CN106737554A - A kind of autonomous type road Non-Destructive Testing robot system - Google Patents
A kind of autonomous type road Non-Destructive Testing robot system Download PDFInfo
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- CN106737554A CN106737554A CN201710043647.6A CN201710043647A CN106737554A CN 106737554 A CN106737554 A CN 106737554A CN 201710043647 A CN201710043647 A CN 201710043647A CN 106737554 A CN106737554 A CN 106737554A
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- 238000009659 non-destructive testing Methods 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 claims abstract description 38
- 238000012360 testing method Methods 0.000 claims abstract description 30
- 238000012806 monitoring device Methods 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims description 52
- 230000008878 coupling Effects 0.000 claims description 26
- 238000010168 coupling process Methods 0.000 claims description 26
- 238000005859 coupling reaction Methods 0.000 claims description 26
- 229920001971 elastomer Polymers 0.000 claims description 18
- 230000007613 environmental effect Effects 0.000 claims description 18
- 239000005060 rubber Substances 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 16
- 239000000725 suspension Substances 0.000 claims description 13
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000005516 engineering process Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000000368 destabilizing effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000007405 data analysis Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of autonomous type road Non-Destructive Testing robot system, including a kind of autonomous type road Non-Destructive Testing robot system, including robot main body system, control system, long distance control system, long distance control system and robot main body system and control system wireless connection, robot main body system is electrically connected with control system, robot main body system includes vehicular platform, testing agency and monitoring device, and testing agency is arranged on the front end side of vehicular platform or rear end side.Not only detection efficient is high for the present invention, and the degree of accuracy of testing result is high, and reduces the labour intensity of staff, can effective guarantee staff personal safety, the present invention can be prevented effectively from the destabilizing factor of manual detection mode, improve accuracy of detection, shorten detection time.
Description
Technical field
The present invention relates to a kind of robot device, particularly a kind of autonomous type road Non-Destructive Testing robot system.
Background technology
At present, pavement behavior check and evaluation mainly uses artificial range estimation, or the hand-held detecting instrument of staff side
Formula road pavement is detected, and both detection modes are very high to the skill requirement of staff, and the degree of accuracy for detecting
Than relatively low, detection efficiency is low, and not only working strength is high for the detection mode of the hand-held detector of staff, and staff people
Body cannot also be ensured safely.
Accordingly, it is desirable to provide a kind of efficiency high, the degree of accuracy new detection pattern high, to reduce working strength, so as to change
The working environment of kind staff.
The content of the invention
It is an object of the present invention to provide a kind of autonomous type road Non-Destructive Testing robot system, the device is not only detected
Efficiency high, the degree of accuracy of testing result is high, and reduces the labour intensity of staff, can effective guarantee staff people
Body safety.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：A kind of autonomous type road Non-Destructive Testing machine
Device people's system, including robot main body system, control system, long distance control system, long distance control system and robot body system
System and control system wireless connection, robot main body system are electrically connected with control system, and robot main body system includes vehicle-mounted flat
Platform, testing agency and monitoring device, testing agency are arranged on the front end side of vehicular platform or rear end side.
Heretofore described control system includes hardware module, navigation module, sensing module and Data Analysis Services mould
The functional modules such as block, are realized to testing agency by hardware module, navigation module, sensing module and data analysis and processing module
With the control of monitoring device so that controllable testing agency carries out Non-Destructive Testing to road, control vehicular platform path planning with
Operation, processing detection data simultaneously communicate with long distance control system.
In a kind of foregoing autonomous type road Non-Destructive Testing robot system, the monitoring device includes being arranged at vehicle-mounted putting down
The first telescoping mechanism and the second telescoping mechanism on platform, the first telescoping mechanism are provided with environmental monitor, the environment in the present invention
Monitor uses panorama camera, and image-pickup device, image-pickup device in the present invention are provided with the second telescoping mechanism
Use high definition camera.
In a kind of foregoing autonomous type road Non-Destructive Testing robot system, the monitoring device includes being arranged at vehicle-mounted putting down
4 cameras and the second telescoping mechanism on platform, 4 cameras are arranged on the different azimuth face of vehicular platform, each shooting
The image in single orientation that head is obtained synthesizes a complete image by image composing technique.4 cameras are pacified respectively
On the azimuth plane of front, rear, left and right four loaded on vehicular platform, the imagery exploitation image composing technique of 4 camera intakes is spelled
It is combined, is capable of achieving the real time panoramic monitoring of working environment, is easy to staff to find the situation of influence detection work in time.
In a kind of foregoing autonomous type road Non-Destructive Testing robot system, train suspension is provided with the vehicular platform
Device, drive device and electric supply installation, train suspension arrangement are connected with drive device, drive device, environmental monitor and image
Capturing apparatus are connected with electric supply installation；Warning lamp, illuminating lamp and steering indicating light are provided with vehicular platform, warning lamp is arranged on car
On the top end face of carrying platform.By setting warning lamp, steering indicating light and illuminating lamp, the security and work of Road Detection work can be improved
Make efficiency.
In a kind of foregoing autonomous type road Non-Destructive Testing robot system, the testing agency includes detector and lifting
Device, detector is fixedly connected with lifting device, and lifting device is connected with vehicular platform.By controlling lifting device, can be accurate
The distance between regulation detector and detection road surface, it is to avoid the unstability of hand-held tester, improve accuracy of detection and detection
Efficiency.
Detecting instrument is used to detect that road is apparent and internal flaw, including but not limited to impact echo module, ultrasonic wave mould
Block, GPR module, laser detection module and resistivity module, by built-in impact echo module, ultrasonic wave module, spy
Ground radar module, laser detection module and resistivity module, detector can be realized inside the road surface to visually cannot directly observe
Transversal crack, sunken depth, the flatness on road surface in the geology state of deep layer, the thickness on road surface, road surface hole.Detector with
Watch-dog wireless connection, is transmitted to watch-dog the detection data that detector is obtained based on Radio Transmission Technology, and staff can
The detection case to ground is got information about from watch-dog.Detector is also electrically connected with electric supply installation, to meet detector
Need for electricity.
In a kind of foregoing autonomous type road Non-Destructive Testing robot system, the lifting device include motor, decelerator,
Shaft coupling, leading screw, lead column, block rubber, A transverse slats and B transverse slats, B transverse slats are connected by linear bearing with base plate, and base plate is arranged at
The underface of B transverse slats, motor is connected with decelerator, and decelerator is connected with shaft coupling, and shaft coupling is connected with screw mandrel, and shaft coupling is installed
In the top of A transverse slats, lead column is arranged between A transverse slats and B transverse slats, and block rubber is bolted on base plate.Lead column
Number be 2, and be symmetricly set in the both sides of screw mandrel.Leading screw is fixed on the branch that A transverse slats and B transverse slats are constituted by feed screw nut
On support, and 1 fixing frame plate is set on A transverse slats, so that leading screw passes through shaft coupling and decelerator and motor connection.Lifting dress
Put by leading screw can telescopic moving is connected with lifting device up and down detector so that the test position of precise positioning detector.
In a kind of foregoing autonomous type road Non-Destructive Testing robot system, second telescoping mechanism includes slide rail and branch
Strut, support bar is arranged on slide rail, and slide rail is horizontally placed on vehicular platform, and image-pickup device is arranged on the end of support bar
Portion.When image-pickup device works, can be extended outside vehicular platform by the second telescoping mechanism level, consequently facilitating monitoring；
When image-pickup device is stopped, can be retracted on mobile platform by the second telescoping mechanism, consequently facilitating transport.
In a kind of foregoing autonomous type road Non-Destructive Testing robot system, first telescoping mechanism includes electric expansion
Post, electric expansion post is connected with electric supply installation, and environmental monitor is arranged on the end of electric expansion post.Environmental monitor works
When, the horizontal plane of the 1.5m apart from vehicular platform top surface can be risen to by the first telescoping mechanism, so that monitoring range can be expanded,
Lifting monitoring effect；When environmental monitor is stopped, can be retracted by the first telescoping mechanism, be readily transported.
In a kind of foregoing autonomous type road Non-Destructive Testing robot system, long distance control system includes watch-dog and control
Device, watch-dog is connected with controller, controller and control system wireless connection, control system and drive device, the first telescopic machine
The electrical connection of structure, the second telescoping mechanism and testing agency.The figure that environmental monitor, image-pickup device or 4 cameras will be gathered
As being sent to watch-dog by Radio Transmission Technology, the work shape of detection environment and detector can be in real time monitored by watch-dog
State；Testing result is sent to watch-dog by detector in real time by Radio Transmission Technology, and staff can tie according to detection
Fruit judges whether vehicle-carried mobile platform.Based on the movement that remote control technology passes through the remotely controlling vehicle mounted platform of control system, lead to
Cross controller and control instruction is wirelessly transmitted to control system, by each Implement of Function Module of control system to the first telescopic machine
The flexible or mobile control of structure, the second telescoping mechanism and lifting device.Long distance control system of the invention can be used and be built in fortune
Monitoring system in defeated car can use portable long distance control system.
In a kind of foregoing autonomous type road Non-Destructive Testing robot system, the vehicular platform be low speed mobile platform or
High speed moving platform, the wheel installed on low speed mobile platform receives female wheel for Mike, and the wheel installed on high speed moving platform is
Rubber tyre.
Using the low speed mobile platform of Mecanum wheel, its translational speed is 0-5km/h, and ramp angle is not more than 5 °, fixed
Position precision is 2cm；Using the high speed moving platform of rubber tyre, its translational speed is 0-30km/h, and ramp angle is not more than
20 °, positioning precision is 10cm.Vehicular platform of the invention can 360 degree rotation, possess stronger bearing capacity.
Compared with prior art, the present invention is by the organic of robot main body system, control system and long distance control system
With reference to, using the detector being mounted on vehicular platform, the nondestructive inspection detection to road internal flaw is realized, not only detection is imitated
Rate is high, and the degree of accuracy of testing result is high；Taken the photograph by long distance control system, the second telescoping mechanism, the first telescoping mechanism or 4
As head, being capable of achieving far distance controlled robot device carries out Road Detection, so that the personal safety of safeguard work personnel；The present invention
The destabilizing factor of manual detection mode can be prevented effectively from, accuracy of detection is improve, detection time is shortened.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the structural representation of lifting device of the present invention；
Fig. 3 is the structural representation of low speed mobile platform of the present invention；
Fig. 4 is the structural representation of high speed moving platform of the present invention；
Fig. 5 is the schematic diagram of the camera that the present invention is arranged on vehicular platform；
Fig. 6 is equipment connection diagram of the invention.
Reference：1- vehicular platforms, 2- testing agencies, 3- detectors, 4- lifting devices, the telescoping mechanisms of 5- first, 6-
Second telescoping mechanism, 7- environmental monitors, 8- cameras, 9- image-pickup devices, 10- train suspension arrangements, 11- drives dress
Put, 12- electric supply installations, 13- motors, 14- decelerators, 15- shaft couplings, 16- leading screws, 17- lead columns, 18- block rubbers, 19-A is horizontal
Plate, 20-B transverse slats, 21- base plates, 22- linear bearings, 23- warning lamps, 24- illuminating lamps, 25- steering indicating lights, 26- slide rails, 27- supports
Bar, 28- electric expansion posts, 29- low speed mobile platforms, 30- high speed moving platforms, 31- long distance control systems, 32- watch-dogs,
33- controllers, 34- robot main body systems, 35- monitoring devices, 36- control systems.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Specific embodiment
Embodiments of the invention 1：A kind of autonomous type road Non-Destructive Testing robot system, including robot main body system
34th, control system 36, long distance control system 31, long distance control system 31 is wireless with robot main body system 34 and control system 36
Connection, robot main body system 34 is electrically connected with control system 36, and robot main body system 34 includes vehicular platform 1, detection machine
Structure 2 and monitoring device 35, testing agency 2 are arranged on the front end side of vehicular platform 1.Monitoring device 35 is vehicle-mounted including being arranged at
The first telescoping mechanism 5 and the second telescoping mechanism 6 on platform 1, are provided with environmental monitor 7 on the first telescoping mechanism 5, second stretches
Image-pickup device 9 is provided with contracting mechanism 6.Train suspension arrangement 10, drive device 11 and power supply are provided with vehicular platform 1
Device 12, train suspension arrangement 10 is connected with drive device 11, and drive device 11, environmental monitor 7 and image-pickup device 9 are equal
It is connected with electric supply installation 12；Warning lamp 23, illuminating lamp 24 and steering indicating light 25 are provided with vehicular platform 1, warning lamp 23 is arranged on
On the top end face of vehicular platform 1.Testing agency 2 includes detector 3 and lifting device 4, and detector 3 is fixed with lifting device 4 and connected
Connect, lifting device 4 is connected with vehicular platform 1.Lifting device 4 includes motor 13, decelerator 14, shaft coupling 15, leading screw 16, guiding
Post 17, block rubber 18, A transverse slats 19 and B transverse slats 20, B transverse slats 20 are connected by linear bearing 22 with base plate 21, and base plate 21 is arranged at
The underface of B transverse slats 20, motor 13 is connected with decelerator 14, and decelerator 14 is connected with shaft coupling 15, shaft coupling 15 and screw mandrel 16
Connection, shaft coupling 15 is arranged on the top of A transverse slats 19, and lead column 17 is arranged between A transverse slats 19 and B transverse slats 20, block rubber 18
It is bolted on base plate 21.First telescoping mechanism 5 includes electric expansion post 28, electric expansion post 28 and electric supply installation 12
Connection, environmental monitor 7 is arranged on the end of electric expansion post 28.Second telescoping mechanism 6 includes slide rail 26 and support bar 27, branch
Strut 27 is arranged on slide rail 26, and slide rail 26 is horizontally placed on vehicular platform 1, and high definition camera 9 is arranged on the end of support bar 27
Portion.Long distance control system 31 includes watch-dog 32 and controller 33, and watch-dog 32 is connected with controller 33, controller 33 and driving
Device 11, the first telescoping mechanism 5, the second telescoping mechanism 6 and the wireless connection of testing agency 2.Vehicular platform 1 is that low speed movement is flat
Platform, the wheel installed on low speed mobile platform 29 receives female wheel for Mike.Using panorama camera as environmental monitoring in the present embodiment
Device 7, to real-time monitoring surrounding environment, and using high definition camera as image-pickup device 9.
Embodiments of the invention 2：A kind of autonomous type road Non-Destructive Testing robot system, including robot main body system
34th, control system 36, long distance control system 31, long distance control system 31 is wireless with robot main body system 34 and control system 36
Connection, robot main body system 34 is electrically connected with control system 36, and robot main body system 34 includes vehicular platform 1, detection machine
Structure 2 and monitoring device 35, testing agency 2 are arranged on the rear end side of vehicular platform 1.Monitoring device 35 is vehicle-mounted including being arranged at
The first telescoping mechanism 5 and the second telescoping mechanism 6 on platform 1, are provided with environmental monitor 7 on the first telescoping mechanism 5, second stretches
Image-pickup device 9 is provided with contracting mechanism 6.Train suspension arrangement 10, drive device 11 and power supply are provided with vehicular platform 1
Device 12, train suspension arrangement 10 is connected with drive device 11, and drive device 11, environmental monitor 7 and image-pickup device 9 are equal
It is connected with electric supply installation 12；Warning lamp 23, illuminating lamp 24 and steering indicating light 25 are provided with vehicular platform 1, warning lamp 23 is arranged on
On the top end face of vehicular platform 1.Testing agency 2 includes detector 3 and lifting device 4, and detector 3 is fixed with lifting device 4 and connected
Connect, lifting device 4 is connected with vehicular platform 1.Lifting device 4 includes motor 13, decelerator 14, shaft coupling 15, leading screw 16, guiding
Post 17, block rubber 18, A transverse slats 19 and B transverse slats 20, B transverse slats 20 are connected by linear bearing 22 with base plate 21, and base plate 21 is arranged at
The underface of B transverse slats 20, motor 13 is connected with decelerator 14, and decelerator 14 is connected with shaft coupling 15, shaft coupling 15 and screw mandrel 16
Connection, shaft coupling 15 is arranged on the top of A transverse slats 19, and lead column 17 is arranged between A transverse slats 19 and B transverse slats 20, block rubber 18
It is bolted on base plate 21.First telescoping mechanism 5 includes electric expansion post 28, electric expansion post 28 and electric supply installation 12
Connection, environmental monitor 7 is arranged on the end of electric expansion post 28.Second telescoping mechanism 6 includes slide rail 26 and support bar 27, branch
Strut 27 is arranged on slide rail 26, and slide rail 26 is horizontally placed on vehicular platform 1, and high definition camera 9 is arranged on the end of support bar 27
Portion.Long distance control system 31 includes watch-dog 32 and controller 33, and watch-dog 32 is connected with controller 33, controller 33 and driving
Device 11, the first telescoping mechanism 5, the second telescoping mechanism 6 and the wireless connection of testing agency 2.Vehicular platform 1 is high speed moving platform
30, the wheel installed on high speed moving platform 30 is rubber tyre.Using panorama camera as environmental monitor in the present embodiment
7, to real-time monitoring surrounding environment, and using high definition camera as image-pickup device 9.
Embodiments of the invention 3：A kind of autonomous type road Non-Destructive Testing robot system, including robot main body system
34th, control system 36, long distance control system 31, long distance control system 31 is wireless with robot main body system 34 and control system 36
Connection, robot main body system 34 is electrically connected with control system 36, and robot main body system 34 includes vehicular platform 1, detection machine
Structure 2 and monitoring device 35, testing agency 2 are arranged on the front end side of vehicular platform 1 or rear end side.Monitoring device 35 includes
The telescoping mechanism 6 of 4 cameras 8 and second on vehicular platform 1 is arranged at, the second telescoping mechanism 6 includes slide rail 26 and support bar
27, support bar 27 is arranged on slide rail 26, and slide rail 26 is horizontally placed on vehicular platform 1, and high definition camera 9 is arranged on support bar 27
End.4 cameras 8 are arranged on the different azimuth face of vehicular platform 1, in the single orientation that each camera 8 is obtained
Image synthesizes a complete image by image composing technique.Train suspension arrangement 10 is provided with vehicular platform 1, is driven
Device 11 and electric supply installation 12, train suspension arrangement 10 are connected with drive device 11, drive device 11, environmental monitor 7 and figure
As capturing apparatus 9 are connected with electric supply installation 12；Warning lamp 23, illuminating lamp 24 and steering indicating light 25 are provided with vehicular platform 1, it is alert
Show that lamp 23 is arranged on the top end face of vehicular platform 1.Testing agency 2 includes detector 3 and lifting device 4, detector 3 and lifting
Device 4 is fixedly connected, and lifting device 4 is connected with vehicular platform 1.Lifting device 4 include motor 13, decelerator 14, shaft coupling 15,
Leading screw 16, lead column 17, block rubber 18, A transverse slats 19 and B transverse slats 20, B transverse slats 20 are connected by linear bearing 22 with base plate 21,
Base plate 21 is arranged at the underface of B transverse slats 20, and motor 13 is connected with decelerator 14, and decelerator 14 is connected with shaft coupling 15, shaft coupling
Device 15 is connected with screw mandrel 16, and shaft coupling 15 is arranged on the top of A transverse slats 19, lead column 17 be arranged on A transverse slats 19 and B transverse slats 20 it
Between, block rubber 18 is bolted on base plate 21.Long distance control system 31 includes watch-dog 32 and controller 33, watch-dog
32 are connected with controller 33, and 11,4 cameras 8 of controller 33 and drive device, the second telescoping mechanism 6 and testing agency 2 are wireless
Connection.Vehicular platform 1 is low speed mobile platform 29, and the wheel installed on low speed mobile platform 29 receives female wheel for Mike.
Embodiments of the invention 4：A kind of autonomous type road Non-Destructive Testing robot system, including robot main body system
34th, control system 36, long distance control system 31, long distance control system 31 is wireless with robot main body system 34 and control system 36
Connection, robot main body system 34 is electrically connected with control system 36, and robot main body system 34 includes vehicular platform 1, detection machine
Structure 2 and monitoring device 35, testing agency 2 are arranged on the front end side of vehicular platform 1 or rear end side.Monitoring device 35 includes
The telescoping mechanism 6 of 4 cameras 8 and second on vehicular platform 1 is arranged at, the second telescoping mechanism 6 includes slide rail 26 and support bar
27, support bar 27 is arranged on slide rail 26, and slide rail 26 is horizontally placed on vehicular platform 1, and high definition camera 9 is arranged on support bar 27
End, 4 cameras 8 are arranged on the different azimuth face of vehicular platform 1, in the single orientation that each camera 8 is obtained
Image synthesizes a complete comprehensive image by image composing technique.Train suspension dress is provided with vehicular platform 1
10, drive device 11 and electric supply installation 12 are put, train suspension arrangement 10 is connected with drive device 11, drive device 11, environment prison
Survey device 7 and image-pickup device 9 is connected with electric supply installation 12；Warning lamp 23, illuminating lamp 24 are provided with vehicular platform 1 and are turned
To lamp 25, warning lamp 23 is arranged on the top end face of vehicular platform 1.Testing agency 2 includes detector 3 and lifting device 4, detection
Instrument 3 is fixedly connected with lifting device 4, and lifting device 4 is connected with vehicular platform 1.Lifting device 4 include motor 13, decelerator 14,
Shaft coupling 15, leading screw 16, lead column 17, block rubber 18, A transverse slats 19 and B transverse slats 20, B transverse slats 20 pass through linear bearing 22 and bottom
Plate 21 is connected, and base plate 21 is arranged at the underface of B transverse slats 20, and motor 13 is connected with decelerator 14, decelerator 14 and shaft coupling 15
Connection, shaft coupling 15 is connected with screw mandrel 16, and shaft coupling 15 is arranged on the top of A transverse slats 19, and lead column 17 is arranged on the He of A transverse slats 19
Between B transverse slats 20, block rubber 18 is bolted on base plate 21.Long distance control system 31 includes watch-dog 32 and controller
33, watch-dog 32 is connected with controller 33, controller 33 and 11,4 cameras 8 of drive device, the second telescoping mechanism 6 and detection
The wireless connection of mechanism 2.Vehicular platform 1 is high speed moving platform 30, and the wheel installed on high speed moving platform 30 is rubber tyre.
Operation principle of the invention：During work, staff controls vehicular platform 1 to arrive presetting inspection by controller 33
Region is surveyed, vehicular platform 1 is reached after specifying test point, by the first telescoping mechanism of remote control 5 of controller 33, makes electric expansion
Post 28 is extended, and the panorama camera 7 for being arranged on the end of electric expansion post 28 is risen at the 1.5m of the top surface of vehicular platform 1, and
By the second telescoping mechanism of remote control 6 of controller 33, make the horizontal extension of support bar 27 of the second telescoping mechanism 6 to vehicular platform
Outside 1, the motor 13 of lifting device 4 is then controlled by controller 33, and then adjust the detector installed in the bottom of lifting device 4
The distance between 3 and detection road surface, after the distance to optimum detection to be adjusted, detector 3 starts detection, staff's Real Time Observation
And record the detection data that detector 3 is passed on watch-dog 32, according to detection data, staff adjusted by controller 33 or
Vehicular platform 1 to next test point is automatically moved by the program for having set.
Staff feeds back to watch-dog 32 by environment of observation monitor 7, image-pickup device 9 or 4 cameras 8
Image information controls vehicle-carried mobile platform 1.
Claims (10)
1. a kind of autonomous type road Non-Destructive Testing robot system, it is characterised in that including robot main body system (34), control
System (36), long distance control system (31), the long distance control system (31) and robot main body system (34) and control system
(36) wireless connection, robot main body system (34) is electrically connected with control system (36), robot main body system (34) bag
Vehicular platform (1), testing agency (2) and monitoring device (35) are included, before the testing agency (2) is arranged at vehicular platform (1)
In end side surface or rear end side.
2. a kind of autonomous type road Non-Destructive Testing robot system according to claim 1, it is characterised in that the monitoring
Device (35) includes the first telescoping mechanism (5) and the second telescoping mechanism (6) that are arranged on vehicular platform (1), and described first stretches
Environmental monitor (7) is provided with contracting mechanism (5), image-pickup device (9) is provided with second telescoping mechanism (6).
3. a kind of autonomous type road Non-Destructive Testing robot system according to claim 1, it is characterised in that the monitoring
Device (35) includes 4 cameras (8) and the second telescoping mechanism (6) that are arranged on vehicular platform (1), and 4 cameras (8) set
It is placed on the different azimuth face of vehicular platform (1), the image in single orientation that each camera (8) is obtained is synthesized by image
Technology synthesizes a complete image.
4. a kind of autonomous type road Non-Destructive Testing robot system according to Claims 2 or 3, it is characterised in that described
Train suspension arrangement (10), drive device (11) and electric supply installation (12), the train suspension dress are provided with vehicular platform (1)
(10) are put to be connected with drive device (11), the drive device (11), environmental monitor (7) and image-pickup device (9) with
Electric supply installation (12) is connected；Warning lamp (23), illuminating lamp (24) and steering indicating light (25), institute are provided with the vehicular platform (1)
Warning lamp (23) is stated on the top end face of vehicular platform (1).
5. a kind of autonomous type road Non-Destructive Testing robot system according to claim 4, it is characterised in that the detection
Mechanism (2) includes detector (3) and lifting device (4), and detector (3) is fixedly connected with lifting device (4), lifting device (4)
It is connected with vehicular platform (1).
6. a kind of autonomous type road Non-Destructive Testing robot system according to claim 5, it is characterised in that the lifting
Device (4) is horizontal including motor (13), decelerator (14), shaft coupling (15), leading screw (16), lead column (17), block rubber (18), A
Plate (19) and B transverse slats (20), B transverse slats (20) are connected by linear bearing (22) with base plate (21), and the base plate (21) is arranged at B
The underface of transverse slat (20), the motor (13) is connected with decelerator (14), and decelerator (14) is connected with shaft coupling (15), shaft coupling
Device (15) is connected with screw mandrel (16), and the shaft coupling (15) is arranged on installed in the top of A transverse slats (19), the lead column (17)
Between A transverse slats (19) and B transverse slats (20), the block rubber (18) is bolted on base plate (21).
7. a kind of autonomous type road Non-Destructive Testing robot system according to claim 6, it is characterised in that described second
Telescoping mechanism (6) includes slide rail (26) and support bar (27), support bar (27) on slide rail (26), slide rail (26) water
It is flat to be arranged on vehicular platform (1), end of the high definition camera (9) installed in support bar (27).
8. a kind of autonomous type road Non-Destructive Testing robot system according to claim 7, it is characterised in that described first
Telescoping mechanism (5) includes electric expansion post (28), and the electric expansion post (28) is connected with electric supply installation (12), the environment prison
Survey end of the device (7) installed in electric expansion post (28).
9. a kind of autonomous type road Non-Destructive Testing robot system according to claim 8, it is characterised in that described long-range
Monitoring system (31) includes watch-dog (32) and controller (33), and watch-dog (32) is connected with controller (33), controller (33)
With control system (36) wireless connection, control system (36) and drive device (11), the first telescoping mechanism (5), the second telescopic machine
Structure (6) and testing agency (2) electrically connect.
10. a kind of autonomous type road Non-Destructive Testing robot system according to claim 9, it is characterised in that the car
Carrying platform (1) is low speed mobile platform (29) or high speed moving platform (30), the car installed on the low speed mobile platform (29)
Take turns as Mike receives female wheel, the wheel installed on the high speed moving platform (30) is rubber tyre.
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| CN107817319A (en) * | 2017-12-19 | 2018-03-20 | 成都圭目机器人有限公司 | It is a kind of to be used for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect |
| CN108153306A (en) * | 2017-12-19 | 2018-06-12 | 成都圭目机器人有限公司 | A kind of autonomous road lossless detection method of robot system |
| CN108189737A (en) * | 2017-12-09 | 2018-06-22 | 安徽银龙泵阀股份有限公司 | A kind of pump valve factory automatic detection vehicle |
| CN108508895A (en) * | 2018-04-12 | 2018-09-07 | 鄂尔多斯市普渡科技有限公司 | A kind of pilotless automobile road surface detection device and detection method |
| CN109142441A (en) * | 2018-10-25 | 2019-01-04 | 枣庄学院 | A kind of Mobile detection device and its detection method identifying potential road frost boiling |
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| CN109538877A (en) * | 2018-10-30 | 2019-03-29 | 江苏科岭能源科技有限公司 | A kind of industrial pipeline guarantee robot |
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