CN109131016A - A kind of multi-use architecture structure detection vehicle - Google Patents
A kind of multi-use architecture structure detection vehicle Download PDFInfo
- Publication number
- CN109131016A CN109131016A CN201811268502.7A CN201811268502A CN109131016A CN 109131016 A CN109131016 A CN 109131016A CN 201811268502 A CN201811268502 A CN 201811268502A CN 109131016 A CN109131016 A CN 109131016A
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- telescopic rod
- electric telescopic
- computer
- battery
- reinforcing bar
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- 238000001514 detection method Methods 0.000 title claims abstract description 40
- 230000003014 reinforcing effect Effects 0.000 claims abstract description 27
- 239000000523 sample Substances 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000009428 plumbing Methods 0.000 description 1
- 239000011241 protective layer Substances 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
Abstract
A kind of multi-use architecture structure detection vehicle, including chassis, motoring platform and vehicle body；Chassis is fitted with triangular track formula electric wheel；Vehicle body is mounted on chassis by motoring platform；Interior of body is provided with computer and battery；Body top is separately installed with camera, spatial digitizer and reinforcing bar survey meter, and three passes through electric telescopic rod and gyroscope holder is connected with body top；Vehicle body is mounted on IR evading obstacle sensors on four side surfaces；Laser ranging probe is installed at the top of body structure；Body structure is equipped with headlamp；Triangular track formula electric wheel, motoring platform, camera, spatial digitizer, reinforcing bar survey meter, electric telescopic rod, gyroscope holder, IR evading obstacle sensors, laser ranging probe and headlamp control instruction issued by computer, and be powered by battery.The present invention can substitute completely manually carries out in-site measurement to building, meets a variety of DATA REASONING needs, effectively improves working efficiency.
Description
Technical field
The invention belongs to building structure inspection technical fields, more particularly to a kind of multi-use architecture structure detection vehicle.
Background technique
Currently, first having to the topology layout to building, stress condition etc. before building forcible entry and understanding, borrow simultaneously
The design drawing of building is helped to formulate forcible entry scheme.It is to be difficult to obtain but for building longer for some service lives
Original plan sheet is taken, therefore in-site measurement must be carried out to building before formulating forcible entry scheme, and measures work base
This is all the not only large labor intensity of staff by being accomplished manually, and working efficiency is also very low, finally will also be various
Measurement data is manually summarized, and finally could be used to dismantle the formulation of scheme.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of multi-use architecture structure detection vehicle, can replace completely
In generation, manually carries out in-site measurement to building, and the labor intensity of staff is effectively reduced, can satisfy the measurement of a variety of data
It needs, and various measurement data can be summarized automatically, and working efficiency is made to be greatly improved.
To achieve the goals above, the present invention adopts the following technical scheme: a kind of multi-use architecture structure detection vehicle, including
Chassis, motoring platform and vehicle body；Four groups of wheels are installed on the chassis, four groups of wheels are all made of triangular track formula electricity
Motor car wheel；The motoring platform is mounted on chassis upper surface, and the vehicle body is mounted on motoring platform upper surface, and vehicle body passes through
Motoring platform has rotational freedom；The interior of body is provided with computer and battery, the triangular track formula
The control instruction of electric wheel and motoring platform is issued by computer, triangular track formula electric wheel and motoring platform
It is powered by battery；It is separately installed with camera, spatial digitizer and reinforcing bar survey meter in the body top, it is described
Camera, spatial digitizer and reinforcing bar survey meter are powered by battery.
The camera is mounted on body top by the first electric telescopic rod, on the first electric telescopic rod top and camera shooting
First gyroscope holder is installed, camera has rotational freedom by the first gyroscope holder, and camera passes through between head
First electric telescopic rod has vertical lifting freedom degree；The control instruction of first electric telescopic rod and the first gyroscope holder
It is issued by computer, the image data that the camera obtains is stored by computer, and image data is using wireless
Transmission mode simultaneous display is in distal displayed equipment, for remotely monitoring；First electric telescopic rod and the first gyroscope
Holder is powered by battery.
The spatial digitizer is mounted on body top by the second electric telescopic rod, the second electric telescopic rod top with
Second gyroscope holder is installed, spatial digitizer has rotatably mounted by the second gyroscope holder between spatial digitizer
Degree, spatial digitizer have vertical lifting freedom degree by the second electric telescopic rod；Second electric telescopic rod and the second top
The control instruction of spiral shell instrument holder is issued by computer, and the data that the spatial digitizer obtains are stored by computer；
Second electric telescopic rod and the second gyroscope holder are powered by battery.
The reinforcing bar survey meter is mounted on body top by third electric telescopic rod, third electric telescopic rod top with
Third gyroscope holder is installed, reinforcing bar survey meter has rotatably mounted by third gyroscope holder between reinforcing bar survey meter
Degree, reinforcing bar survey meter have vertical lifting freedom degree by third electric telescopic rod；The third electric telescopic rod and third top
The control instruction of spiral shell instrument holder is issued by computer, and the data that the reinforcing bar survey meter obtains are stored by computer；
The third electric telescopic rod and third gyroscope holder are powered by battery.
Be mounted on IR evading obstacle sensors on four side surfaces of the vehicle body, the starting of IR evading obstacle sensors and
Out code is issued by computer, and the data that IR evading obstacle sensors obtain are stored and analyzed by computer, works as calculating
Machine judgement detection vehicle car body issues control from trend triangular track formula electric wheel by computer and refers to there are when risk of collision
It enables, so that detection vehicle car body stops mobile or turns；The IR evading obstacle sensors are powered by battery.
Laser ranging probe is installed at the top of the body structure, the starting and out code of laser ranging probe are by counting
Calculation machine issues, and the data that laser ranging probe obtains are stored and analyzed by computer, when computer judges detection vehicle vehicle
The height of body is greater than when passing through height of travelling route, by computer from the first electric telescopic rod of trend, the second electric expansion
Bar and third electric telescopic rod issue control instruction, so that the first electric telescopic rod, the second electric telescopic rod and third is electronic stretches
Contracting bar all bounces back, until the height of detection vehicle car body is less than passing through highly for travelling route；The laser ranging probe by
Battery is powered.
Headlamp is installed in the body structure, the starting and out code of headlamp are issued by computer, headlamp
It is powered by battery.
Beneficial effects of the present invention:
Multi-use architecture structure detection vehicle of the invention can substitute completely and manually carry out in-site measurement to building, have
Effect reduces the labor intensity of staff, can satisfy the measurement needs of a variety of data, and various measurement data can carry out certainly
It is dynamic to summarize, so that working efficiency is greatly improved.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of multi-use architecture structure detection vehicle of the invention；
In figure, 1-chassis, 2-revolving platforms, 3-vehicle bodies, 4-triangular track formula electric wheels, 5-cameras, 6-
Spatial digitizer, 7-reinforcing bar survey meters, the 8-the first electric telescopic rod, the 9-the first gyroscope holder, the 10-the second electric expansion
Bar, the 11-the second gyroscope holder, 12-third electric telescopic rods, 13-third gyroscope holders, 14-infrared obstacle avoidances sensing
Device, 15-laser ranging probes, 16-headlamps.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, a kind of multi-use architecture structure detection vehicle, including chassis 1, motoring platform 2 and vehicle body 3；Institute
It states and four groups of wheels is installed on chassis 1, four groups of wheels are all made of triangular track formula electric wheel 4；The motoring platform 2 is pacified
Mounted in 1 upper surface of chassis, the vehicle body 3 is mounted on 2 upper surface of motoring platform, and vehicle body 3 has rotation by motoring platform 2
Freedom degree；Computer and battery are internally provided in the vehicle body 3, the triangular track formula electric wheel 4 and electronic time
The control instruction of turntable 2 is issued by computer, triangular track formula electric wheel 4 and motoring platform 2 by battery into
Row power supply；Camera 5, spatial digitizer 6 and reinforcing bar survey meter 7 are separately installed on 3 top of vehicle body, the camera 5,
Spatial digitizer 6 and reinforcing bar survey meter 7 are powered by battery.
The camera 5 is mounted on 3 top of vehicle body by the first electric telescopic rod 8,8 top of the first electric telescopic rod with
First gyroscope holder 9 is installed, camera 5 has rotational freedom by the first gyroscope holder 9, takes the photograph between camera 5
As head 5 has vertical lifting freedom degree by the first electric telescopic rod 8；First electric telescopic rod 8 and the first gyroscope cloud
The control instruction of platform 9 is issued by computer, and the image data that the camera 5 obtains is stored by computer, and shadow
Picture data in distal displayed equipment, are monitored using wireless transmission method simultaneous display for long-range；First electric expansion
Bar 8 and the first gyroscope holder 9 are powered by battery.
The spatial digitizer 6 is mounted on 3 top of vehicle body by the second electric telescopic rod 10, in the second electric telescopic rod 10
Second gyroscope holder 11 is installed, spatial digitizer 6 has by the second gyroscope holder 11 between top and spatial digitizer 6
There is rotational freedom, spatial digitizer 6 has vertical lifting freedom degree by the second electric telescopic rod 10；Described second electronic stretches
The control instruction of contracting bar 10 and the second gyroscope holder 11 is issued by computer, and the data that the spatial digitizer 6 obtains are logical
Computer is crossed to be stored；Second electric telescopic rod 10 and the second gyroscope holder 11 are powered by battery.
The reinforcing bar survey meter 7 is mounted on 3 top of vehicle body by third electric telescopic rod 12, in third electric telescopic rod 12
Third gyroscope holder 13 is installed, reinforcing bar survey meter 7 has by third gyroscope holder 13 between top and reinforcing bar survey meter 7
There is rotational freedom, reinforcing bar survey meter 7 has vertical lifting freedom degree by third electric telescopic rod 12；The third is electronic to stretch
The control instruction of contracting bar 12 and third gyroscope holder 13 is issued by computer, and the data that the reinforcing bar survey meter 7 obtains are logical
Computer is crossed to be stored；The third electric telescopic rod 12 and third gyroscope holder 13 are powered by battery.
IR evading obstacle sensors 14 are mounted on four side surfaces of the vehicle body 3, IR evading obstacle sensors 14
Starting and out code are issued by computer, and the data that IR evading obstacle sensors 14 obtain are stored and divided by computer
Analysis, when computer judges that detection vehicle car body there are when risk of collision, is sent out by computer from trend triangular track formula electric wheel 4
Control instruction out, so that detection vehicle car body stops mobile or turns；The IR evading obstacle sensors 14 are carried out by battery
Power supply.
Laser ranging probe 15 is installed in 3 front top of vehicle body, the starting and closing of laser ranging probe 15 refer to
Order is issued by computer, and the data that laser ranging probe 15 obtains are stored and analyzed by computer, when computer judges
The height for detecting vehicle car body is greater than when passing through height of travelling route, by computer from the first electric telescopic rod of trend 8, second
Electric telescopic rod 10 and third electric telescopic rod 12 issue control instruction, so that the first electric telescopic rod 8, the second electric telescopic rod
10 and the whole retraction of third electric telescopic rod 12, until what the height of detection vehicle car body was less than travelling route passing through height；Institute
Laser ranging probe 15 is stated to be powered by battery.
Headlamp 16 is installed in 3 front end of vehicle body, the starting and out code of headlamp 16 are issued by computer, are shone
Bright lamp 16 is powered by battery.
Illustrate first use process of the invention with reference to the accompanying drawing:
In the present embodiment, the travel speed for detecting vehicle is 0~450mm/s, and the cruise duration for detecting vehicle is 5 hours, detection
1 width of chassis of vehicle is 800mm, and the climbing capacity for detecting vehicle is 25 °, and there are three types of the operational modes for detecting vehicle, the first is complete
Automatic mode, second is semiautomatic-mode, the third is full artificial mode；When detecting vehicle using fully automatic mode operation,
Traveling, route planning and the Data Detection of vehicle are detected all by the computer autonomous control inside vehicle body 3；When detection vehicle is using half
When automatic mode, the traveling and route planning for detecting vehicle are by manually carrying out remote control, and Data Detection is by the meter inside vehicle body 3
Calculation machine autonomous control；When detecting vehicle using the operation of full artificial mode, the traveling, route planning and Data Detection for detecting vehicle are whole
By manually carrying out remote control, which is primarily adapted for use in the building of road conditions complexity.
By taking fully automatic mode as an example, when detection garage enters block entrance, what computer was obtained according to camera 5 first
Image simultaneously cooks up travelling route automatically, and then detecting vehicle can be moved in building according to the travelling route planned,
In moving process, spatial digitizer 6 starts, and obtains the bulk data in building, acquired sky by spatial digitizer 6
Between dimension data can be analyzed and be handled in a computer, and the final topology layout figure generated in building in a computer.
After topology layout figure obtains, reinforcing bar survey meter 7 starts, and automatically generates test point by computer, and it is automatic to detect vehicle at this time
Start at test point, reinforcement location, bar diameter, number of steel bars, the reinforcing bar in construction wall are walked by reinforcing bar survey meter 7
To and protective layer thickness detected, identical detection can also be carried out to cable, the plumbing pipe in construction wall, calculated
Machine will draw out the force diagram of building body according to above-mentioned detection data.
In the detection autonomous traveling process of vehicle, the IR evading obstacle sensors 14 of 3 surrounding of vehicle body are in running order always, protect
Safety of card detection vehicle during traveling, prevents detection vehicle from crashing.
When checking the short passageway of vehicle approach or porch, due to being in detecting state, camera 5, spatial digitizer 6 or
Reinforcing bar survey meter 7 can be in raised configuration, and the whole height that may cause detection vehicle is higher than passageway or porch height, and vehicle body 3
Front top laser ranging probe 15 can take the lead in the underface by passageway or porch, if laser ranging probe 15 detects at this time
When the actual height of passageway or porch is greater than detection height out, computer issues cutoff command immediately, then will be all electronic
Telescopic rod is adjusted to retracted state, makes the height for detecting vehicle lower than passageway or porch, and computer re-emits departure instructions at this time,
After measuring car to be checked passes through passageway or porch completely, restore normal detecting state again.
In the detection autonomous traveling process of vehicle, it is also possible to the more dim situation of light in travelling route is encountered, this
When image in distal displayed equipment can become unintelligible, to influence the effect remotely monitored, computer can be from this time
Dynamic headlamp 16 of opening carries out light filling, to improve image effect, guarantees the quality remotely monitored.
The scope of patent protection that scheme in embodiment is not intended to limit the invention, it is all without departing from carried out by the present invention etc.
Effect implements or change, is both contained in the scope of the patents of this case.
Claims (7)
1. a kind of multi-use architecture structure detection vehicle, it is characterised in that: including chassis, motoring platform and vehicle body；At the bottom
Four groups of wheels are installed, four groups of wheels are all made of triangular track formula electric wheel on disk；The motoring platform is mounted on bottom
Disk upper surface, the vehicle body are mounted on motoring platform upper surface, and vehicle body has rotational freedom by motoring platform；Institute
It states interior of body and is provided with computer and battery, the control instruction of the triangular track formula electric wheel and motoring platform
It is issued by computer, triangular track formula electric wheel and motoring platform are powered by battery；In the vehicle body
Top is separately installed with camera, spatial digitizer and reinforcing bar survey meter, the camera, spatial digitizer and reinforcing bar survey meter
It is powered by battery.
2. a kind of multi-use architecture structure detection vehicle according to claim 1, it is characterised in that: the camera passes through the
One electric telescopic rod is mounted on body top, and the first gyroscope cloud is equipped between the first electric telescopic rod top and camera
Platform, camera have rotational freedom by the first gyroscope holder, and camera has vertical rise by the first electric telescopic rod
Freedom degree drops；First electric telescopic rod and the control instruction of the first gyroscope holder are issued by computer, the camera shooting
The image data that head obtains is stored by computer, and image data is aobvious in distal end using wireless transmission method simultaneous display
Show in equipment, for remotely monitoring；First electric telescopic rod and the first gyroscope holder are powered by battery.
3. a kind of multi-use architecture structure detection vehicle according to claim 2, it is characterised in that: the spatial digitizer is logical
It crosses the second electric telescopic rod and is mounted on body top, be equipped with second between the second electric telescopic rod top and spatial digitizer
Gyroscope holder, spatial digitizer have rotational freedom by the second gyroscope holder, and spatial digitizer is electronic by second
Telescopic rod has vertical lifting freedom degree；Second electric telescopic rod and the control instruction of the second gyroscope holder are by calculating
Machine issues, and the data that the spatial digitizer obtains are stored by computer；Second electric telescopic rod and the second top
Spiral shell instrument holder is powered by battery.
4. a kind of multi-use architecture structure detection vehicle according to claim 3, it is characterised in that: the reinforcing bar survey meter is logical
It crosses third electric telescopic rod and is mounted on body top, third is installed between third electric telescopic rod top and reinforcing bar survey meter
Gyroscope holder, reinforcing bar survey meter have rotational freedom by third gyroscope holder, and reinforcing bar survey meter is electronic by third
Telescopic rod has vertical lifting freedom degree；The third electric telescopic rod and the control instruction of third gyroscope holder are by calculating
Machine issues, and the data that the reinforcing bar survey meter obtains are stored by computer；The third electric telescopic rod and third top
Spiral shell instrument holder is powered by battery.
5. a kind of multi-use architecture structure detection vehicle according to claim 1, it is characterised in that: at four of the vehicle body
IR evading obstacle sensors are mounted on side surface, the starting and out code of IR evading obstacle sensors are issued by computer, red
The data that outer obstacle avoidance sensor obtains are stored and are analyzed by computer, when computer judges that detection vehicle car body has collision
When risk, control instruction is issued from trend triangular track formula electric wheel by computer, so that detection vehicle car body stops movement
Or it turns；The IR evading obstacle sensors are powered by battery.
6. a kind of multi-use architecture structure detection vehicle according to claim 4, it is characterised in that: on the body structure top
Portion is equipped with laser ranging probe, and the starting and out code of laser ranging probe are issued by computer, and laser ranging probe obtains
The data taken are stored and are analyzed by computer, when computer judge detection vehicle car body height be greater than travelling route can
When passing through height, is issued and controlled from the first electric telescopic rod of trend, the second electric telescopic rod and third electric telescopic rod by computer
System instruction, so that the first electric telescopic rod, the second electric telescopic rod and third electric telescopic rod all bounce back, until detecting vehicle vehicle
The height of body is less than passing through highly for travelling route；The laser ranging probe is powered by battery.
7. a kind of multi-use architecture structure detection vehicle according to claim 1, it is characterised in that: pacify in the body structure
Equipped with headlamp, the starting and out code of headlamp are issued by computer, and headlamp is powered by battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811268502.7A CN109131016A (en) | 2018-10-29 | 2018-10-29 | A kind of multi-use architecture structure detection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811268502.7A CN109131016A (en) | 2018-10-29 | 2018-10-29 | A kind of multi-use architecture structure detection vehicle |
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| CN109131016A true CN109131016A (en) | 2019-01-04 |
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| CN201811268502.7A Pending CN109131016A (en) | 2018-10-29 | 2018-10-29 | A kind of multi-use architecture structure detection vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110109192A (en) * | 2019-05-23 | 2019-08-09 | 南充市嘉恒建设工程质量检测有限公司 | A kind of reinforcing bar survey meter auxiliary detection device and its application method |
| CN110428502A (en) * | 2019-08-01 | 2019-11-08 | 江苏禹高物联科技有限公司 | A kind of artificial intelligence building interactive terminal |
| CN110671625A (en) * | 2019-10-29 | 2020-01-10 | 王雅鸿 | Integrated ward round vehicle |
| CN112609547A (en) * | 2020-12-11 | 2021-04-06 | 中山火炬职业技术学院 | Method for monitoring layer thickness of asphalt pavement in each construction stage |
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