CN106774384A - A kind of bridge machinery intelligent barrier avoiding robot - Google Patents
A kind of bridge machinery intelligent barrier avoiding robot Download PDFInfo
- Publication number
- CN106774384A CN106774384A CN201611100137.XA CN201611100137A CN106774384A CN 106774384 A CN106774384 A CN 106774384A CN 201611100137 A CN201611100137 A CN 201611100137A CN 106774384 A CN106774384 A CN 106774384A
- Authority
- CN
- China
- Prior art keywords
- bridge
- aircraft
- barrier avoiding
- intelligent barrier
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000004888 barrier function Effects 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 28
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims description 19
- 230000007547 defect Effects 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 13
- 238000013461 design Methods 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000004913 activation Effects 0.000 claims description 3
- 230000010006 flight Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000001172 regenerating effect Effects 0.000 claims description 3
- 230000003595 spectral effect Effects 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 241001062009 Indigofera Species 0.000 claims 1
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- 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
- G01N29/07—Analysing solids by measuring propagation velocity or propagation time of acoustic waves
-
- 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
- G01N29/11—Analysing solids by measuring attenuation of acoustic waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/01—Indexing codes associated with the measuring variable
- G01N2291/011—Velocity or travel time
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/01—Indexing codes associated with the measuring variable
- G01N2291/015—Attenuation, scattering
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Immunology (AREA)
- Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Acoustics & Sound (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of bridge machinery intelligent barrier avoiding robot, including aircraft, onboard flight control unit and mounting platform, the mounting platform are connected by 3 d pose adjusting apparatus with the aircraft main body；Image unit and ultrasonic examination unit are provided with the mounting platform；The image unit includes high accuracy full-view camera, and the ultrasonic examination unit includes ultrasonic sensor；The mounting platform also includes interim stop device, can stop reception device with bridge bottom preset and coordinate, and the aircraft is suspended on into bridge bottom.The robot can realize three-dimensional modeling, and the planning realized flight path, detect path according to bridge machinery needs, real intelligent barrier avoiding is realized, simultaneously as what it can be real realizes intelligent barrier avoiding, ultrasonic examination unit can be set, carrying out flaw detection is carried out to concrete；And interim stop device is set, real unpowered stop is realized, and can be detected using stop device, realize long working.
Description
Technical field
The present invention relates to bridge machinery field, especially a kind of bridge detection robot based on aircraft.
Background technology
Current bridge security detection method, in addition to scaffolding, mainly by instruments such as bridge-checking vehicles, will detect people
Member delivers to the region for needing detection, checks bridge state.In order to carry enough weight, and ensure related personnel's safety, bridge-checking vehicle
Generally need that substantial amounts of sensor is installed, its equipment is huge, it is complicated using program, especially much limited in manned use
System.The vehicle is expensive in itself, and one needs millions of units, while it is safeguarded and use cost is also very high, in addition,
During use, bridge-checking vehicle is also subject to the serious influences such as light, environment in addition.
The appearance of unmanned plane, new instrument is brought to bridge machinery, can be remote, unattended, more flexibly square
Just.
CN101914893 discloses a kind of bridge detection robot based on four-axle aircraft, is made using four-axle aircraft
It is basic equipment carrier, the automatic sensing and line walking of bridge machinery position is realized by wireless camera control, high precision distance detector,
And high accuracy photographing device can be moved to bridge position to be detected, so as to realize that the automatic Bridges under unmanned control are damaged
Detection and identification.But, the robot is flown merely by the line of flight set in advance, it is impossible to for small space
Interior flight path and detection path, while being needed to be planned according to bridge machinery, its detection content is also only limited to shooting
High-definition image or panoramic picture that machine shoots, while being limited to the influence of battery power, cannot also carry out long working, or enter
Row is stopped；Simultaneously as multiple sensors and control unit and adjusting apparatus, cause its high cost, weight is excessive.
CN102390528 discloses a kind of robot with adsorption function, although can realize being adsorbed in aircraft admittedly
On earnest, but the absorption is applied to smooth surface, such as：Glass etc., cannot ensure that it is adsorbed for out-of-flatness or irregular surface,
Meanwhile, the absorption still will expend certain power, it is impossible to meet prolonged operation.
Bridge detection robot intelligent barrier avoiding control system disclosed in CN104947585, merely by distance measuring sensor
Obstacle is avoided with warning device, is on the one hand easily malfunctioned under compared with complex environment, this avoidance is only according to distance in addition
The avoidance that sensor is realized, is not intelligent barrier avoiding truly, can not be needed to realize avoidance according to detection.
The content of the invention
The purpose of the present invention is intended to create a kind of bridge machinery intelligent barrier avoiding robot, can be realized according to field condition
Three-dimensional modeling, and the planning realized flight path, detect path according to bridge machinery needs, realize real intelligent barrier avoiding,
Meanwhile, ground large server is sent data to by communication module, high speed processing is realized, and should not simultaneously be set in robot
Put the processor of costliness；Simultaneously as its can be real realize intelligent barrier avoiding, ultrasonic examination unit can be set, to mixed
Solidifying soil carries out carrying out flaw detection；And interim stop device is set, real unpowered stop is realized, and can be carried out using stop device
Detection, realizes long working.
Concrete technical scheme is：
A kind of bridge machinery intelligent barrier avoiding robot, including aircraft, onboard flight control unit and mounting platform, it is described
Mounting platform is connected by 3 d pose adjusting apparatus with the aircraft main body；
Image unit and ultrasonic examination unit are provided with the mounting platform；
The flight control units include single-chip microcomputer, communication module, GPS self-navigations module and laser ranging avoidance mould
Block and direction sensor, the laser ranging avoidance module include laser range sensor；
The image unit includes high accuracy full-view camera, and the ultrasonic examination unit includes ultrasonic sensor；
The mounting platform also includes interim stop device, can stop reception device with bridge bottom preset and coordinate, by institute
State aircraft and be suspended on bridge bottom；
Also include that ground controls server, receives image and sensor information, laser ranging sensing is come from by comparing
Picture that the data and the full-view camera of device and direction sensor shoot sets up three-dimensional map；And according to bridge machinery
Need, design flight scanning route, and number of flights, flying quality is sent to by flying vehicles control list by communication module
Unit.
Further, the bridge machinery needs to include：According to the need that the three-dimensional map and bridge structure stress determine
The bridge position to be detected, the distance and angle at the bridge position that the camera is detected with the needs, the transaudient ripple is passed
The distance and angle at the bridge position that sensor is detected with the needs.
Further, the 3 d pose adjusting apparatus are orthogonal formula three-dimensional movement platform.
Further, the high accuracy full-view camera also includes optical anti-vibration unit.
Further, the communication module includes bluetooth, WIFI and 4G standard communication units.
Further, the interim stop device includes position sensor, and the stop reception device includes receiver, institute
Position sensor is stated for searching the position of the receiver.
Further, the interim stop device includes electronic pulley, and the stop reception device includes being preset in bridge
The guide rail of bottom, the pulley can be fixed on the guide rail, and can be rolled on guide rail.
A kind of method for carrying out bridge machinery using above-mentioned bridge machinery intelligent barrier avoiding robot, comprises the following steps：
1) according to flight directive, the aircraft is gone to by the Bridge position of GPS location；
2) position sensor of the interim stop device starts, and searches the position of the receiver, and is faced by described
When stop device the aircraft is suspended on bridge bottom；
3) the picture hair that the data and the full-view camera of the laser range sensor and direction sensor shoot
Ground-based server is mapped to, the server forms three-dimensional map by modeling, and according to bridge machinery needs, design flight scanning
Route, flying vehicles control unit is sent to by communication module by flying quality；
4) aircraft carries out image scanning and ultrasonic examination according to design flight scanning route, and in real time by image
Scan data and ultrasonic inspection data is activation are to ground-based server；
5) ground-based server is analyzed to image scan data and ultrasonic examination data, it is determined that needing to sweep again
The bridge position retouched, and regenerate flight path and be sent to the flying vehicles control unit；
6) aircraft is flown again according to the flight path for regenerating.
Further, the method for the ultrasonic examination includes：
Diffraction phenomenon during defect is run into concrete according to low frequency ultrasound, during by sound and sound path change, differentiate and
Calculate the size of defect；
Scattering is produced in defect interface according to ultrasonic wave, the phenomenon of energy significantly decay judges to lack when arriving at receiving transducer
Sunken presence and size；
Different according to the degree that each frequency content of ultrasonic pulse decays when defect is run into, receives frequency is substantially reduced, or
The difference that received wave frequency spectrum is produced with spectral reflection, can also differentiate internal flaw；
According to ultrasonic wave is in the waveform conversion of fault location and is superimposed, the phenomenon for receiving wave distortion is caused to differentiate defect.
Further, for detect area it is larger when, using multistage network method describe wait sound when line, and progressively reduce survey
The method in area.
The technology of the present invention effect：
Real intelligent barrier avoiding can be realized using the robot, obstacle is hidden rather than sensor is relied solely on；Adopt
Three-dimensional modeling is carried out with ground large server, and can be needed to generate flight path according to bridge machinery, compensate for routine
The flight of unmanned aerial vehicle (UAV) control cell processing is controlled or by the deficiency of the artificial hand-guided aircraft of ground controller；Using ground
Large server can also carry out human intervention, i.e., according to bridge machinery needs：According to the detection position and detection that are manually set
Purpose is detected；Bridge machinery content not only include shoot high-definition image, also including ultrasonic examination detect, instead of with
Toward detection, particularly ultrasonic examination detection needs to set up the situation of a large amount of instrument and equipments so that detection is more convenient, fast；
Interim stop device is set so that greatly save the power of aircraft, and also can aid in carrying out bridge machinery, such as：Shoot
When, bridge bottom is suspended on, and without wasting power, aircraft hovering is carried out, more conform to the reality of bridge machinery application
Border.
The stability of mounting platform can be ensured using orthogonal formula three-dimensional movement platform, so as to ensure camera and ultrasonic wave
The stability of sensor detection；It can be server modeling, formation three-dimensional map basis of formation to use full-view camera, and is used
Optical anti-vibration unit may further ensure that the stability of shooting, improve the accuracy of detection；Communication module uses bluetooth, WIFI
Short-range data transfer can be realized, and being wirelessly transferred for long range can be realized using 4G standards, field bridge machinery is made
The stroke that even up to a hundred kilometers of usually from tens kilometers of industry, can be according to the conversion that wireless communication mode is realized apart from length；Face
When stop device, using inductor and receiver, can accurately realize the interim stop of aircraft and be accurately positioned, because GPS
Precision do not reach being accurately positioned for this small length range, it is necessary to logical after aircraft reaches the bridge machinery point of GPS location
Cross inductor to realize that aircraft hangs on interim anchor point, otherwise, it is necessary to manually control aircraft to be stopped,
Difficulty is very big, and may require that the configuration of the various high-precision sensor of aircraft, greatly improves cost；Further, using cunning
Wheel, the cooperation of guide rail, can cause that detection robot is moved on guide rail, aid in being detected while interim stop,
Greatly save aircraft power and improve accuracy of detection.
Bridge machinery generally requires repeated multiple times carrying out and shoots and scan, and each shooting and scanning are again according to inspection
Needs are surveyed to be adjusted, and the robot can carry out flight path and detection track and quickly adjust by server, and can lead to
Interim stop device is crossed to help realize said process.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is bridge machinery intelligent barrier avoiding robot top view of the invention；
Fig. 2 is bridge machinery intelligent barrier avoiding robot side view of the invention.
Specific embodiment
Hereinafter with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail.It should be appreciated that preferred embodiment
Only for the explanation present invention, rather than in order to limit the scope of the invention.
Reference picture 1, Fig. 2, a kind of bridge machinery intelligent barrier avoiding robot, including aircraft 1, onboard flight control unit and
Mounting platform 2, the mounting platform 2 is connected by 3 d pose adjusting apparatus with the aircraft main body；Aircraft 1 is adopted
With 6 axle aircraft, to ensure the stability and reliability of flight.
Image unit 3 and ultrasonic examination unit 4 are provided with the mounting platform 2；
The flight control units include single-chip microcomputer, communication module, GPS self-navigations module and laser ranging avoidance mould
Block and direction sensor, the laser ranging avoidance module include laser range sensor；Laser ranging avoidance module and direction
Sensor both can realize passive avoidance under GPS navigation pattern, it is also possible under small range space, such as：Bridge bottom, leads to
Cross and send the data to ground-based server, generate flight path, realize intelligent barrier avoiding, it is also possible to referred to as automatic obstacle avoidance, i.e.,：Swash
Ligh-ranging avoidance module and direction sensor serve two kinds of effects.
The image unit includes high accuracy full-view camera, and the ultrasonic examination unit includes ultrasonic sensor；
The mounting platform also includes interim stop device, can stop reception device with bridge bottom preset and coordinate, by institute
State aircraft and be suspended on bridge bottom；
Also include that ground controls server, receives image and sensor information, laser ranging sensing is come from by comparing
Picture that the data and the full-view camera of device and direction sensor shoot sets up three-dimensional map；And according to bridge machinery
Need, design flight scanning route, and number of flights, flying quality is sent to by flying vehicles control list by communication module
Unit.
The bridge machinery needs to include：The bridge detected the need for being determined according to the three-dimensional map and bridge structure stress
Beam portion position, the camera with it is described need detection bridge position distance and angle, the transaudient wave sensor with it is described
Need the distance and angle at the bridge position of detection.In fact, being all above that robot and server are automatically performed, it is also possible to
Manual intervention is carried out, the analysis of the information and server software transmitted according to communication module, in time manual change part inspection
Parameter is surveyed, because robot can be with unpowered suspension, or manual intervention namely manually carries out thinking adjustment detection ginseng
Number provides time enough.
The 3 d pose adjusting apparatus are orthogonal formula three-dimensional movement platform.The high accuracy full-view camera also includes light
Learn stabilization unit.
The communication module includes bluetooth, WIFI and 4G standard communication units, because the robot does not need ground substantially
Server carries out manually guided implement people, it is possible to realize remote operation, during more than a certain distance, can be by 4G
Standard realizes the transmission of data.
The interim stop device includes position sensor 8, and the stop reception device includes receiver 9, the position
Inductor 8 is used to search the position of the receiver 9.
The interim stop device includes electronic pulley 6, and the stop reception device includes being preset in leading for bridge bottom
Rail 7, the pulley 6 can be fixed on the guide rail 7, and can be rolled on guide rail 7.
A kind of method for carrying out bridge machinery using above-mentioned bridge machinery intelligent barrier avoiding robot, comprises the following steps：
1) according to flight directive, the aircraft is gone to by the Bridge position of GPS location；
2) position sensor of the interim stop device starts, and searches the position of the receiver, and is faced by described
When stop device the aircraft is suspended on bridge bottom；
3) the picture hair that the data and the full-view camera of the laser range sensor and direction sensor shoot
Ground-based server is mapped to, the server forms three-dimensional map by modeling, and according to bridge machinery needs, design flight scanning
Route, flying vehicles control unit is sent to by communication module by flying quality；
4) aircraft carries out image scanning and ultrasonic examination according to design flight scanning route, and in real time by image
Scan data and ultrasonic inspection data is activation are to ground-based server；
5) ground-based server is analyzed to image scan data and ultrasonic examination data, it is determined that needing to sweep again
The bridge position retouched, and regenerate flight path and be sent to the flying vehicles control unit；
6) aircraft is flown again according to the flight path for regenerating.
Manual intervention can also be carried out as needed, realize more frequently, targetedly flying, bridge is examined
Survey.
Further, the method for the ultrasonic examination includes：
Diffraction phenomenon during defect is run into concrete according to low frequency ultrasound, during by sound and sound path change, differentiate and
Calculate the size of defect；
Scattering is produced in defect interface according to ultrasonic wave, the phenomenon of energy significantly decay judges to lack when arriving at receiving transducer
Sunken presence and size；
Different according to the degree that each frequency content of ultrasonic pulse decays when defect is run into, receives frequency is substantially reduced, or
The difference that received wave frequency spectrum is produced with spectral reflection, can also differentiate internal flaw；
According to ultrasonic wave is in the waveform conversion of fault location and is superimposed, the phenomenon for receiving wave distortion is caused to differentiate defect.
Have benefited from robot of the invention, bridge concrete can be realized various
For detect area it is larger when, using multistage network method describe wait sound when line, and progressively reduce survey area method.
Can so prevent from omitting, while turn avoid the thin survey of large area.
Depending on the visual component size of size of network, for example first order network uses 15cm spacing, then changes in sound
Point on mark two grade network (such as 5cm) again, by it is each wait sound time point couple together " line when waiting sound ", the line when sound is waited
In scope, point most long is " the " center " position of the defect area during sound.
The above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to preferred embodiment to this hair
It is bright to be described in detail, it will be understood by those within the art that, technical scheme can be modified
Or equivalent, without deviating from the objective and scope of the technical program, it all should cover in scope of the presently claimed invention
It is central.
Claims (10)
1. a kind of bridge machinery intelligent barrier avoiding robot, including aircraft, onboard flight control unit and mounting platform, the peace
Assembling platform is connected by 3 d pose adjusting apparatus with the aircraft main body；
Image unit and ultrasonic examination unit are provided with the mounting platform；
The flight control units include single-chip microcomputer, communication module, GPS self-navigations module and laser ranging avoidance module and
Direction sensor, the laser ranging avoidance module includes laser range sensor；
The image unit includes high accuracy full-view camera, and the ultrasonic examination unit includes ultrasonic sensor；
The mounting platform also includes interim stop device, can stop reception device with bridge bottom preset and coordinate, and flies described
Row device is suspended on bridge bottom；
Also include ground control server, receive image and sensor information, by compare come from laser range sensor and
Picture that the data of direction sensor and the full-view camera shoot sets up three-dimensional map；And according to bridge machinery need
Will, design flight scanning route, and number of flights, flying quality is sent to by flying vehicles control unit by communication module.
2. bridge machinery intelligent barrier avoiding robot as claimed in claim 1, it is characterised in that：The bridge machinery needs bag
Include：The bridge position detected the need for being determined according to the three-dimensional map and bridge structure stress, the camera and the need
The distance and angle at the bridge position to be detected, the transaudient wave sensor with it is described need detection bridge position distance and
Angle.
3. bridge machinery intelligent barrier avoiding robot as claimed in claim 1, it is characterised in that：The 3 d pose adjusting apparatus
It is orthogonal formula three-dimensional movement platform.
4. bridge machinery intelligent barrier avoiding robot as claimed in claim 1, it is characterised in that：The high accuracy full-view camera
Also include optical anti-vibration unit.
5. bridge machinery intelligent barrier avoiding robot as claimed in claim 1, it is characterised in that：The communication module includes indigo plant
Tooth, WIFI and 4G standard communication units.
6. bridge machinery intelligent barrier avoiding robot as claimed in claim 1, it is characterised in that：The interim stop device includes
Position sensor, the stop reception device includes receiver, and the position sensor is used to search the position of the receiver.
7. bridge machinery intelligent barrier avoiding robot as claimed in claim 6, it is characterised in that：The interim stop device includes
Electronic pulley, the stop reception device includes being preset in the guide rail of bridge bottom, and the pulley can be fixed on the guide rail
On, and can be rolled on guide rail.
8. the method that a kind of use bridge machinery intelligent barrier avoiding robot as claimed in claim 1 carries out bridge machinery, including
Following steps：
1) according to flight directive, the aircraft is gone to by the Bridge position of GPS location；
2) position sensor of the interim stop device starts, and searches the position of the receiver, and is stopped temporarily by described
The aircraft is suspended on bridge bottom by device；
3) picture that the data and the full-view camera of the laser range sensor and direction sensor shoot is transmitted into
Ground-based server, the server forms three-dimensional map by modeling, and according to bridge machinery needs, design flight scanning road
Line, flying vehicles control unit is sent to by communication module by flying quality；
4) aircraft carries out image scanning and ultrasonic examination according to design flight scanning route, and in real time by image scanning
Data and ultrasonic inspection data is activation are to ground-based server；
5) ground-based server is analyzed to image scan data and ultrasonic examination data, it is determined that needing what is rescaned
Bridge position, and regenerate flight path and be sent to the flying vehicles control unit；
6) aircraft is flown again according to the flight path for regenerating.
9. Bridges Detection as claimed in claim 8, it is characterised in that：The method of the ultrasonic examination includes：
Diffraction phenomenon during defect is run into concrete according to low frequency ultrasound, during by sound and sound path change, differentiate and calculate
The size of defect；
Scattering is produced in defect interface according to ultrasonic wave, the phenomenon of energy significantly decay judges defect when arriving at receiving transducer
In the presence of and size；
Different according to the degree that each frequency content of ultrasonic pulse decays when defect is run into, receives frequency is substantially reduced, or is received
Wave frequency composes the difference produced with spectral reflection, can also differentiate internal flaw；
According to ultrasonic wave is in the waveform conversion of fault location and is superimposed, the phenomenon for receiving wave distortion is caused to differentiate defect.
10. Bridges Detection as claimed in claim 9, it is characterised in that：When area for detecting is larger, using multistage
Line when network technique such as describes at the sound, and progressively reduce the method for surveying area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611100137.XA CN106774384A (en) | 2016-12-05 | 2016-12-05 | A kind of bridge machinery intelligent barrier avoiding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611100137.XA CN106774384A (en) | 2016-12-05 | 2016-12-05 | A kind of bridge machinery intelligent barrier avoiding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106774384A true CN106774384A (en) | 2017-05-31 |
Family
ID=58883013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611100137.XA Pending CN106774384A (en) | 2016-12-05 | 2016-12-05 | A kind of bridge machinery intelligent barrier avoiding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106774384A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107907593A (en) * | 2017-11-22 | 2018-04-13 | 中南大学 | Manipulator collision-proof method in a kind of ultrasound detection |
| CN108088906A (en) * | 2017-12-13 | 2018-05-29 | 江西省交通工程质量监督站试验检测中心 | Bridge rail detecting system and method |
| CN108107915A (en) * | 2018-01-27 | 2018-06-01 | 广东容祺智能科技有限公司 | A kind of unmanned plane positioning searching system |
| CN108382594A (en) * | 2018-03-29 | 2018-08-10 | 镇江市建科工程质量检测中心有限公司 | A kind of unmanned plane being applied to detection bridge bottom defect |
| CN108965797A (en) * | 2018-06-25 | 2018-12-07 | 珠海思诺锐创软件有限公司 | A kind of preset point cruise bridge structure Visualized management system |
| CN109506714A (en) * | 2018-12-22 | 2019-03-22 | 吴碧玉 | A kind of artificial intelligence bridge security detection system |
| CN109990777A (en) * | 2019-04-11 | 2019-07-09 | 株洲时代电子技术有限公司 | A kind of bridge bottom surface inspection flight course planning method |
| CN110596151A (en) * | 2019-08-16 | 2019-12-20 | 徐州远航模具有限公司 | Equipment suitable for mould is detected a flaw |
| CN111400808A (en) * | 2020-03-30 | 2020-07-10 | 张海龙 | Road bridge anti-shake and overload performance control system under simulated overload spectrum |
| CN112098326A (en) * | 2020-08-20 | 2020-12-18 | 东南大学 | Automatic detection method and system for bridge diseases |
| CN114137085A (en) * | 2021-12-01 | 2022-03-04 | 仲恺农业工程学院 | Ultrasonic flaw detection robot based on vision-assisted positioning and detection method thereof |
| WO2022126559A1 (en) * | 2020-12-17 | 2022-06-23 | 深圳市大疆创新科技有限公司 | Target detection method and device, platform, and computer-readable storage medium |
| CN115096268A (en) * | 2022-06-17 | 2022-09-23 | 西南交通大学 | Bridge damage depth detection method based on unmanned aerial vehicle aerial photography and ultrasonic detection |
| CN115932048A (en) * | 2023-03-10 | 2023-04-07 | 山东大学 | Concrete ultrasonic flaw detection device and method based on unmanned aerial vehicle |
| CN116087235A (en) * | 2023-04-07 | 2023-05-09 | 四川川交路桥有限责任公司 | Multi-source coupling bridge damage detection method and system |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101914893A (en) * | 2010-07-09 | 2010-12-15 | 重庆交通大学 | Bridge detection robot based on four-axle aircraft |
| CN102390528A (en) * | 2011-10-21 | 2012-03-28 | 南京理工大学 | Air flight and omnibearing adsorption micro-robot |
| CN203299134U (en) * | 2013-05-06 | 2013-11-20 | 中国计量学院 | Quadcopter-based wind driven generator blade surface crack detection device |
| CN104267043A (en) * | 2014-10-16 | 2015-01-07 | 东南大学 | Mobile detection device for concrete bridge cracks |
| CN104762877A (en) * | 2015-04-30 | 2015-07-08 | 尹栋 | Bridge quality fast detection device based on unmanned aircraft system |
| WO2015126491A1 (en) * | 2013-12-04 | 2015-08-27 | Mark Edward Nichols | System and methods for scanning with integrated radar detection and image capture |
| WO2015163106A1 (en) * | 2014-04-25 | 2015-10-29 | ソニー株式会社 | Control device, imaging device, control method, imaging method, and computer program |
| CN105068555A (en) * | 2015-06-30 | 2015-11-18 | 安科智慧城市技术（中国）有限公司 | Automatic alignment method and device for unmanned plane |
| CN105484607A (en) * | 2016-01-20 | 2016-04-13 | 厦门施米德智能科技有限公司 | Unmanned aerial vehicle express system based on intelligent window |
| WO2016060139A1 (en) * | 2014-10-14 | 2016-04-21 | 富士フイルム株式会社 | Bridge-inspecting robot system |
| CN105539824A (en) * | 2015-12-31 | 2016-05-04 | 东莞市吉飞机器人有限公司 | Intelligent unmanned aerial vehicle system capable of continuously working in wide range |
| CN105628004A (en) * | 2016-01-16 | 2016-06-01 | 深圳先进技术研究院 | Barrier-free navigation airship based three-dimensional map automatic mapping system |
| CN105735150A (en) * | 2016-03-04 | 2016-07-06 | 浙江大学 | Movable multi-view visual bridge conventional detection method |
| CN105823552A (en) * | 2016-05-06 | 2016-08-03 | 简燕梅 | Intelligent detection robot car for architectural structure vibration |
| CN205554590U (en) * | 2016-03-15 | 2016-09-07 | 哈尔滨伟方智能科技开发有限责任公司 | A many rotors unmanned vehicles for bridge detects |
| CN106124517A (en) * | 2015-09-29 | 2016-11-16 | 柳州欧维姆机械股份有限公司 | Detect many rotor wing unmanned aerial vehicles detection platform system in structural member surface crack and for the method detecting structural member surface crack |
-
2016
- 2016-12-05 CN CN201611100137.XA patent/CN106774384A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101914893A (en) * | 2010-07-09 | 2010-12-15 | 重庆交通大学 | Bridge detection robot based on four-axle aircraft |
| CN102390528A (en) * | 2011-10-21 | 2012-03-28 | 南京理工大学 | Air flight and omnibearing adsorption micro-robot |
| CN203299134U (en) * | 2013-05-06 | 2013-11-20 | 中国计量学院 | Quadcopter-based wind driven generator blade surface crack detection device |
| WO2015126491A1 (en) * | 2013-12-04 | 2015-08-27 | Mark Edward Nichols | System and methods for scanning with integrated radar detection and image capture |
| WO2015163106A1 (en) * | 2014-04-25 | 2015-10-29 | ソニー株式会社 | Control device, imaging device, control method, imaging method, and computer program |
| WO2016060139A1 (en) * | 2014-10-14 | 2016-04-21 | 富士フイルム株式会社 | Bridge-inspecting robot system |
| CN104267043A (en) * | 2014-10-16 | 2015-01-07 | 东南大学 | Mobile detection device for concrete bridge cracks |
| CN104762877A (en) * | 2015-04-30 | 2015-07-08 | 尹栋 | Bridge quality fast detection device based on unmanned aircraft system |
| CN105068555A (en) * | 2015-06-30 | 2015-11-18 | 安科智慧城市技术（中国）有限公司 | Automatic alignment method and device for unmanned plane |
| CN106124517A (en) * | 2015-09-29 | 2016-11-16 | 柳州欧维姆机械股份有限公司 | Detect many rotor wing unmanned aerial vehicles detection platform system in structural member surface crack and for the method detecting structural member surface crack |
| CN105539824A (en) * | 2015-12-31 | 2016-05-04 | 东莞市吉飞机器人有限公司 | Intelligent unmanned aerial vehicle system capable of continuously working in wide range |
| CN105628004A (en) * | 2016-01-16 | 2016-06-01 | 深圳先进技术研究院 | Barrier-free navigation airship based three-dimensional map automatic mapping system |
| CN105484607A (en) * | 2016-01-20 | 2016-04-13 | 厦门施米德智能科技有限公司 | Unmanned aerial vehicle express system based on intelligent window |
| CN105735150A (en) * | 2016-03-04 | 2016-07-06 | 浙江大学 | Movable multi-view visual bridge conventional detection method |
| CN205554590U (en) * | 2016-03-15 | 2016-09-07 | 哈尔滨伟方智能科技开发有限责任公司 | A many rotors unmanned vehicles for bridge detects |
| CN105823552A (en) * | 2016-05-06 | 2016-08-03 | 简燕梅 | Intelligent detection robot car for architectural structure vibration |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107907593A (en) * | 2017-11-22 | 2018-04-13 | 中南大学 | Manipulator collision-proof method in a kind of ultrasound detection |
| CN108088906A (en) * | 2017-12-13 | 2018-05-29 | 江西省交通工程质量监督站试验检测中心 | Bridge rail detecting system and method |
| CN108088906B (en) * | 2017-12-13 | 2020-08-11 | 江西省交通工程质量监督站试验检测中心 | Bridge track detection system and method |
| CN108107915A (en) * | 2018-01-27 | 2018-06-01 | 广东容祺智能科技有限公司 | A kind of unmanned plane positioning searching system |
| CN108382594A (en) * | 2018-03-29 | 2018-08-10 | 镇江市建科工程质量检测中心有限公司 | A kind of unmanned plane being applied to detection bridge bottom defect |
| CN108382594B (en) * | 2018-03-29 | 2023-11-07 | 镇江市建设工程质量检测中心有限公司 | Be applied to unmanned aerial vehicle that detects bridge bottom defect |
| CN108965797A (en) * | 2018-06-25 | 2018-12-07 | 珠海思诺锐创软件有限公司 | A kind of preset point cruise bridge structure Visualized management system |
| CN109506714A (en) * | 2018-12-22 | 2019-03-22 | 吴碧玉 | A kind of artificial intelligence bridge security detection system |
| CN109990777A (en) * | 2019-04-11 | 2019-07-09 | 株洲时代电子技术有限公司 | A kind of bridge bottom surface inspection flight course planning method |
| CN110596151A (en) * | 2019-08-16 | 2019-12-20 | 徐州远航模具有限公司 | Equipment suitable for mould is detected a flaw |
| CN111400808B (en) * | 2020-03-30 | 2020-09-25 | 张海龙 | Road bridge anti-shake and overload performance control system under simulated overload spectrum |
| CN111400808A (en) * | 2020-03-30 | 2020-07-10 | 张海龙 | Road bridge anti-shake and overload performance control system under simulated overload spectrum |
| CN112098326A (en) * | 2020-08-20 | 2020-12-18 | 东南大学 | Automatic detection method and system for bridge diseases |
| CN112098326B (en) * | 2020-08-20 | 2022-09-30 | 东南大学 | Automatic detection method and system for bridge diseases |
| WO2022126559A1 (en) * | 2020-12-17 | 2022-06-23 | 深圳市大疆创新科技有限公司 | Target detection method and device, platform, and computer-readable storage medium |
| CN114137085A (en) * | 2021-12-01 | 2022-03-04 | 仲恺农业工程学院 | Ultrasonic flaw detection robot based on vision-assisted positioning and detection method thereof |
| CN115096268A (en) * | 2022-06-17 | 2022-09-23 | 西南交通大学 | Bridge damage depth detection method based on unmanned aerial vehicle aerial photography and ultrasonic detection |
| CN115932048A (en) * | 2023-03-10 | 2023-04-07 | 山东大学 | Concrete ultrasonic flaw detection device and method based on unmanned aerial vehicle |
| CN116087235A (en) * | 2023-04-07 | 2023-05-09 | 四川川交路桥有限责任公司 | Multi-source coupling bridge damage detection method and system |
| CN116087235B (en) * | 2023-04-07 | 2023-06-20 | 四川川交路桥有限责任公司 | Multi-source coupling bridge damage detection method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106774384A (en) | A kind of bridge machinery intelligent barrier avoiding robot | |
| CN109911188B (en) | Bridge detection unmanned aerial vehicle system in non-satellite navigation and positioning environment | |
| CN108731736B (en) | Wall radar photoelectricity robot system is climbed automatically for bridge tunnel Structural defect non-destructive testing diagnosis | |
| US20220136930A1 (en) | System for testing intelligent vehicles | |
| US20200393593A1 (en) | Integrated system for geological and geophysical survey based on unmanned aerial vehicle | |
| CN109901624A (en) | A kind of bridge method for inspecting | |
| CN109780452A (en) | Gas based on laser telemetry technology leaks unmanned plane inspection retrieving concentration method | |
| CN109885097B (en) | Method for planning inspection route of outer edge surface of bridge | |
| CN107272028A (en) | Navigation equipment on-line monitoring and flight check system and method based on unmanned plane | |
| CN109945874B (en) | Bridge inspection route planning method | |
| CN109901625A (en) | A kind of bridge cruising inspection system | |
| CN112009719A (en) | Method for inspecting and repairing a structure and unmanned aerial vehicle | |
| CN207649604U (en) | A kind of intelligent landform survey system based on unmanned plane | |
| CN110988871B (en) | Unmanned airborne wall-penetrating radar high-rise building wall health off-line detection system and detection method | |
| CN105093237A (en) | Detection device of barriers for unmanned plane and detection method thereof | |
| CN210090988U (en) | Unmanned aerial vehicle system of patrolling and examining | |
| CN109990778B (en) | Bridge base inspection route planning method | |
| CN109901623B (en) | Method for planning inspection route of pier body of bridge | |
| CN109358071B (en) | The large scale equipment surface damage detection system and its method of autonomous cover type operation | |
| CN109990777B (en) | Planning method for inspection route of bridge bottom surface | |
| CN206147345U (en) | Barrier system is kept away to real -time range finding of many rotor unmanned aerial vehicle and vision | |
| CN113791621A (en) | Method and system for docking automatic driving tractor and airplane | |
| CN107179775A (en) | A kind of the spectrum automatic measurement system of mass color with multi-angle and method based on unmanned plane | |
| CN113820709B (en) | Through-wall radar detection system and detection method based on unmanned aerial vehicle | |
| CN113467518A (en) | Unmanned aerial vehicle flight collision avoidance method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |
|
| RJ01 | Rejection of invention patent application after publication |