CN109542116A - Cut-fill method and system for bridge machinery - Google Patents
Cut-fill method and system for bridge machinery Download PDFInfo
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- CN109542116A CN109542116A CN201811409108.0A CN201811409108A CN109542116A CN 109542116 A CN109542116 A CN 109542116A CN 201811409108 A CN201811409108 A CN 201811409108A CN 109542116 A CN109542116 A CN 109542116A
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- climb
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- path
- amphibious robot
- point
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- 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
- G05D1/10—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
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The invention discloses a kind of Cut-fill methods for bridge machinery, including establishing bridge threedimensional model, test point is planned according to bridge threedimensional model, cruise path is generated according to test point, cruise attitude is resolved according to the path point on cruise path, it establishes path point coordinate set and follows the corresponding relationship of boat gesture set, and input to and fly to climb amphibious robot, Fei Pa robot executes three-dimensional automatic cruising program and cruises.The invention also discloses a kind of Cut-fill system for bridge machinery, amphibious robot is climbed including winged equipped with bridge detecting device and can be with the ground control cabinet that flies to climb amphibious robot and carry out wireless communication.The present invention solves the technical issues of detection efficiency in the prior art is low, is easy missing inspection and is easy to happen safety accident, can be realized the automatic cruising detection to bridge, improves detection efficiency.
Description
Technical field
The present invention relates to bridge machinery fields, and in particular to a kind of cruise method and system for detecting bridge.
Background technique
With the development of unmanned air vehicle technique, unmanned plane is widely used in various field of engineering technology, in bridge machinery also by
Unmanned air vehicle technique is gradually used, especially flies to climb amphibious robot, flying to climb amphibious robot has flight, creeps and inhabit three kinds
State, and can be realized the switching under three kinds of states, as Chinese patent is " a kind of to fly and climb wall amphibious robot and its controlling party
Method (publication number CN103192987B) ", Chinese patent " a kind of fly able Climbing Robot (publication number CN107539054A) ".
Mainly bridge is detected by the way of artificial remote control at present, there are operation difficulty height, low efficiency, is easy missing inspection
Disadvantage.In addition, there is such as trapezoidal, arc irregular shaped region, not complete flattened region in bridge structure.If unmanned plane is complete
According to the cruise path cooked up on two-dimensional surface, it is easy to collide with bridge surface, can not be successfully parked or even air crash etc.
Safety accident causes bridge machinery that can not be normally carried out.
Summary of the invention
In view of the above shortcomings of the prior art, the present invention provides a kind of Cut-fill method for bridge machinery, solves
Detection efficiency is low in the prior art, is easy missing inspection and the technical issues of be easy to happen safety accident, can be realized to bridge
Automatic cruising detection, improves detection efficiency.
In order to solve the above-mentioned technical problem, present invention employs the following technical solutions: a kind of three for bridge machinery
Cruise method is tieed up, using flying to climb amphibious robot, described to fly to climb amphibious robot include flight module and crawler module, described to climb
Row module is equipped with adsorbent equipment, and the main control module for flying to climb amphibious robot is connected with GPS positioning module, described to fly to climb amphibious machine
Device people is equipped with bridge detecting device, comprising the following steps:
Step 1: being tieed up in coordinate system in space 3 and establish bridge threedimensional model；
Step 2: area to be tested is specified in bridge threedimensional model, and according to the geometry of area to be tested, detection
It is required that the detection range with bridge detecting device, cooks up corresponding test point in area to be tested, test point is to fly to climb
The parked point of amphibious robot；
Step 3: it is tieed up in coordinate system in space 3 and selects starting point, and be sequentially connected adjacent test point from the off, thus
Obtain covering the cruise path of whole test points；
Step 4: the cruise path changeover in coordinate system being tieed up into terrestrial coordinate system in space 3, and in terrestrial coordinate system
Cruise path on select several path point coordinates, form path point coordinate set；Wherein, path point includes whole test points,
And parked mark is carried out to the path point as test point；The distance of adjacent path point coordinate is greater than the essence of GPS positioning module
Spend and be less than or equal to the distance of adjacent test point；
Step 5: traversal cruise path successively resolves and flies to climb amphibious robot from the next adjacent path of upper path point arrival
Athletic posture needed for point, to obtain cruise attitude set；The athletic posture includes movement angle, move distance and fortune
Dynamic model formula, wherein motor pattern includes offline mode and creep mode；
Step 6: establishing path point coordinate set and follow the corresponding relationship of boat gesture set, and input to and fly to climb amphibious machine
People；Then, it will fly to climb amphibious robot and be placed into start position, fly the positioning function for climbing amphibious robot starting GPS positioning module
Energy；
Step 7: fly to climb the current positioning coordinate that amphibious robot obtains the current location in terrestrial coordinate system in real time, and time
Path point coordinate set is gone through, judges whether current positioning coordinate belongs to path point coordinate set；
If current positioning coordinate belongs to path point coordinate set, show that flying to climb amphibious robot reaches in path point, into
Enter step 9:
If current positioning coordinate is not belonging to path point coordinate set, 8 are entered step；
Step 8: flying to climb amphibious robot and continue to keep current kinetic posture, and return to step 7；
Step 9: continuing to judge whether current path point is test point；If it is not, flying to climb amphibious robot using corresponding fortune
Dynamic posture is moved, to reach next adjacent path point from current path point；It is stayed if so, flying to climb amphibious robot
Stop, and start bridge detecting device and detected according to testing requirements, after detecting in current detection point, enters step 10；
Step 10: the record of parked completion is marked to current detection point, and judges whether that all test points are all parked,
If it is not, returning to step 7；If so, showing that three-dimensional automatic cruising detection has been completed.
Preferably, fly to climb on the main control module of amphibious robot and be also connected with telecommand receiving module and radio communication mold
Block；Further include ground control cabinet, the ground control cabinet include remote controler for sending telecommand and can with fly to climb
The computer that amphibious robot carries out wireless communication；Configured with navigation trace routine in the computer, the navigation tracks journey
Sequence can show in the cruise path transformed in terrestrial coordinate system on bridge threedimensional model, and will fly to climb amphibious robot
Current positioning coordinate real-time display is on bridge threedimensional model；When the current positioning coordinate for flying to climb amphibious robot deviates cruise road
When diameter, it is remotely controlled control, makes to fly to climb amphibious robot and returns on cruise path.
Preferably, it is described fly to climb amphibious robot be additionally provided with ultrasonic sensor, in flight course detection fly to climb
It is automatic to climb amphibious robot when the distance detected is more than safe distance for the distance between amphibious robot and bridge surface
Return to safe distance position.
Preferably, it is additionally provided on the crawler module front end for flying to climb amphibious robot for removing the floating ash in bridge surface
Clearing apparatus.
Compared with prior art, the invention has the following advantages:
1,3 dimension automatic cruisings be can be realized for the Fei Pa robot of bridge machinery, 3 dimension automatic cruising detections only need to use
Family setting detection initial position and detection zone range, the Fei Pa robot for bridge machinery is coordinately transformed automatically, 3 tie up
Cruise path planning, test point planning and athletic posture planning, realize all standing of detection zone information collection, and flight precision is high
And it is easy to operate.
2, automatic cruising and automatic detection be can be realized, moreover it is possible to remote control is combined on the basis of automatic cruising, in real time
Correction cruise path, improves positioning accuracy.
3, in conjunction with baroceptor, ultrasonic sensor and clearing apparatus, the safety of cruise process can be greatly improved
Property.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for flying to climb amphibious robot in present embodiment；
Fig. 2 is the circuit block diagram for flying to climb amphibious machine；
Fig. 3 is to fly to climb cruise path schematic diagram of the amphibious robot on bridge.
Specific embodiment
The present invention is described in further detail with preferred embodiment with reference to the accompanying drawing.
A kind of Cut-fill method for bridge machinery, using flying to climb amphibious robot, as shown in Figures 1 and 2 shown in,
Described to fly to climb amphibious robot to include flight module and crawler module 2, the crawler module 2 is equipped with adsorbent equipment, flies to climb two
The main control module of robot of dwelling is connected with GPS positioning module, described to fly to climb amphibious robot equipped with bridge detecting device 1, packet
Include following steps:
Step 1: according to the design drawing of bridge, being tieed up in coordinate system in space 3 and establish bridge threedimensional model；
Step 2: area to be tested is specified in bridge threedimensional model, and according to the geometry of area to be tested, detection
It is required that the detection range with bridge detecting device, cooks up corresponding test point in area to be tested, test point is to fly to climb
The parked point of amphibious robot；
Step 3: it is tieed up in coordinate system in space 3 and selects starting point, and be sequentially connected adjacent test point from the off, thus
Obtain covering the cruise path of whole test points；
Step 4: the cruise path changeover in coordinate system being tieed up into terrestrial coordinate system in space 3, and in terrestrial coordinate system
Cruise selects several path point coordinates on path, forms path point coordinate set；Wherein, path point includes whole test points, and
And parked mark is carried out to the path point as test point；The distance of adjacent path point coordinate is greater than the precision of GPS positioning module
And it is less than or equal to the distance of adjacent test point；
Step 5: traversal cruise path successively resolves and flies to climb amphibious robot from the next adjacent path of upper path point arrival
Athletic posture needed for point, to obtain cruise attitude set；The athletic posture includes movement angle, move distance and fortune
Dynamic model formula, wherein motor pattern includes offline mode and creep mode；
Step 6: establishing path point coordinate set and follow the corresponding relationship of boat gesture set, and input to and fly to climb amphibious machine
People；Then, it will fly to climb amphibious robot and be placed into start position, fly the positioning function for climbing amphibious robot starting GPS positioning module
Energy；
Step 7: fly to climb the current positioning coordinate that amphibious robot obtains the current location in terrestrial coordinate system in real time, and time
Path point coordinate set is gone through, judges whether current positioning coordinate belongs to path point coordinate set；
If current positioning coordinate belongs to path point coordinate set, show that flying to climb amphibious robot reaches in path point, into
Enter step 8:
If current positioning coordinate is not belonging to path point coordinate set, 8 are entered step；
Step 8: flying to climb amphibious robot and continue to keep current kinetic posture, and return to step 7；
Step 9: continuing to judge whether current path point is test point；If it is not, flying to climb amphibious robot using corresponding fortune
Dynamic posture is moved, to reach next adjacent path point from current path point；It is stayed if so, flying to climb amphibious robot
Stop, and start bridge detecting device and detected according to testing requirements, after detecting in current detection point, enters step 10；
Step 10: the record of parked completion is marked to current detection point, and judges whether that all test points are all parked,
If it is not, returning to step 7；If so, showing that three-dimensional automatic cruising detection has been completed.
In step 10 record of parked completion can be realized by deleting the parked mark of current detection point, it can be with
By increase, to realize, parked completion has recorded parked mark, is not only able to avoid to stay by way of deleting parked mark
The test point stopped is identified as parked point, and can be reduced operand, it is not necessary to further by parked mark to determine whether needing
Want parked.
As shown in figure 3, in present embodiment, flies to climb and be also connected with telecommand on the main control module of amphibious robot
Receiving module and wireless communication module；It further include ground control cabinet 3, the ground control cabinet includes for sending telecommand
Remote controler and can be with the computer that flies to climb amphibious robot and carry out wireless communication；Configured with navigation tracking in the computer
Program, the navigation trace routine can show in the cruise path transformed in terrestrial coordinate system on bridge threedimensional model,
And it will fly to climb the current positioning coordinate real-time display of amphibious robot on bridge threedimensional model；When flying to climb working as amphibious robot
When prelocalization coordinate deviates cruise path, it is remotely controlled control, makes to fly to climb amphibious robot and returns to and cruise on path.Automatically it is patrolling
Remote control is combined on the basis of boat, positioning accuracy is improved in real time correction cruise path.
In present embodiment, the bridge detecting device include for surface damage detection high-definition camera and
Or the radar defectoscope of internal injury detection.In such manner, it is possible to be detected simultaneously by bridge surface damage and internal injury.
In present embodiment, when the bridge surface texture between two adjacent path points is smooth, two adjacent path
Creep mode, offline mode or winged creeping formwork formula can be used in motor pattern between point.Bridge table between two adjacent path points
When face protrusion or recess, the motor pattern between the two adjacent path point uses offline mode, avoids on bridge convex-concave surface
Creeping leads to air crash.
In present embodiment, it is described fly to climb amphibious robot be additionally provided with ultrasonic sensor, in flight course
Middle detection flies to climb the distance between amphibious robot and bridge surface, and when the distance detected is more than safe distance, control flies
It climbs amphibious robot and returns to safe distance position.The safety for improving flight course, avoids flying to climb amphibious robot and bridge
It collides and damages.
As shown in Figure 1, the flight module for flying to climb amphibious robot includes flight bracket in present embodiment,
The flight bracket includes 4 axis in criss-cross fashion arrangement, and the double-deck rotor one on the other is equipped on every axis, on
Layer rotor 11 is identical as the blade form of lower layer rotor 12, and every layer of rotor is driven by respective rotor motor, rotor
The connection of the signal output end of motor and main control module.In this way, when 11 cisco unity malfunction of rotor of upper layer, it can be by starting lower layer
Rotor 12 guarantees normal flight.
When flying to climb amphibious robot and carrying out offline mode to bridge structure and quickly detect, by four axis of flight module
Upper layer rotor provides power；If what the upper layer rotor of some excessive axis of wind-force reached rated speed 90% is still unable to reach and flies to climb
When amphibious robot carries out the power demand needed for detection data acquires to hold position or there is event in the upper layer rotor of some axis
When barrier, start lower layer's rotor of the axis.If the normal rotor of the upper and lower level of all axis, which starts, reaches the 90% of rated speed still
Be unable to reach with hold position carry out detection data acquisition needed for power demand when, then be automatically converted to fly to climb binding pattern into
Row detection.
In present embodiment, the adsorbent equipment of crawler module includes 4 negative pressure suckers, each negative pressure sucker include from
Heart blower, current detection means, centrifugal blower driving circuit, each negative pressure sucker is interior to be arranged pressure sensor, when a negative pressure
In suckerWhen, ifThink that the negative pressure sucker leaks air, which be labeled as failure sucker,
Wherein r is centrifugal blower revolving speed, rmaxFor centrifugal blower maximum (top) speed, p is the pressure difference inside and outside centrifugal blower, pmaxFor outside pressure
Power.
As D >=0.5, ifThink the centrifugal blower failure, equally inhales the sucker labeled as failure
Disk, wherein D is the duty ratio that the centrifugal blower controls signal, and I is centrifugal blower driving current, ImaxFor the drive of centrifugal blower maximum
Streaming current.
When flying to climb amphibious robot and carrying out absorption detection to bridge structure top surface or side, in 4 negative pressure suckers without reason
Barrier sucker works；When centrifugal blower revolving speed reaches specified maximum (top) speed 80% still and can not provide in four sucker vacuum cavities
When flying suction needed for climbing amphibious robot, the upper layer rotor started on four axis of flight module provides power；If some axis
What upper layer rotor reached rated speed 90% is unable to reach requirement or upper layer rotor and breaks down, then opens lower layer's rotation of the axis
The wing.
In present embodiment, it is additionally provided on the crawler module front end for flying to climb amphibious robot for removing bridge
The clearing apparatus of ash is floated on surface, after cleaning floating ash by clearing apparatus, can be improved the adsorption capacity between crawler module and bridge.
A kind of Cut-fill system for bridge machinery climbs amphibious robot including winged equipped with bridge detecting device
And it can be with the ground control cabinet that flies to climb amphibious robot and carry out wireless communication；
The ground control cabinet includes computer, configured with cruise path generation program and cruise appearance in the computer
State solver；The cruise path generation program is used to be tieed up according to the threedimensional model and area to be tested of bridge in space 3
Cruise path is generated in coordinate system, and space 3 can be tieed up to the cruise path changeover in coordinate system into terrestrial coordinate system；It is described to patrol
Navigation attitude state solver generates several path point coordinates on the cruise path in terrestrial coordinate system, and flies to climb calculating
Amphibious robot from each path point reach its next adjacent path point needed for athletic posture；
It is described to fly to climb amphibious robot to include flight module and crawler module, fly the main control module connection for climbing amphibious robot
There is GPS positioning module, flies to climb in the main control module of amphibious robot configured with three-dimensional automatic cruising program, fly to climb amphibious robot
Being stored in the step 6 by the Cut-fill method for being used for bridge machinery in present embodiment includes path point coordinate set
The corresponding relationship of boat gesture set is closed and follows, three-dimensional automatic cruising program is executed according to step 7 to step 10.
Using flying power fused controlling method of creeping, for bridge machinery Fei Pa robot can using flight, creep or
The mode for flying to climb combination runs to position to be detected and completes detection work, various in high-speed flight, resident detection, stabilized walking
It is required that lower flexibly switching, stability is high and cruise duration is long, can reach cruise duration 60 minutes, can fast 15 meter per seconds of wind resistance.Flight
The rotor of device and the sucker of crawler module all use Redundancy Design, to ensure the reliability of system.Flight precision is high, easy to operate
Fei Pa robot for bridge machinery can be realized 3 dimension automatic cruisings, and 3 dimension automatic cruising detections only need user setting to detect
Initial position and detection zone range, the Fei Pa robot for bridge machinery is coordinately transformed automatically, 3 dimension cruise paths are advised
It draws, test point planning and test pose are planned, all standing of realization detection zone information collection, flight precision height and operation letter
It is single.
Claims (9)
- It is described to fly to climb amphibious robot packet using flying to climb amphibious robot 1. a kind of Cut-fill method for bridge machinery Flight module and crawler module are included, the crawler module is equipped with adsorbent equipment, it is characterised in that: flies to climb the master of amphibious robot Control module is connected with GPS positioning module, described to fly to climb amphibious robot equipped with bridge detecting device, comprising the following steps:Step 1: being tieed up in coordinate system in space 3 and establish bridge threedimensional model；Step 2: area to be tested is specified in bridge threedimensional model, and according to the geometry of area to be tested, testing requirements With the detection range of bridge detecting device, corresponding test point is cooked up in area to be tested, test point as flies to climb amphibious The parked point of robot；Step 3: being tieed up in coordinate system in space 3 and select starting point, and be sequentially connected adjacent test point from the off, to obtain Cover the cruise path of whole test points；Step 4: the cruise path changeover in coordinate system is tieed up into space 3 and is cruised into terrestrial coordinate system, and in terrestrial coordinate system Several path point coordinates are selected on path, form path point coordinate set；Wherein, path point includes whole test points, and right Path point as test point carries out parked mark；The distance of adjacent path point coordinate is greater than the precision of GPS positioning module and small In or equal to adjacent test point distance；Step 5: traversal cruise path successively resolves to fly to climb amphibious robot and reaches its next adjacent path point from each path point Required athletic posture, to obtain cruise attitude set；The athletic posture includes movement angle, move distance and movement Mode, wherein motor pattern includes offline mode and creep mode；Step 6: establishing path point coordinate set and follow the corresponding relationship of boat gesture set, and input to and fly to climb amphibious robot； Then, it will fly to climb amphibious robot and be placed into start position, fly the positioning function for climbing amphibious robot starting GPS positioning module；Step 7: flying to climb amphibious robot and obtain the current positioning coordinate of the current location in terrestrial coordinate system in real time, and traverse road Diameter point coordinate set, judges whether current positioning coordinate belongs to path point coordinate set；If current positioning coordinate belongs to path point coordinate set, show that flying to climb amphibious robot reaches in path point, into step Rapid 9:If current positioning coordinate is not belonging to path point coordinate set, 8 are entered step；Step 8: flying to climb amphibious robot and continue to keep current kinetic posture, and return to step 7；Step 9: continuing to judge whether current path point is test point；If it is not, flying to climb amphibious robot using corresponding movement appearance State is moved, to reach next adjacent path point from current path point；If so, fly to climb amphibious robot carry out it is parked, and Starting bridge detecting device is detected according to testing requirements, after detecting in current detection point, enters step 10；Step 10: the record of parked completion is marked to current detection point, and judges whether that all test points are all parked, if It is no, return to step 7；If so, showing that three-dimensional automatic cruising detection has been completed.
- 2. the Cut-fill method according to claim 1 for bridge machinery, it is characterised in that: by deleting in step 9 The record of parked completion is realized except the parked mark of current detection point.
- 3. the Cut-fill method according to claim 1 for bridge machinery, it is characterised in that: fly to climb amphibious robot Main control module on be also connected with telecommand receiving module and wireless communication module；It further include ground control cabinet, the ground Console includes remote controler for sending telecommand and can be with the calculating that flies to climb amphibious robot and carry out wireless communication Machine；Configured with navigation trace routine in the computer, the navigation trace routine can will be transformed in terrestrial coordinate system Cruise path is shown on bridge threedimensional model, and will fly to climb the current positioning coordinate real-time display of amphibious robot in bridge three On dimension module；When flying to climb the current positioning coordinate deviation cruise path of amphibious robot, it is remotely controlled control, makes to fly to climb amphibious Robot returns on cruise path.
- 4. the Cut-fill method according to claim 1 for bridge machinery, it is characterised in that: the bridge machinery dress Set high-definition camera including being detected for surface damage and or internal injury detection radar defectoscope.
- 5. the Cut-fill method according to claim 1 for bridge machinery, it is characterised in that: when two adjacent path points Between bridge surface protrusion or when recess, the motor pattern between the two adjacent path point uses offline mode.
- 6. the Cut-fill method according to claim 1 for bridge machinery, it is characterised in that: described to fly to climb amphibious machine Device people is additionally provided with ultrasonic sensor, in flight course detection fly to climb between amphibious robot and bridge surface away from From when the distance detected is more than safe distance, control, which flies to climb amphibious robot, returns to safe distance position.
- 7. the Cut-fill method according to claim 1 for bridge machinery, it is characterised in that: described to fly to climb amphibious machine The flight module of device people includes flight bracket, and the flight bracket includes 4 axis in criss-cross fashion arrangement, on every axis It is equipped with the double-deck rotor one on the other, every layer of rotor is driven by respective rotor motor, rotor motor and master control The signal output end of module connects.
- 8. the Cut-fill method according to claim 1 for bridge machinery, it is characterised in that: described to fly to climb amphibious machine The clearing apparatus that ash is floated for removing bridge surface is additionally provided on the crawler module front end of device people.
- 9. a kind of Cut-fill system for bridge machinery, it is characterised in that: climbed including winged equipped with bridge detecting device Amphibious robot and can be with the ground control cabinet that flies to climb amphibious robot and carry out wireless communication；The ground control cabinet includes computer, configured with cruise path generation program and cruise attitude solution in the computer Calculate program；The cruise path generation program is used to tie up coordinate in space 3 according to the threedimensional model and area to be tested of bridge Cruise path is generated in system, and space 3 can be tieed up to the cruise path changeover in coordinate system into terrestrial coordinate system；The cruise appearance State solver for generating several path point coordinates on cruise path in terrestrial coordinate system, and calculate fly to climb it is amphibious Robot from each path point reach its next adjacent path point needed for athletic posture；Described to fly to climb amphibious robot to include flight module and crawler module, the main control module for flying to climb amphibious robot is connected with GPS positioning module flies to climb in the main control module of amphibious robot configured with three-dimensional automatic cruising program.
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| CN111562220A (en) * | 2020-06-02 | 2020-08-21 | 吉林大学 | Rapid and intelligent detection method for bridge diseases |
| CN114062516A (en) * | 2022-01-18 | 2022-02-18 | 中大检测(湖南)股份有限公司 | Tunnel-oriented ultrasonic detection system |
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