CN107053259A - A kind of road damage check robot system - Google Patents
A kind of road damage check robot system Download PDFInfo
- Publication number
- CN107053259A CN107053259A CN201611253608.0A CN201611253608A CN107053259A CN 107053259 A CN107053259 A CN 107053259A CN 201611253608 A CN201611253608 A CN 201611253608A CN 107053259 A CN107053259 A CN 107053259A
- Authority
- CN
- China
- Prior art keywords
- damage check
- mobile platform
- road damage
- robot
- platform
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000003028 elevating effect Effects 0.000 claims abstract description 29
- 238000009527 percussion Methods 0.000 claims abstract description 10
- 238000010079 rubber tapping Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 5
- 238000004886 process control Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 43
- 230000007423 decrease Effects 0.000 abstract description 2
- 238000009659 non-destructive testing Methods 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 description 12
- 238000012544 monitoring process Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000009429 distress Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of road damage check robot system, including robot main body system, robot main body system includes mobile platform system and detecting system, and detecting system is arranged on mobile platform system；The detecting system includes percussion scanning detector, elevating mechanism and detector control system, and elevating mechanism is arranged on mobile platform system, taps scanning detector and is arranged on elevating mechanism, detector control system and percussion scanning detector electrical connection.Intellectualized detection can be realized using the detecting system of the present invention, due to without pilot steering, improving the accuracy of detection security and detection data；Integrated a variety of Non-Destructive Testing sensors can disposably realize the comprehensive assessment of road surface and its internal state in one, and detection efficiency is substantially improved, and decreases the influence to road.
Description
Technical field
The present invention relates to road face detection means, more particularly to a kind of road damage check robot system is mainly used in
The road of the girder structures such as bridge.
Background technology
After bridge or overpass are built up, in order to ensure current security and efficiency, it is necessary to which periodic inspection is conserved.With
The rapid growth of China Expressway mileage open to traffic, the increase of the road service time limit, highway have been enter into construction with conserving simultaneously
The period of weight, more than the 10000 kilometers of highway built up before 2000 enters overhaul time comprehensively, is built up before the end of the year 2008
The normal maintenance curing period that more than 50000 kilometers of highway also generally enters after defects liability period, the overall staff size of maintenance industry
Rapid development.The highway for receiving medium-capital overhauling maintenance is needed within 2015 just close to 1.3 ten thousand kilometers.
Bridge or overpass maintenance include roadbed maintenance, maintenance of surface, bridges and culverts is conserved, passage is conserved, identifier marking is supported
Shield, electromechanical facility maintenance etc., wherein maintenance of surface is the important content of Highway Maintenance.The premise of maintenance of surface is to satisfy the need
The detection and assessment of planar condition.At present, pavement behavior check and evaluation is mainly manually estimated, and this is mainly by experience, and detection is accurate
Property is poor.Alternative is detected using artificial instrument of holding, and this is better than range estimation data accuracy, but there is also following several respects
Problem:One is that collected by hand data are easily influenceed by artificial operating mistake, and data accuracy cannot be ensured, and personal safety is obtained
Less than guarantee；Two be that the speed manually detected is low, it is necessary to substantial amounts of manpower, and labor intensity is big and inefficiency, and detection time is long,
Influence traffic efficiency；Three be that artificial detection can only be single instrument, can only once detect a kind of defect, it is impossible to which road pavement situation is entered
Row comprehensive assessment.
Therefore, with reference to modern science and technology development there is provided it is a kind of can road pavement situation carry out comprehensive detection and assess
Automated system seems particularly necessary.There is the multifunctional examining measuring car that can be detected to road surface condition at present, can
For instant collection (real time position, surface evenness, texture, the road surface car of information material on highway and ordinary highway
Rut situation, road geometry data, global positioning system, image of road landscape and pavement distress etc.), and carry out computer
Immediately and delay processing.But the shortcoming of the type detection car is there is still a need for manual control and artificial judgment, it is impossible to meet certain
A little requirements (as at a certain distance if stop) of the characterization processes to motion control, it is impossible to autonomous to detect and data are melted
Close and then automatic assessment, and the situation of road surface can only be detected, it is impossible to detect the situation below road surface.
The content of the invention
It is an object of the present invention to provide a kind of girder structure road damage check robot system, is detected by the set
System, can carry out efficiently, accurately carry out girder structure road Inner Defect Testing.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：
A kind of road damage check robot system, including robot main body system, robot main body system include movement
Plateform system and detecting system, detecting system are arranged on mobile platform system；The detecting system includes tapping Scanning Detction
Instrument, elevating mechanism and detector control system, elevating mechanism are arranged on mobile platform system, are tapped scanning detector and are arranged on
On elevating mechanism, detector control system and percussion scanning detector electrical connection.Tapping scanning detector can purchase from market
Buy, the detection to road internal flaw is realized in its contact by underside roller with ground；Stop inspection tapping scanning detector
After survey, elevating mechanism can stretch percussion scanning detector and disengage it from ground.
The percussion scanning detector that this patent is used is a kind of damage detection system based on tap-scanning method.This kind strikes
Scanning detector is hit using Train-bridge coupling model, is started with from origin impedance, parsing obtains dolly acceleration signal in girder construction
Layout damage sensitive formula.Based on the theory, shape of the damage to change dolly acceleration signal spectrogram is drawn, is struck
Hit formula damage detecting method.This kind taps the road that scanning detector is mainly used in girder structure, such as bridge, overhead road surface
Deng.It can be this damage check instrument based on tap-scanning method, but not limited to this at present.Mobile platform system includes movement
Terrace part, power-supply system, control system, drive system etc..
The damage check instrument based on tap-scanning method being mentioned above using this patent, in girder structure road
During Inner Defect Testing, only detector roller just can guarantee that the validity of detection data with ground by good contact
Higher accuracy of detection.So, detector elevating mechanism is with the addition of in the detecting system of this programme, passes through the buffering of the mechanism
Effect, it is ensured that non-flat forms conditions detecting instrument for high way roller also can have good contact with ground.On the other hand, stop in detection work
Afterwards, elevating mechanism can stretch detector and disengage it from ground.
As one of which embodiment, the elevating mechanism includes the support frame installed in mobile platform system, branch
Motor and carrying platform are installed, the output shaft of motor is connected with carrying platform on support, tap scanning detector
On carrying platform；The output end of the motor, which is coaxially connected with leading screw, carrying platform, is fixed with thread bush, spiral shell
Line set is set on leading screw；Specifically, being additionally provided with four runners on support frame, four runners are connected by chain, one of them
Runner is coaxially fixed on the leading screw, and the other three runner is connected by leading screw with the thread bush on carrying platform.Preferably
, tap and disk spring is provided between scanning detector and carrying platform, elevating mechanism (but is not limited to butterfly bullet by dish-shaped bullet
Spring) spring buffering, it is ensured that non-flat forms conditions detecting instrument for high way roller also can have good contact with ground.Motor and decelerator band
Dynamic leading screw is rotated, and leading screw drives the sprocket wheel rotation adhered to thereon, and by chain-driving, other three sprocket wheels are rotated sprocket wheel simultaneously, often
Individual sprocket wheel drives itself corresponding leading screw to rotate.Leading screw drive carrying platform move up so that realize to carrying platform to
Upper lifting, the final lifting for solving the problems, such as to tap scanning detector.
As another embodiment of elevating mechanism, the output end of motor is connected with leading screw, carrying platform
Screwed hole is provided with, leading screw and corresponding threaded holes are closed.Motor drives leading screw to rotate, and leading screw and screwed hole coordinate drive to carry
Platform is moved up.Elevating mechanism embodiment is available but is not limited to above two.
In a kind of foregoing road damage check robot system, the system also includes tele-control system, described long-range
Control system and robot main body system wireless telecommunications connection, the mobile platform system include Mecanum wheel or four wheel drivings
Dynamic system, by tele-control system control machine human body's system operation, tele-control system can also limit display machine
The data that human body's system acquisition is arrived, and the data collected are analyzed, and preserve data.Detection to pavement of road and
It is monitored, analysis is completed jointly by haulage vehicle and monitoring system, and monitoring system is located in haulage vehicle, in haulage vehicle simultaneously
Also display screen, control cabinet, supply unit etc., can be controlled to detection robot, and will detect robot collection
Data are shown, analyzed, and detection data and analysis result are stored；Monitoring system can also be from portable long-range
Control end, portable remote control terminal can realize above-mentioned identical function, and integrated level is higher, easily facilitates carrying.
In a kind of foregoing road damage check robot system, two groups of auxiliary are installed small on the mobile platform system
Wheel and one group of main wheel, main wheel are located between two groups of auxiliary steamboats, and the diameter of main wheel is more than the diameter of auxiliary steamboat, and two groups of auxiliary are small
Take turns independent suspension.Middle two main wheel dual drive independent suspensions, it is possible to achieve the radius of turn of very little (in theory can be with pirouette
It is curved), turn to flexibly, and Two-wheeled cost is lower than four-wheel drive.Power needed for this kind of pattern pivot turn is much smaller than Mike
Power needed for the pivot turn of Na Mu wheels.Big steamboat independent suspension be provided to run into jolt rough road in face of vehicle vibrations/
Rocking tendency is minimum.High definition camera, full-view camera, the radar that keeps in obscurity, GPRS, photograph are also equipped with the robot main body system
Bright lamp, steering indicating light and alarm lamp.
In a kind of foregoing road damage check robot system, automatic rotation is installed on mobile platform system and stored
Bar, the high definition camera is arranged on automatic rotation and stored on bar, and mobile platform system is provided with accommodating groove, and bar is stored in automatic rotation
It can be rotated into accommodating groove, so that convenient transport.
Compared with prior art, advantages of the present invention is as follows：
1st, road face of the invention independently detects robot using the outdoor navigation system of high accuracy, integrated form nondestructive detection system
And multi-data fusion system, the autonomous efficient detection of road surface and its internal state, detection efficiency, economy and security can be achieved
It is substantially improved, overall system performance is good；
2nd, the present invention, can contexture by self detection road using the control mode of " macroscopical remote control, microcosmic autonomous, remote monitoring "
Footpath, examinations operation, possess detection parameter 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 detection；Possesses macro and micro detection
Monitoring and autonomous operation function, realize intellectualized detection, simultaneously because without pilot steering, improving detection security；
3rd, the present invention uses the navigation side based on GPS, gyroscope, encoder and laser radar Multi-Sensor Data Fusion
Case, realizes the high accuracy navigation of outdoor Centimeter Level and the location position of detection data, drastically increases the standard of detection data
True property；
4th, the integrated a variety of Non-Destructive Testing sensors of the present invention can disposably realize road surface (including inside) situation in one
Comprehensive assessment, detection efficiency is substantially improved, and decreases the influence to road；
5th, the present invention realizes automatically analyzing and merging for detection data, and testing result is intuitively visual, and detection efficiency is significantly
Lifting, and the long-term dynamics detection of road condition can be realized, more proactive maintenance maintenance can be realized on this basis；
6th, operating mechanism of the present invention needs custom design according to characterization processes, it is ensured that Detection results, improves detection
Accuracy；
7th, mobile platform of the present invention can use the travel mechanism using Mecanum wheel as drive device, achievable straight trip,
The omnibearing movables such as oblique traveling, cross running, pivot stud, can more flexibly set the walking road of robot body
Line, and then it is more efficiently completed autonomous detection operation.
8th, road face of the present invention independently detects that robot can also use multirobot cooperative work mode, can be further
Lift detection efficiency.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment of robot main body system；
Fig. 2 is a kind of part-structure schematic diagram of embodiment of detecting system；
Fig. 3 is the set location schematic diagram of butterfly spring；
Fig. 4 is the structural representation of the first embodiment of mobile platform system；
Fig. 5 is the structural representation of second of embodiment of mobile platform system；
Fig. 6 is the structural representation of the third embodiment of mobile platform system；
Fig. 7 is a kind of top view of embodiment of mobile platform system.
Fig. 8 is the distance control mode schematic diagram of robot system.
Reference：1- robot main body systems, 2- mobile platform systems, 3- percussion scanning detectors, 4- elevating mechanisms,
5- detector control systems, 6- detecting systems, 7- high definition cameras, 8- rotates storage bar automatically, 9- accommodating grooves, 10- support frames,
11- motors, 12- carrying platforms, 13- thread bush, 14- leading screws, 15- runners, 16- chains, 17- disk springs, 18- is long-range
Control system, 19- auxiliary steamboats, 20- main wheels.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Embodiment
Embodiments of the invention 1：As shown in figure 1, a kind of road damage check robot system, including robot body system
System 1, robot main body system 1 includes mobile platform system 2 and detecting system 6, and detecting system 6 is arranged on mobile platform system 2
On；The detecting system 6 includes tapping scanning detector 3, elevating mechanism 4 and detector control system 5, and elevating mechanism 4 is installed
On mobile platform system 2, tap scanning detector 3 and be arranged on elevating mechanism 4, detector control system 5 and percussion are scanned
Detector 3 is electrically connected.
As shown in Fig. 2 the elevating mechanism 4 includes pacifying on the support frame 10 installed in mobile platform system 2, support frame 10
Equipped with motor 11 and carrying platform 12, the output shaft of motor 11 is connected with carrying platform 12, taps scanning detector 3
On carrying platform 12.The output end of the motor 11 is coaxially connected with leading screw 14, carrying platform 12 and is fixed with
Thread bush 13, thread bush 13 is set on leading screw 14.Four runners 15 are additionally provided with support frame 10, four runners 15 pass through chain
16 are connected, and one of runner 15 is coaxially fixed on the leading screw 14, and the other three runner 15 by leading screw 14 and is carried
Thread bush 13 on platform 12 is connected.Disk spring is provided between scanning detector 3 and carrying platform 12 as shown in figure 3, tapping
17。
The system also includes tele-control system 18, tele-control system 18 and robot main body system 1 channel radio
News connection, the mobile platform system 2 is shown in Fig. 4 including Mecanum wheel.Mobile platform system 2 is using based on Mecanum wheel
Omni-directional moving platform, using this kind of platform, translational speed is not more than 5km/h, and climbing capacity can realize 5 °, and positioning precision can
To reach 2cm.High definition camera 7, full-view camera, the radar that keeps in obscurity, GPRS, photograph are also equipped with the robot main body system 1
Bright lamp, steering indicating light and alarm lamp.The top surface 1.5m of full-view camera apogee distance mobile platform, so, full-view camera
Support bar employs Collapsible structure.
As shown in fig. 7, automatic rotation is provided with mobile platform system 2 stores bar 8, the high definition camera 7 is arranged on certainly
Dynamic rotation is stored on bar 8, and mobile platform system 2 is provided with accommodating groove 9, and bar 8 is stored in automatic rotation can be rotated into accommodating groove 9
It is interior.High definition camera 7 extends forwardly into mobile platform system outer end, length about 1m.So, high definition camera support bar is equally used can
Stretching structure.
Embodiment 2：As shown in figure 1, a kind of road damage check robot system, including robot main body system 1, machine
Human body's system 1 includes mobile platform system 2 and detecting system 6, and detecting system 6 is arranged on mobile platform system 2；The inspection
Examining system 6 includes tapping scanning detector 3, elevating mechanism 4 and detector control system 5, and elevating mechanism 4 is arranged on mobile platform
In system 2, tap scanning detector 3 and be arranged on elevating mechanism 4, detector control system 5 and percussion scanning detector 3 are electrically connected
Connect.
As shown in Fig. 2 the elevating mechanism 4 includes pacifying on the support frame 10 installed in mobile platform system 2, support frame 10
Equipped with motor 11 and carrying platform 12, the output shaft of motor 11 is connected with carrying platform 12, taps scanning detector 3
On carrying platform 12.The output end of the motor 11 is coaxially connected with leading screw 14, carrying platform 12 and is fixed with
Thread bush 13, thread bush 13 is set on leading screw 14.Four runners 15 are additionally provided with support frame 10, four runners 15 pass through chain
16 are connected, and one of runner 15 is coaxially fixed on the leading screw 14, and the other three runner 15 by leading screw 14 and is carried
Thread bush 13 on platform 12 is connected.Disk spring is provided between scanning detector 3 and carrying platform 12 as shown in figure 3, tapping
17.The system also includes tele-control system 18, and tele-control system 18 and robot main body system 1 wireless telecommunications connect
Connect, the mobile platform system 2 is shown in Fig. 5 including four-wheel drive system.High definition phase is also equipped with the robot main body system 1
Machine 7, full-view camera, the radar that keeps in obscurity, GPRS, illuminating lamp, steering indicating light and alarm lamp.
As shown in fig. 7, automatic rotation is provided with mobile platform system 2 stores bar 8, the high definition camera 7 is arranged on certainly
Dynamic rotation is stored on bar 8, and mobile platform system 2 is provided with accommodating groove 9, and bar 8 is stored in automatic rotation can be rotated into accommodating groove 9
It is interior.
Embodiment 3：As shown in figure 1, a kind of road damage check robot system, including robot main body system 1, machine
Human body's system 1 includes mobile platform system 2 and detecting system 6, and detecting system 6 is arranged on mobile platform system 2；The inspection
Examining system 6 includes tapping scanning detector 3, elevating mechanism 4 and detector control system 5, and elevating mechanism 4 is arranged on mobile platform
In system 2, tap scanning detector 3 and be arranged on elevating mechanism 4, detector control system 5 and percussion scanning detector 3 are electrically connected
Connect.
The output end of motor 11 is connected with leading screw 14, and carrying platform 12 is provided with screwed hole, leading screw 14 and screwed hole
It is engaged.The system also includes tele-control system 18, tele-control system 18 and robot main body system 1 wireless telecommunications
Two groups of auxiliary steamboats 19 and one group of main wheel 20 are installed, it is small that main wheel 20 is located at two groups of auxiliary on connection, the mobile platform system 2
Between wheel 19, the diameter of main wheel 20 is more than the diameter of auxiliary steamboat 19, and two groups of independent suspensions of auxiliary steamboat 19 are shown in Fig. 6.The machine
High definition camera 7, full-view camera, the radar that keeps in obscurity, GPRS, illuminating lamp, steering indicating light and alarm are also equipped with device human body system 1
Lamp.
As shown in fig. 7, automatic rotation is provided with mobile platform system 2 stores bar 8, the high definition camera 7 is arranged on certainly
Dynamic rotation is stored on bar 8, and mobile platform system 2 is provided with accommodating groove 9, and bar 8 is stored in automatic rotation can be rotated into accommodating groove 9
It is interior.
Road damage check robot system is made up of two parts, robot main body system and remote monitoring system.Remotely
Monitoring system can be completely controlled robot main body system, communicated by 4G networks therebetween, command range
Infinity (as long as there are 4G signals where) can be realized.
Remote monitoring system can be controlled to any mechanism in robot main body system, including mobile platform movement
Path, speed, detector lifting, full-view camera and high-definition camera stretching, extension/storage etc..
The workflow of road damage check robot system：
S1：Control machine human body's system is moved to the position that road is specified；
S2：The crucial point coordinates in region to be detected is determined, and sets the detection zone of road；
S3：Detect robot system according to region shape size contexture by self Road Detection path to be detected；
S4：Road Detection path movement described in control detection Robot simultaneously gathers road conditions information simultaneously；
S5：The road conditions information collected is sent and carries out real-time monitoring analysis to remote monitoring accessory system or delays
Analysis.
Claims (10)
1. a kind of road damage check robot system, it is characterised in that including robot main body system (1), robot body
System (1) includes mobile platform system (2) and detecting system (6), and detecting system (6) is arranged on mobile platform system (2)；Institute
Stating detecting system (6) includes tapping scanning detector (3), elevating mechanism (4) and detector control system (5), elevating mechanism (4)
On mobile platform system (2), tap scanning detector (3) and be arranged on elevating mechanism (4), detector control system
(5) electrically connected with percussion scanning detector (3).
2. a kind of road damage check robot system according to claim 1, it is characterised in that the elevating mechanism
(4) include motor (11) and carrying are installed on the support frame (10) installed in mobile platform system (2), support frame (10)
Platform (12), the output shaft of motor (11) is connected with carrying platform (12), taps scanning detector (3) flat installed in carrying
On platform (12).
3. a kind of road damage check robot system according to claim 2, it is characterised in that the motor
(11) output end, which is coaxially connected with leading screw (14), carrying platform (12), is fixed with thread bush (13), and thread bush (13) is arranged
On leading screw (14).
4. a kind of road damage check robot system according to claim 3, it is characterised in that on support frame (10) also
Provided with four runners (15), four runners (15) are connected by chain (16), and one of runner (15) is coaxially fixed on described
On leading screw (14), the other three runner (15) is connected by leading screw (14) with the thread bush (13) on carrying platform (12).
5. a kind of road damage check robot system according to any one of claim 2 to 4, it is characterised in that tap
Disk spring (17) is provided between scanning detector (3) and carrying platform (12).
6. a kind of road damage check robot system according to claim 2, it is characterised in that motor (11)
Output end is connected with leading screw (14), and carrying platform (12) is provided with screwed hole, and leading screw (14) and corresponding threaded holes are closed.
7. a kind of road damage check robot system according to claim 1, it is characterised in that the system also includes remote
Process control system (18), the tele-control system (18) and robot main body system (1) wireless telecommunications connection, the movement are put down
Platform system (2) includes Mecanum wheel or four-wheel drive system.
8. a kind of road damage check robot system according to claim 1, it is characterised in that the mobile platform system
Two groups of auxiliary steamboats (19) and one group of main wheel (20) are installed, main wheel (20) is located between two groups of auxiliary steamboats (19) on system (2),
The diameter of main wheel (20) is more than the diameter of auxiliary steamboat (19), two groups of auxiliary steamboat (19) independent suspensions.
9. a kind of road damage check robot system according to claim 1, it is characterised in that the robot body
High definition camera (7), full-view camera, the radar that keeps in obscurity, GPRS, illuminating lamp, steering indicating light and alarm lamp are also equipped with system (1).
10. a kind of road damage check robot system according to claim 9, it is characterised in that mobile platform system
(2) automatic rotation is installed on and stores bar (8), the high definition camera (7) is arranged on automatic rotation and stored on bar (8), mobile flat
Platform system (2) is provided with accommodating groove (9), and automatic rotation is stored bar (8) and can be rotated into accommodating groove (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611253608.0A CN107053259A (en) | 2016-12-30 | 2016-12-30 | A kind of road damage check robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611253608.0A CN107053259A (en) | 2016-12-30 | 2016-12-30 | A kind of road damage check robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107053259A true CN107053259A (en) | 2017-08-18 |
Family
ID=59624368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611253608.0A Pending CN107053259A (en) | 2016-12-30 | 2016-12-30 | A kind of road damage check robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107053259A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107589744A (en) * | 2017-09-21 | 2018-01-16 | 沈阳工业大学 | The unmanned platform method of Omni-mobile based on freeway tunnel Crack Detection |
| CN107618869A (en) * | 2017-10-13 | 2018-01-23 | 天津市欣跃涂料有限公司 | A kind of spray piece captures robot |
| 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 |
| CN107843486A (en) * | 2017-12-19 | 2018-03-27 | 成都圭目机器人有限公司 | A kind of detection robot system based on benkelman beams deflectometer |
| 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 |
| CN108549389A (en) * | 2018-05-24 | 2018-09-18 | 成都圭目机器人有限公司 | A kind of road surface mobile platform detection device |
| CN109178057A (en) * | 2018-08-21 | 2019-01-11 | 北京市公路桥梁建设集团锐诚工程试验检测有限公司 | It can ranging antidetonation geological radar trolley |
| CN114045737A (en) * | 2021-10-26 | 2022-02-15 | 高峰 | Instrument is drawn to factory building construction land used marking |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000204515A (en) * | 1999-01-18 | 2000-07-25 | Chubu Regional Constr Bureau Ministry Of Constr | Device and method for controlling degree of compaction |
| JP2004037210A (en) * | 2002-07-02 | 2004-02-05 | Doro Hozen Gijutsu Center | Columnar body flaw detecting method and flaw detecting robot |
| CN101830033A (en) * | 2010-05-05 | 2010-09-15 | 陆腾 | Die ejecting mechanism for molding modeling |
| CN201760877U (en) * | 2010-06-13 | 2011-03-16 | 上海中为智能机器人有限公司 | Deformable robot travelling mechanism suitable for all landforms |
| CN102412530A (en) * | 2011-12-23 | 2012-04-11 | 北京国网富达科技发展有限责任公司 | Line navigation amphibious power circuit comprehensive maintenance robot and circuit maintenance method thereof |
| CN103334369A (en) * | 2013-06-22 | 2013-10-02 | 太仓博天网络科技有限公司 | Pavement deflection detection system |
| CN105891454A (en) * | 2016-05-23 | 2016-08-24 | 桂仲成 | Hub-type robot and detecting method for system for autonomously detecting road surfaces |
| CN105926419A (en) * | 2016-05-23 | 2016-09-07 | 桂仲成 | Automatic detection robot system and detection method for road surface |
| CN105923069A (en) * | 2016-05-11 | 2016-09-07 | 杭州哈帝机器人科技有限公司 | Walking chassis for vehicle intelligent service robot |
| CN105937199A (en) * | 2016-05-23 | 2016-09-14 | 桂仲成 | Intelligent hub pavement autonomous detection apparatus |
| CN206883678U (en) * | 2016-12-30 | 2018-01-16 | 成都圭目机器人有限公司 | A kind of road damage check robot system |
-
2016
- 2016-12-30 CN CN201611253608.0A patent/CN107053259A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000204515A (en) * | 1999-01-18 | 2000-07-25 | Chubu Regional Constr Bureau Ministry Of Constr | Device and method for controlling degree of compaction |
| JP2004037210A (en) * | 2002-07-02 | 2004-02-05 | Doro Hozen Gijutsu Center | Columnar body flaw detecting method and flaw detecting robot |
| CN101830033A (en) * | 2010-05-05 | 2010-09-15 | 陆腾 | Die ejecting mechanism for molding modeling |
| CN201760877U (en) * | 2010-06-13 | 2011-03-16 | 上海中为智能机器人有限公司 | Deformable robot travelling mechanism suitable for all landforms |
| CN102412530A (en) * | 2011-12-23 | 2012-04-11 | 北京国网富达科技发展有限责任公司 | Line navigation amphibious power circuit comprehensive maintenance robot and circuit maintenance method thereof |
| CN103334369A (en) * | 2013-06-22 | 2013-10-02 | 太仓博天网络科技有限公司 | Pavement deflection detection system |
| CN105923069A (en) * | 2016-05-11 | 2016-09-07 | 杭州哈帝机器人科技有限公司 | Walking chassis for vehicle intelligent service robot |
| CN105891454A (en) * | 2016-05-23 | 2016-08-24 | 桂仲成 | Hub-type robot and detecting method for system for autonomously detecting road surfaces |
| CN105926419A (en) * | 2016-05-23 | 2016-09-07 | 桂仲成 | Automatic detection robot system and detection method for road surface |
| CN105937199A (en) * | 2016-05-23 | 2016-09-14 | 桂仲成 | Intelligent hub pavement autonomous detection apparatus |
| CN206883678U (en) * | 2016-12-30 | 2018-01-16 | 成都圭目机器人有限公司 | A kind of road damage check robot system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107589744A (en) * | 2017-09-21 | 2018-01-16 | 沈阳工业大学 | The unmanned platform method of Omni-mobile based on freeway tunnel Crack Detection |
| CN107618869A (en) * | 2017-10-13 | 2018-01-23 | 天津市欣跃涂料有限公司 | A kind of spray piece captures robot |
| 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 |
| CN107843486A (en) * | 2017-12-19 | 2018-03-27 | 成都圭目机器人有限公司 | A kind of detection robot system based on benkelman beams deflectometer |
| 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 |
| CN108549389A (en) * | 2018-05-24 | 2018-09-18 | 成都圭目机器人有限公司 | A kind of road surface mobile platform detection device |
| CN109178057A (en) * | 2018-08-21 | 2019-01-11 | 北京市公路桥梁建设集团锐诚工程试验检测有限公司 | It can ranging antidetonation geological radar trolley |
| CN114045737A (en) * | 2021-10-26 | 2022-02-15 | 高峰 | Instrument is drawn to factory building construction land used marking |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107053259A (en) | A kind of road damage check robot system | |
| WO2017202284A1 (en) | Pavement autonomous detection intelligent apparatus, robot system and detection method | |
| CN105937199B (en) | Independently detect intelligent apparatus in hub-type road face | |
| CN105951569B (en) | Independently detect robot system and detection method in crawler type road face | |
| CN109281711B (en) | A kind of subterranean tunnel safety patrol inspection robot | |
| CN106049243B (en) | Independently detect intelligent apparatus in road face | |
| CN107328783A (en) | A kind of bridge intelligent checking system based on unmanned plane | |
| CN206883678U (en) | A kind of road damage check robot system | |
| WO2018122586A1 (en) | Method of controlling automated driving speed based on comfort level | |
| US20140142868A1 (en) | Apparatus and method for inspecting track in railroad | |
| CN105926419A (en) | Automatic detection robot system and detection method for road surface | |
| AU2018101830A4 (en) | Pavement autonomous detection intelligent apparatus, robot system and detection method | |
| CN102061659A (en) | Urban road pavement routine inspection equipment | |
| CN106568441A (en) | Beidou-based electric power patrol inspection device | |
| CN112077823A (en) | Mobile platform of pipe gallery inspection robot | |
| CN107402582A (en) | Smog Long Range Detecting and Ranging pollution sources are detected with unmanned plane, monitored | |
| CN107816975A (en) | Suspension type sky iron guideway beam automatic checkout system | |
| CN106289823A (en) | A kind of locomotive serpentine locomotion detecting system and detection method thereof | |
| CN101986114B (en) | Photoelectric detection system and method for transmission lines | |
| CN106194260A (en) | A kind of tunnel routing inspection trolley | |
| Jiang et al. | Bridge coating inspection based on two-stage automatic method and collision-tolerant unmanned aerial system | |
| CN201765056U (en) | Photoelectric detection system of power transmission line | |
| CN109115215B (en) | Universal wheel system for inertial navigation positioning measurement | |
| Lee et al. | A study on the UAV image-based efficiency improvement of bridge maintenance and inspection | |
| CN207515778U (en) | Suspension type sky iron track bridge automatic checkout system |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170818 |