CN110231349B - Multifunctional detecting vehicle for airport pavement - Google Patents
Multifunctional detecting vehicle for airport pavement Download PDFInfo
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- CN110231349B CN110231349B CN201910645953.6A CN201910645953A CN110231349B CN 110231349 B CN110231349 B CN 110231349B CN 201910645953 A CN201910645953 A CN 201910645953A CN 110231349 B CN110231349 B CN 110231349B
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- 230000005540 biological transmission Effects 0.000 claims description 21
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- 238000001514 detection method Methods 0.000 claims description 16
- 238000007689 inspection Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000010248 power generation Methods 0.000 claims description 5
- 239000002184 metal Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
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- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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Abstract
The invention discloses a multifunctional detecting vehicle for airport pavement, comprising: the automatic bracket assembly is arranged on the vehicle body, a plurality of image acquisition equipment groups arranged on the automatic bracket assembly, an image acquisition system and a control system arranged in the vehicle body, the plurality of image acquisition equipment groups are connected with the image acquisition system through cables, and the automatic bracket component is electrically connected with the control system. The invention expands the image acquisition range by using the unfolding mode of the mechanical arm on the automatic bracket, the mechanical arm has the capability of automatically detecting whether the mechanical arm is in place or not, the mechanical arm can be stretched to adapt to the wide width of the airport wide road surface, the setting of the encoder can enable the shooting frequency of the acquired pictures to be matched with the running speed, meanwhile, the acquisition shooting is clearer together with the lighting device, the whole system is controlled by the control system and the image acquisition system in the automobile, and the invention is convenient, reliable and easy to operate and has very good application prospect.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted pavement detection, in particular to a multifunctional airport pavement detection vehicle.
Background
At present, the airport pavement detection mainly adopts a manual mode to observe and record diseases, pavement foreign matters or other pavement abnormal conditions, and the handheld photographing equipment can also photograph and record the pavement and upload the pavement to a pavement management system, so that the work efficiency is low, the picture photographing angle is changeable, and the observation and measurement are not easy. The traditional highway pavement detection vehicle is characterized in that the detection object is a highway, the detection range is narrow, only a single lane can be covered at a time, the requirements of large-scale collection and detection of the airport pavement can not be met, and particularly, the runway is less likely to be detected by adopting a mode of collecting 4 meters in one time by using the traditional detection vehicle due to short runway inspection time. It is therefore desirable to design a wide-format multi-functional pavement inspection vehicle specifically for airports.
Accordingly, the prior art has shortcomings and needs improvement.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a multifunctional detecting vehicle for an airport pavement.
The technical scheme of the invention is as follows: provided is a multifunctional inspection vehicle for an airport pavement, comprising: the automatic bracket assembly is arranged on the vehicle body, a plurality of image acquisition equipment groups arranged on the automatic bracket assembly, an image acquisition system and a control system arranged in the vehicle body, the plurality of image acquisition equipment groups are connected with the image acquisition system through cables, and the automatic bracket component is electrically connected with the control system;
the automated stand assembly includes: the device comprises a support frame arranged on the vehicle body, a transmission mechanism and a driving device arranged on the support frame, and a plurality of mechanical arms arranged on the transmission mechanism, wherein the driving device is connected with the transmission mechanism;
And a plurality of sets of image acquisition equipment groups are arranged on each mechanical arm, the driving device drives the mechanical arms to be unfolded or folded through the transmission mechanism, and when the mechanical arms are in an unfolded state, the image acquisition equipment groups are positioned at one end of the mechanical arms far away from the vehicle body.
Further, the image acquisition equipment sets are 5 sets, the number of the mechanical arms is 2, wherein each mechanical arm is provided with 2 sets of image acquisition equipment sets, 1 set of image acquisition equipment sets are left to be installed in the center of the top of the support frame, and the automatic support assembly is arranged on one end part of the vehicle body.
Further, the image acquisition equipment set is installed towards the ground and comprises a camera, a lens and a waterproof and dustproof cover, wherein the camera is a line scanning camera.
Further, the mechanical arms are unfolded in a horizontal rotation mode under the driving of the driving device, each mechanical arm is connected with one transmission mechanism, and the transmission mechanism comprises: the mechanical arm comprises a rotating shaft connected with the mechanical arm, bearings respectively arranged at the upper end and the lower end of the rotating shaft, and a supporting block for bearing the bearings, wherein the supporting block is fixed on the supporting frame, one end of the rotating shaft is connected with the driving device, and the driving device is a motor.
Further, an anti-shake component and a position sensor are respectively arranged at the position, corresponding to the folding and unfolding positions of each mechanical arm, on the support frame, the anti-shake component is an electromagnet, and the position sensor is a metal proximity switch.
Further, the mechanical arm is driven by the driving device to be unfolded in a horizontal telescopic mode, the transmission mechanism is a guide rail or a left guide groove and a right guide groove which are arranged on the support frame, the mechanical arm stretches left and right along the guide rail or the guide groove, the driving device is a motor, and an output shaft of the motor drives the mechanical arm to move through a gear.
Further, the driving device is a stepping speed reducing motor; the automatic support assembly is provided with a lighting device, and the lighting device is arranged on the cross beam of the support frame.
Further, a speed sensing device is further arranged on the vehicle body and is electrically connected with the image acquisition equipment set.
Further, the speed sensing device is an encoder, the encoder is mounted on a wheel of the vehicle body and rotates along with rotation of the wheel, the encoder is connected with the image acquisition equipment set, and the encoder is a photoelectric encoder.
Further, a positioning system is arranged at the top of the vehicle body, and the positioning system is a differential GPS positioning system; the power generation system is arranged in the vehicle body and can provide power for the system.
By adopting the scheme, the multifunctional detection vehicle for the airport pavement provided by the invention realizes rapid image acquisition and detection of the airport pavement, expands the image acquisition range by using the unfolding mode of the mechanical arm on the automatic support, has the capability of automatically detecting whether the mechanical arm is in place or not, can be stretched to adapt to the width of the airport pavement, can enable the photographing frequency of the acquired pictures to be matched with the driving speed by setting the encoder, is further provided with the lighting device, can enable the acquisition and photographing to be clearer, is controlled by the control system and the image acquisition system in the vehicle, is convenient and reliable, is easy to operate, and has a very good application prospect.
Drawings
FIG. 1 is a schematic view of an embodiment of a multi-purpose inspection vehicle for airport surfaces with a mechanical arm retracted;
FIG. 2 is a schematic view of an exemplary mechanical arm deployment of the multi-purpose inspection vehicle of the present invention;
FIG. 3 is a schematic view of another embodiment of the multi-purpose inspection vehicle of the present invention.
Detailed Description
The invention will be described in detail below with reference to the drawings and the specific embodiments.
Referring to fig. 1, the present invention provides a multifunctional detecting vehicle for airport pavement, comprising: the automatic support device comprises a vehicle body 1, an automatic support component 2 arranged on the vehicle body 1, a plurality of image acquisition equipment groups 3 arranged on the automatic support component 2, and an image acquisition system and a control system arranged in the vehicle body 1, wherein the plurality of image acquisition equipment groups 3 are connected with the image acquisition system through cables, specifically, the image acquisition equipment groups 3 are installed towards the ground and comprise cameras, lenses and waterproof and dustproof covers, the cameras are line scanning cameras, and the advantage of adopting the line scanning cameras is that less redundant image acquisition can be realized; the camera and the lens are installed in the waterproof and dustproof cover, and the waterproof and dustproof cover can ensure that the image acquisition equipment set 3 is not influenced by external environment. Specifically, in this embodiment, an ethernet line scanning camera is adopted, a plurality of cameras are connected to an exchange of an image acquisition system through a network cable, the exchange is connected to a host computer through the network cable, the image acquisition system on the host computer receives image information acquired by the image acquisition equipment set 3, and system monitoring analysis is performed, and the monitoring analysis technology can meet the requirements by adopting an original monitoring analysis technology. The automatic support assembly 2 is electrically connected with the control system, and the automatic support assembly 2 comprises: a supporting frame 2e arranged on the vehicle body 1, transmission mechanisms 2c and 2d arranged on the supporting frame 2e, a driving device and a plurality of mechanical arms 2a and 2b arranged on the transmission mechanisms 2c and 2 d. The driving device is connected with the transmission mechanisms 2c and 2 d; each mechanical arm 2a, 2b is provided with a plurality of sets of image acquisition equipment groups 3, the driving device drives the mechanical arms 2a, 2b to be unfolded or folded through the transmission mechanisms 2c, 2d, and when the mechanical arms 2a, 2b are in an unfolded state, the image acquisition equipment groups 3 are positioned at one end of the mechanical arms 2a, 2b far away from the vehicle body 1. In this embodiment, the number of the image capturing device groups 3 is 5, the number of the mechanical arms 2a and 2b is 2, wherein each mechanical arm 2a and 2b is provided with 2 sets of image capturing device groups respectively including 3a, 3b, 3c and 3d, and the remaining 1 set of image capturing device groups 3e are mounted at the center of the top of the supporting frame 2e, and the automatic support 2 assembly is disposed on one end of the vehicle body 1.
Specifically, in this embodiment, the automatic bracket assembly 2 is provided with a lighting device, and the lighting device is mounted on the beam of the support frame 2e, and the lighting device provides a light source for the image capturing device group 3 to ensure the definition of capturing when the light is insufficient.
Specifically, in this embodiment, the vehicle body 1 is further provided with a speed sensing device 4, and the speed sensing device 4 is electrically connected to the image capturing device group. Specifically, in this embodiment, the speed sensing device 4 is an encoder, which is mounted on a wheel of the vehicle body 1 and rotates along with the rotation of the wheel, and is connected to the image capturing device group 3, and the encoder is preferably a photoelectric encoder. The encoder can convert the rotation state of the wheels into a pulse signal, and the pulse signal is connected to an external trigger port of the camera for triggering the camera to take a picture. The faster the vehicle speed, the faster the photographing speed, whereas the slower the vehicle speed, the slower the photographing speed. The photographing frequency is matched with the driving speed of the vehicle, so that the photographed image is clearer. Specifically, in this embodiment, the positioning system 5 is disposed on the top of the vehicle body 1, and the positioning system 5 is a differential GPS positioning system, where the differential GPS positioning system has higher positioning accuracy, so that positioning and stitching of images are facilitated, and accuracy of data during subsequent road maintenance is improved.
Specifically, in this embodiment, the power generation system is disposed in the vehicle body 1, so that power can be provided for the system, sufficient power can be provided for the system to ensure that the system works normally, and the power generation system can be a power generation system of an existing vehicle.
Referring to fig. 1-3, specifically, the automatic bracket assembly 2 in this embodiment is provided with two unfolding modes, a horizontal rotation unfolding mode AA and a horizontal telescopic unfolding mode BB. When the mechanical arms 2a,2b are unfolded in the horizontal rotation mode AA driven by the driving device, each mechanical arm 2a,2b is connected with one transmission mechanism, and the transmission mechanism comprises: the mechanical arm comprises a rotating shaft connected with the mechanical arms 2a and 2b, bearings respectively arranged at the upper end and the lower end of the rotating shaft, and a supporting block for bearing the bearings, wherein the supporting block is fixed on the supporting frame 2e, one end of the rotating shaft is connected with the driving device, the driving device is a motor, and in particular, the driving device is a stepping gear motor in the embodiment. Under the drive of the driving device, the rotating shaft starts to rotate, the mechanical arms 2a and 2b are driven to rotate while the rotating shaft rotates, the mechanical arms 2a and 2b start to horizontally spread in a rotating mode, and the rotating angle is preferably 90 degrees; when shooting is finished, the mechanical arms 2a and 2b shrink along with the starting of the reverse rotation of the rotating shaft under the drive of the driving device. In order to promote the degree of accuracy that detects, avoid rocking and the arm to expand the inaccurate phenomenon of detection that leads to the fact in place, correspond every on the support frame 2e the position department that the arm was packed up and was expanded is equipped with and prevents shaking part and position sensor, prevent shaking part is the electro-magnet, the electro-magnet is used for holding arm 2a,2b, prevents that arm 2a,2b from rocking and causes the unclear that image acquisition equipment group 3 shot. The position sensor is a metal proximity switch and is used for transmitting position information of the mechanical arms 2a and 2b and judging whether the mechanical arms 2a and 2b reach a specified opening and closing position or not so as to ensure accuracy and precision of shooting angles.
When the automatic bracket assembly 2 is in a horizontal telescopic unfolding mode BB, the transmission mechanism is a guide rail or a left guide groove and a right guide groove which are arranged on the support frame 2e, the mechanical arms 2a and 2b do left and right telescopic motions along the guide rail or the guide groove, when the automatic bracket assembly is required to be unfolded, the mechanical arms 2a and 2b do outward unfolding motions along the guide rail or the left guide groove and the right guide groove, the widest coverage range can be achieved when the mechanical arms 2a and 2b stretch out, and the mechanical arms 2a and 2b are perpendicular to the vehicle direction after being unfolded; and when shooting is finished, the mechanical arms 2a and 2b retract and reset inwards. The driving device is a motor, an output shaft of the motor drives the mechanical arms 2a/2b to move through a gear, and rack structures meshed with teeth of the gear are arranged on the mechanical arms 2a and 2 b. Specifically, the driving device in this embodiment is a step-and-gear motor. The horizontal telescopic unfolding mode can be that one mechanical arm is adopted to unfold to the left side or the right side, and two mechanical arms can also be adopted to unfold from the left side and the right side respectively, so that different requirements under specific scenes are met by multiple unfolding modes.
Specifically, in this embodiment, the motor, the position sensor, and the electromagnet are connected to the motion controller by driving or direct connection, where the motion controller is connected to the host computer, and meanwhile, the differential GPS signal provided by the positioning system 5 is connected to the host computer through the USB port, and the host computer runs the image acquisition system and the control system, so that the mechanical arms 2a and 2b can be controlled to be opened and closed, and image data of each camera, and direction and position information of the vehicle body 1 can be acquired, compressed, and stored in real time. Specifically, in this embodiment, an operation panel is disposed in the cab inside the vehicle body 1, and the operation panel can control the start or stop of the whole detection system, so that the whole system can be easily controlled in the cab, which is safe, reliable, convenient and fast.
In summary, the invention provides the multifunctional detection vehicle for the airport pavement, which realizes rapid image acquisition and detection of the airport pavement, expands the image acquisition range by using the unfolding mode of the mechanical arm on the automatic support, has the capability of automatically detecting whether the mechanical arm is in place or not, can be stretched to adapt to the wide width of the airport pavement, is provided with the encoder, can enable the photographing frequency of the acquired pictures to be matched with the driving speed, is also provided with the lighting device, can enable the acquisition and photographing to be clearer, and has the advantages of convenience, reliability, easiness in operation and very good application prospect by controlling the whole system through the control system and the image acquisition system in the vehicle.
The foregoing description of the preferred embodiment of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (5)
1. An airport pavement multifunctional inspection vehicle, comprising: the automatic bracket assembly is arranged on the vehicle body, a plurality of image acquisition equipment groups arranged on the automatic bracket assembly, an image acquisition system and a control system arranged in the vehicle body, the plurality of image acquisition equipment groups are connected with the image acquisition system through cables, and the automatic bracket component is electrically connected with the control system;
the automated stand assembly includes: the device comprises a support frame arranged on the vehicle body, a transmission mechanism and a driving device arranged on the support frame, and a plurality of mechanical arms arranged on the transmission mechanism, wherein the driving device is connected with the transmission mechanism;
Each mechanical arm is provided with a plurality of sets of image acquisition equipment groups, the driving device drives the mechanical arms to be unfolded or folded through the transmission mechanism, and when the mechanical arms are in an unfolded state, the image acquisition equipment groups are positioned at one end of the mechanical arms far away from a vehicle body;
The number of the image acquisition equipment sets is 5, the number of the mechanical arms is 2, wherein each mechanical arm is provided with 2 sets of image acquisition equipment sets, the rest 1 sets of image acquisition equipment sets are arranged in the center of the top of the support frame, and the automatic support assembly is arranged on one end part of the vehicle body;
the image acquisition equipment set is installed towards the ground and comprises a camera, a lens and a waterproof and dustproof cover, wherein the camera is a line scanning camera;
The mechanical arms are unfolded in a horizontal rotation mode under the driving of the driving device, each mechanical arm is connected with one transmission mechanism, and the transmission mechanism comprises: the mechanical arm comprises a rotating shaft connected with the mechanical arm, bearings respectively arranged at the upper end and the lower end of the rotating shaft, and a supporting block for bearing the bearings, wherein the supporting block is fixed on the supporting frame, one end of the rotating shaft is connected with the driving device, and the driving device is a motor;
Or the mechanical arm is unfolded in a horizontal telescopic mode under the drive of the driving device, the transmission mechanism is a guide rail or a left guide groove and a right guide groove which are arranged on the support frame, the mechanical arm performs left-right telescopic motion along the guide rail or the guide groove, the driving device is a motor, and an output shaft of the motor drives the mechanical arm to move through a gear;
The support frame is provided with an anti-shake component and a position sensor corresponding to the position where each mechanical arm is folded and unfolded, the anti-shake component is an electromagnet, and the position sensor is a metal proximity switch.
2. The multi-purpose inspection vehicle for an airport pavement of claim 1, wherein the driving means is a step-by-step reduction motor; the automatic support assembly is provided with a lighting device, and the lighting device is arranged on the cross beam of the support frame.
3. The multifunctional airport pavement detection vehicle of claim 1, wherein the vehicle body is further provided with a speed sensing device, and the speed sensing device is electrically connected with the image acquisition equipment set.
4. A multi-purpose inspection vehicle for an airport pavement according to claim 3, wherein said speed sensing device is an encoder mounted to a wheel of said vehicle body for rotation with rotation of said wheel, said encoder being coupled to said set of image capturing devices, said encoder being a photoelectric encoder.
5. The multifunctional airport pavement detection vehicle according to claim 1, wherein a positioning system is arranged at the top of the vehicle body, and the positioning system is a differential GPS positioning system; the power generation system is arranged in the vehicle body and can provide power for the system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910645953.6A CN110231349B (en) | 2019-07-17 | 2019-07-17 | Multifunctional detecting vehicle for airport pavement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910645953.6A CN110231349B (en) | 2019-07-17 | 2019-07-17 | Multifunctional detecting vehicle for airport pavement |
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| CN110231349A CN110231349A (en) | 2019-09-13 |
| CN110231349B true CN110231349B (en) | 2024-10-01 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111399076A (en) * | 2020-03-30 | 2020-07-10 | 中科蓝卓(北京)信息科技有限公司 | Method and device for detecting airport pavement foreign matter by vehicle-mounted line scanning camera |
| CN112304943A (en) * | 2020-09-18 | 2021-02-02 | 湖北高路公路工程监理咨询有限公司 | Highway engineering quality automatic checkout device |
| CN115755209B (en) * | 2022-11-15 | 2023-08-08 | 普达迪泰（天津）智能装备科技有限公司 | Unmanned airport pavement foreign matter detection vehicle |
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