 12 and/or multi-stage expansion mechanism.

Embodiment 3: shown in as shown in Figure 1, Figure 2, Fig. 3 and Fig. 9, robot system is independently detected in a kind of crawler type road face, including Caterpillar type robot 1 and long-range auxiliary monitoring system 21, caterpillar type robot 1 are equipped with control system 20, nondestructive detection system 19 and operating mechanism 3, operating mechanism 3 be mounted on caterpillar type robot 1, nondestructive detection system 19 is connected with operating mechanism 3, control System 20 processed and operating mechanism 3 are electrically connected, and control system 20 and nondestructive detection system 19 are electrically connected;Nondestructive detection system 19 includes Resistivity meter 9, operating mechanism 3 include telescoping mechanism 2, and resistivity meter 9 is connected with the telescoping mechanism 2;Long-range monitoring auxiliary system System 21 includes control cabinet 18, station 14 and monitoring screen 15, and station 14 and monitoring screen 15 are electric with control cabinet 18 Connection;Information is transmitted by wireless communication mode between caterpillar type robot 1 and long-range auxiliary monitoring system 21.

As shown in figure 4, nondestructive detection system 19 further includes impact echo instrument and ultrasonoscope 6, ultrasonoscope 6 and telescopic machine Structure 2 is connected.Nondestructive detection system 19 further includes Ground Penetrating Radar 10, and Ground Penetrating Radar 10 is connected with telescoping mechanism 2.Nondestructive detection system 19 further include first laser measuring instrument 7, and first laser measuring instrument 7 is connected with telescoping mechanism 2.Nondestructive detection system 19 further includes Dual-laser measuring instrument 8, second laser measuring instrument 8 are connected with telescoping mechanism 2.

Crawler belt 5, deceleration mechanism, driving motor and power supply device are installed, driving motor is by subtracting on caterpillar type robot 1 Fast mechanism is connected with crawler belt 5, and power supply device and driving motor electrical connection, driving motor and the control system 20 are electrically connected.Institute Stating control system 20 includes navigation sensor-based system and robot control cabinet, and navigation sensor-based system includes global positioning system, gyro Instrument, encoder and avoidance laser radar.The telescoping mechanism 2 (as shown in Figure 5) includes straight line cylinder 12 and connecting rod 13, straight line gas Cylinder 12 is mounted on the caterpillar type robot 1, and connecting rod 13 and the straight line cylinder 12 are hinged.

Then caterpillar type robot 1 of the invention will be collected for acquiring face and road surface geological information below Information be sent to long-range auxiliary monitoring system 21, long-range auxiliary monitoring system 21 can be the form of refitted car 16 (such as Fig. 9 institute Show), power supply device 17, control cabinet 18, station 14 and monitoring screen 15 are equipped in refitted car, monitoring screen 15 is multi-screen Display system, for power supply device 17 for the power supply of long-range auxiliary monitoring system 21, the geological information detected is first sent to control Then cabinet 18 is shown by monitoring screen 15, can handle collected geological information by station 14;Long-range prison simultaneously Control auxiliary system 21 can be used for the working condition of control robot, be also used as long-distance transport and the storage dress of robot It sets.

Embodiment 4: using the road face detection method of robot system of the present invention, include the following steps:

S1: control caterpillar type robot is moved to the specified position in face;

S2: the artificial key point coordinate for determining (passing through differential global positioning system) area to be tested, and set the detection zone in face Domain;

S3: caterpillar type robot detects path according to area to be tested geomery contexture by self road face;

S4: control caterpillar type robot is moved along road face detection path, is stopped every 0.5-10m and is carried out road surface and interior Portion's condition detection, and acquire road conditions information;

S5: it collected road conditions information is sent to long-range auxiliary monitoring system carries out real time monitoring and analysis or delay Analysis.

Detection path described in step S3 uses following methods to be planned: when detection zone is rectangle, the inspection of measuring channels face Survey the length and width in region;When detection zone is non-rectangle, measures the key point coordinate of detection zone and then fit area to be detected The shape and size in domain;Then control caterpillar type robot moves to examine road face detection zone comprehensively along zigzag It surveys.

Wherein, the road conditions information includes the thickness of each layer of corrosion condition, and/or road surface of pavement concrete and reinforcing bar Degree, and/or road surface underbead crack, and/or road surface infiltration situation below, and/or road surface empty situation below, and/or road The earth's surface image on the bearing capacity, and/or surface evenness and macro-texture, and/or pavement rutting depth in face, and/or road surface, And/or the road surface panorama around caterpillar type robot.

A kind of working principle of embodiment of the invention: caterpillar type robot is first by manual remote control to detection operation starting Then number is overhauled according to detection width of roadway and length contexture by self the detection path manually set and examinations in point position The post-processing such as data fusion and visualization are realized according to long-range auxiliary monitoring system 21 is transmitted to;The control system of caterpillar type robot 20 use Industrial PC as master control system, and each function plate is modularized design, including caterpillar type robot 1 and operating mechanism 3 Control module and responsible Non-destructive Testing Data acquisition transmission control module;Long-range auxiliary monitoring system 21 has detection Parameter setting and on-line tuning function have data visualization and Data Fusion and overall merit function, have long-range control The function of robot manipulating task processed.

Caterpillar type robot at work, will be carried the crawler belt of nondestructive detection system by long-range auxiliary monitoring system 21 first Formula robotic conveyance is to operation field, and then robot motion sets manually the road surface model that must be detected to detection starting point It encloses, robot autonomous plan detects path.After detecting job initiation, robot (moves speed according to the requirement of characterization processes Degree, movement start and stop etc.) movement, while the movement (flexible, expansion etc.) of coordinated control operating mechanism carries out detection operation.It is detecting In the process, caterpillar type robot will test data by wireless telecommunications (WIFI, 4G etc.) mode and be sent to long-range monitoring auxiliary system The data of system 21, detection can also carry out real-time automated analysis by instrument by manually monitoring analysis in real time or delaying analysis Or processing;Meanwhile can manually monitor the working condition of robot in real time, machine is controlled as necessary by long-range auxiliary monitoring system 21 The operation of device people.

As shown in figure 8, controlling architecture diagram for the present invention is whole.Overall system control is mainly by being arranged in caterpillar type robot On machine on controller two and remote monitoring platform (i.e. long-range auxiliary monitoring system 21) composition on controller one and machine.On machine Controller one use real time operating system, to be originated from laser radar, GPS, inertial navigation sensor, encoder data be acquired and Fusion treatment is communicated by WIFI and hand-held controller, and controller one is also responsible for the motion control of caterpillar type robot on machine With the control of path planning and operating mechanism.Controller two uses Windows system on machine, is mainly responsible for the lossless inspection in each road surface The acquisition of sensor apparatus data is surveyed, and is communicated by WIFI and long-range auxiliary monitoring system 21.Long-range auxiliary monitoring system 21 is main It is responsible for the monitoring of caterpillar type robot operating status, the display of Non-destructive Testing Data and processing.

It as shown in Figure 10, is caterpillar type robot operating mode schematic diagram.In the detection starting point and end for setting robot After point, robot goes out its motion path according to the detectable area contexture by self of area and robot single in road face to be detected, Main principle is to guarantee that all standing in road face to be detected and robot motion path are most short.

Claims (5)

1. robot system is independently detected in a kind of crawler type road face, which is characterized in that including caterpillar type robot (1) and long-range prison It controls auxiliary system (21), caterpillar type robot (1) is equipped with control system (20), nondestructive detection system (19) and operating mechanism (3), operating mechanism (3) is mounted on caterpillar type robot (1), and nondestructive detection system (19) is connected with operating mechanism (3), control System (20) and operating mechanism (3) electrical connection, control system (20) and nondestructive detection system (19) electrical connection;Nondestructive detection system It (19) include resistivity meter (9), operating mechanism (3) includes telescoping mechanism (2), resistivity meter (9) and the telescoping mechanism (2) phase Even;Long-range auxiliary monitoring system (21) includes control cabinet (18), station (14) and monitoring screen (15), station (14) and Monitoring screen (15) is electrically connected with control cabinet (18);Between caterpillar type robot (1) and long-range auxiliary monitoring system (21) Information is transmitted by wireless communication mode;Nondestructive detection system (19) further includes impact echo instrument, ultrasonoscope (6) and spy land mine Up to (10), ultrasonoscope (6), Ground Penetrating Radar (10) are connected with telescoping mechanism (2);Nondestructive detection system (19) further includes first Laser measuring apparatus (7), first laser measuring instrument (7) are connected with telescoping mechanism (2);Nondestructive detection system (19) further includes second sharp Optical measuring instrument (8), second laser measuring instrument (8) are connected with telescoping mechanism (2);Nondestructive detection system (19) further includes high definition camera (11) it is connected with telescoping mechanism (2) with panorama camera (4), high definition camera (11) with panorama camera (4);Resistivity meter (9) is used In the corrosion condition of detection pavement concrete and reinforcing bar, impact echo instrument is for detecting road surface inner transverse crackle, ultrasonoscope (6) for detecting road surface geological condition below, Ground Penetrating Radar (10) is surveyed for detecting impaired condition inside road surface, first laser Amount instrument (7) is for detecting surface evenness and macro-texture, and second laser measuring instrument (8) is for detecting pavement rutting depth;
The control system (20) includes navigation sensor-based system and robot control cabinet, and navigation sensor-based system includes global positioning system System, gyroscope, encoder and avoidance laser radar.
2. robot system is independently detected in crawler type road according to claim 1 face, which is characterized in that caterpillar type robot (1) crawler belt (5), deceleration mechanism, driving motor and power supply device are installed, driving motor passes through deceleration mechanism and crawler belt (5) on It is connected, power supply device and driving motor electrical connection, driving motor and the control system (20) are electrically connected.
3. robot system is independently detected in crawler type road according to claim 2 face, which is characterized in that the telescoping mechanism It (2) is straight line cylinder (12) and/or multi-stage expansion mechanism;Or the telescoping mechanism (2) is by straight line cylinder (12) and connecting rod (13) it constitutes, straight line cylinder (12) is installed on the caterpillar type robot (1), and connecting rod (13) and the straight line cylinder (12) are cut with scissors It connects.
4. using the road face detection method of any one of the claim 1-3 robot system, which is characterized in that including following steps It is rapid:
S1: control caterpillar type robot is moved to the specified position in face;
S2: the artificial key point coordinate for determining area to be tested, and set the detection zone in face;
S3: caterpillar type robot detects path according to area to be tested geomery contexture by self road face;
S4: control caterpillar type robot is moved along road face detection path, is stopped every 0.5-10m and is carried out road surface and internal shape Condition detection, and acquire road conditions information;
S5: collected road conditions information is sent to long-range auxiliary monitoring system and carries out real time monitoring analysis or delays point Analysis.
5. road face according to claim 4 detection method, which is characterized in that the step S3 specifically: the inspection of measuring channels face The length and wide or key point coordinate of surveying region fit the shape and size of area to be tested in turn, control caterpillar type robot edge Zigzag is mobile to carry out complete detection to road face detection zone.
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