CN110424261A - A kind of visual wireless remote operated vehicle for bridge machinery - Google Patents
A kind of visual wireless remote operated vehicle for bridge machinery Download PDFInfo
- Publication number
- CN110424261A CN110424261A CN201910686268.8A CN201910686268A CN110424261A CN 110424261 A CN110424261 A CN 110424261A CN 201910686268 A CN201910686268 A CN 201910686268A CN 110424261 A CN110424261 A CN 110424261A
- Authority
- CN
- China
- Prior art keywords
- module
- control module
- trolley
- wireless remote
- main control
- 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.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
The invention discloses a kind of visual wireless remote operated vehicles for bridge machinery, for remotely detecting the narrow regions such as bridge pad or beam body inside.The present invention is made of control terminal and mobile terminal, and mobile terminal includes: vehicle body, chassis, main control module, image capture module, wireless communication module, drive control module.Vehicle body and chassis include that body shell, chassis, four tires and four direct current generators being mounted on the inside of tire, other modules are fixed on chassis corresponding position.Operating method of the invention are as follows: user is issued by controlling terminal and instructed, wireless communication module receives instruction and is communicated to main control module, then main control module makes a response, trolley stores after collecting destination image data into trolley main control module and GPS quickly positions disease, and is sent to user receiving end by wireless communication module.The device is compact and flexible and low in cost, dangerous suitable for bridge machinery or be difficult to the scene reached.
Description
Technical field
The invention belongs to wireless remote control technology fields, and in particular to a kind of visual wireless remote control for bridge machinery is small
Vehicle.
Background technique
Traditional bridge machinery be mainly lean on the eyes of people go observation distinguish bridge surface disease, for beam body bottom,
The disease of the parts such as pile foundation can still be differentiated, but for parts people are but difficult with same at bridge pad, inside box beam etc.
The method of sample observes.The problems such as these places for being difficult to observe are insufficient in the prevalence of headroom, narrow space.Bridge machinery
Personnel need a kind of detection instrument that can smoothly reach these places and can pass back the defect information at this.
Summary of the invention
To solve the above problems, the invention discloses a kind of visual wireless remote operated vehicle for bridge machinery, for inspection
Survey that bridge headroom is insufficient, region of narrow space can be detected, cost of manufacture is cheap, it is reasonable in design, use operation
It is convenient.
In order to achieve the above objectives, technical scheme is as follows:
A kind of visual wireless remote operated vehicle for bridge machinery, is made of control terminal and mobile terminal, and mobile terminal includes vehicle body, bottom
Disk, main control module, wireless communication module, image capture module and drive control module, control terminal are matched wireless remote control dress
It sets or cell phone application.
Four direct current generators that the chassis surrounding is symmetrically arranged with four tires and is close on the inside of tire, the wheel are equal
Using four-wheel independent suspension, the vibration in trolley traveling process is reduced, the electric motor starting mode uses one side brake, left/
The front and back wheel on right side is consistent, and the left and right sides can not be identical, the steering with traditional rear wheel drive, steering engine control front-wheel deflection
Mode is compared, and the one side brake driving method turning radius that the present invention uses is small, can preferably be advanced in small space.
The main control module, wireless communication module and drive control module are each attached on dolly chassis, the image
Acquisition module is fixed on trolley vehicle body, the image capture module, wireless communication module and drive control module with master
Module is controlled to be connected,
The image capture module includes an infrared digital camera, supports low light source working, the camera is fixed
On holder, the holder is designed using dual rotary, 345 ° of support level and vertical 115 ° of flexible rotatings, and it is fixed to carry GPS
Position system, meets requirement of the operator to Image Acquisition.
The communication mode of the wireless communication module is the modes such as bluetooth, WIFI 3G/4G mobile communication.
All direct current generators and servo motor are all made of lithium battery power supply in the present invention, and the power supply mode of the lithium battery is
Directly fill and disconnectable mode.
The working principle of the invention is: operator is issued by control terminal and is instructed, and wireless communication module passes after receiving instruction
Main control module is passed, main control module controls corresponding module response instruction according to the classes of instructions received respectively, for example, controlling driving
Molding block controls trolley forward-reverse and turns to or control camera PTZ level vertical rotary；Make image capture module to environment into
The acquisition of row data；Make wireless communication module that collected data are sent back control terminal or pre-set receiving end.
The beneficial effects of the present invention are:
A kind of visual wireless remote operated vehicle for bridge machinery of the present invention can replace testing staff to enter dangerous
Region detected, the small space reached is difficult to suitable for people, the video file recorded in detection process can carry out in real time
Observation also can be reserved for consult, while have many advantages, such as that cost of manufacture is cheap, reasonable in design, easy to use and operate, energy
Enough meet the related needs of bridge machinery.
Detailed description of the invention
Fig. 1 is the top cross-sectional view of remote operated vehicle of the present invention；
Fig. 2 is the front-view schematic diagram of remote operated vehicle of the present invention；
Fig. 3 is the right side view of remote operated vehicle of the present invention；
Fig. 4 is the specific configuration flow chart of the present apparatus.
Reference signs list:
The chassis 1-, 2- vehicle body, 11- tire, 12abcd- motor, 13- suspension, 2- shell, 21- headlamp, 22- warning light,
3- main control module, 4- wireless communication module, 5- image capture module, 51- holder, 52- camera, 6- drive control module, 7-
Lithium battery.
Specific embodiment
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated, it should be understood that following specific embodiments are only
For illustrating the present invention rather than limiting the scope of the invention.
As shown, a kind of visual wireless remote operated vehicle for bridge machinery of the present invention, including vehicle body 2, bottom
Disk 1, four direct current generators 12 that 1 surrounding of chassis is symmetrically arranged with four tires 11 and is close on the inside of tire, the wheel
Using four-wheel independent suspension 13, the vibration in trolley traveling process is reduced, the electric motor starting mode uses one side brake,
The front and back wheel of left/right side is consistent, and the left and right sides can not be identical, is deflected with traditional rear wheel drive, steering engine control front-wheel
Steering mode is compared, and the one side brake driving method turning radius that the present invention uses is small, can be gone preferably in small space
Into.
A kind of visual wireless remote operated vehicle for bridge machinery of the present invention, further includes main control module 3, channel radio
Letter module 4, image capture module 5 and drive control module 6, the image capture module 5 are fixed on vehicle body 2, other three
A module is fixed on chassis 1, and the image capture module 5, wireless communication module 4 and drive control module 6 are and master control
Module 3 is connected, it is ensured that the instruction that each module timely responds to receive can be well controllled in main control module 3.The Image Acquisition
Module 5 includes an infrared digital camera 52, supports low light source working, the camera 52 is fixed on holder 51, institute
The holder 51 stated is designed using dual rotary, and 345 ° of support level and vertical 115 ° of flexible rotatings meet operator to Image Acquisition
Requirement.The communication mode of the wireless communication module 4 is the modes such as bluetooth, WIFI 3G/4G mobile communication.
All motors are all made of the power supply of lithium battery 7 in the present invention, and the mode of installing and using of the lithium battery 7 is that both can directly fill
Also disconnectable mode.
The working principle of the invention is: operator is issued by control terminal and is instructed, and wireless communication module 4 passes after receiving instruction
Main control module 3 is passed, main control module 3 controls corresponding module response instruction according to the classes of instructions received respectively, for example, making to drive
Control module 6 controls trolley forward-reverse and turns to or control the rotation of 51 horizontal vertical of camera holder；Keep image capture module 5 right
Environment carries out data acquisition；Make wireless communication module 4 that collected data be sent back control terminal or pre-set connect
Receiving end.
The beneficial effects of the present invention are: the present invention have cost of manufacture it is cheap, it is reasonable in design, easy to use and operate,
It is applicable in small space, increases the advantages that detection job security, can satisfy the related needs of people.
Should invent below the working condition of visual wireless remote operated vehicle for bridge machinery a kind of to the invention do into
One step explanation.
(1) forward/backward: main control module 3 controls drive control module 6 after receiving instruction while starting four motors in left and right
12 rotate forward, and driving trolley advances；Or control motor 12 inverts, driving trolley retreats.
(2) acceleration/deceleration: operator adjusts the resistance sizes of speed changer by the acceleration/deceleration button at remote control end, with this
Electric current output size is controlled, the function that trolley accelerates and slows down, small vehicle speed totally 3 gears are reached.
(3) low-angle turns left: operator is issued by control terminal and is instructed, and trolley receives left side taillight 22a flashing after instruction,
It controls left side front and back turbin generator 12a and 12c simultaneously to stop working, turbin generator 12b and 12d are rotated forward, it can be achieved that trolley before and after right side
Low-angle turns left.
(4) low-angle is turned right: principle is stopped with left-hand rotation, operator by turbin generator 12b and 12d before and after instruction control right side
Work, left side front and back turbin generator 12a and 12c are rotated forward, and realize that trolley low-angle is turned right.
(5) flicker: operator passes through instruction control left side front and back turbin generator 12a and 12c reversion, right side front and back wheel
Motor rotates forward, and keeps the motor speed of left and right side consistent, it can be achieved that trolley flicker.
(6) flicker: principle is with left-hand rotation, and turbin generator 12b and 12d are inverted before and after operator passes through instruction control right side,
Turbin generator 12a and 12c are rotated forward before and after left side, and keep the motor speed of left and right side consistent, it can be achieved that trolley flicker.
(7) holder rotation: drive control module is according to the horizontal rotation of holder 51 under instruction control camera 52 and vertically
Rotation.
(8) acquire image: image capture module 5 controls camera collection image, is then passed to main control module 3, master control
After module 3 carries out the processing such as compression of images, data encoding to collected data, module 4 sends back control by wireless communication
End.
(9) it enables illumination: opening the headlamp 21 at trolley headstock.
Trolley receives the everything in addition to turning, while making a response, flashes the warning light of the tailstock, signal is received
To instruction.
A kind of visual wireless remote operated vehicle for bridge machinery of the present invention, due to the motor of left and right sides tire
It individually controls, the steering of 360 ° of more convenient realization original place.
Also there are interface resources abundant on the circuit board of main control module 3 by the present invention, have Function Extension easily special
Property, user can voluntarily add various modules according to self-demand.
The technical means disclosed in the embodiments of the present invention is not limited only to technological means disclosed in above embodiment, further includes
Technical solution consisting of any combination of the above technical features.
Claims (9)
1. a kind of visual wireless remote operated vehicle for bridge machinery, it is characterised in that: it is made of control terminal and mobile terminal, it is described
Mobile terminal includes vehicle body (2), chassis (1), main control module (3), wireless communication module (4), image capture module (5) and driving control
Molding block (6), the control terminal are matched wireless remote controller or cell phone application.
2. a kind of visual wireless remote operated vehicle for bridge machinery according to claim 1, it is characterised in that: described
Vehicle body (2) and chassis (1) are all made of carbon fiber material production, and chassis (1) surrounding is symmetrically arranged with four tires (11) and is close to
Four direct current generators (12) on the inside of tire, the wheel use four-wheel independent suspension, and the driving method is unilateral system
Dynamic, the front and back turbin generator in left side starts and stops control, and holding speed sync simultaneously, and similarly, but left and right sides can be kept on right side
Different rotating speeds even different directions.
3. a kind of visual wireless remote operated vehicle for bridge machinery according to claim 1, it is characterised in that: the master
Control module (3), wireless communication module (4) and drive control module (6) are each attached on dolly chassis, and main control module (3) is one
Block has been integrated with the circuit board of single-chip microcontroller and related peripheral device according to use demand, the image capture module (5), wireless
Communication module (4) and drive control module (6) are connected with main control module (3).
4. a kind of visual wireless remote operated vehicle for bridge machinery according to claim 1, it is characterised in that: described
Image capture module (5) includes the infrared digital camera (52) for having holder (51), and the camera (52) is fixed
On holder (51), the holder (51) is fixed on trolley vehicle body (2), and is designed using dual rotary, 345 ° of support level
With vertical 115 ° of flexible rotatings.
5. a kind of visual wireless remote operated vehicle for bridge machinery according to claim 1, it is characterised in that: described
The communication mode of wireless communication module (4) is bluetooth, the mode of WIFI 3G/4G mobile communication.
6. a kind of visual wireless remote operated vehicle for bridge machinery according to claim 2, it is characterised in that: described
Direct current generator (12) and each module, which are all made of, both can directly fill or dismountable lithium battery (7) is powered.
7. a kind of visual wireless remote operated vehicle for bridge machinery according to claim 1, which is characterized in that described
Acquired image video data can be carried out video and decode compression processing by main control module (3), and temporarily be deposited in outfit
Flash card, in the local quick storage corresponding data of poor signal.
8. a kind of visual wireless remote operated vehicle for bridge machinery according to claim 1, which is characterized in that described
Communication mode determines disease in the position of bridge with GPS positioning function.
9. a kind of working condition of the visual wireless remote operated vehicle for bridge machinery, it is characterised in that:
(1) forward/backward: main control module (3) controls drive control module (6) after receiving instruction while starting four motors in left and right
(12) it rotates forward, driving trolley advances；Or control motor (12) reversion, driving trolley retreat；
(2) acceleration/deceleration: operator adjusts the resistance sizes of speed changer by the acceleration/deceleration button at remote control end, is controlled with this
Electric current output size reaches the function that trolley accelerates and slows down, small vehicle speed totally 3 gears；
(3) low-angle turns left: operator is issued by control terminal and is instructed, and left side taillight (22a) flashes after trolley receives instruction, together
When control left side front and back turbin generator (12a and 12c) stop working, turbin generator (12b and 12d) rotates forward, it can be achieved that small before and after right side
Vehicle low-angle turns left；
(4) low-angle is turned right: principle stops work by turbin generator (12b and 12d) before and after instruction control right side with left-hand rotation, operator
Make, turbin generator (12a and 12c) rotates forward before and after left side, realizes that trolley low-angle is turned right；
(5) flicker: operator is inverted by instruction control left side front and back turbin generator (12a and 12c), right side front and back wheel electricity
Machine (12b and 12d) rotates forward, and keeps the motor speed of left and right side consistent, it can be achieved that trolley flicker；
(6) flicker: with left-hand rotation, operator is inverted principle by turbin generator (12b and 12d) before and after instruction control right side, left
Turbin generator (12a and 12c) rotates forward before and after side, and keeps the motor speed of left and right side consistent, it can be achieved that trolley flicker；
(7) holder rotation: drive control module is according to holder (51) horizontal rotation under instruction control camera (52) and vertically
Rotation；
(8) acquire image: image capture module (5) controls camera collection image, is then passed to main control module (3), master control
After module (3) carries out the processing such as compression of images, data encoding to collected data, module (4) is sent back by wireless communication
Control terminal；
(9) it enables illumination: opening the headlamp (21) at trolley headstock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910686268.8A CN110424261A (en) | 2019-07-29 | 2019-07-29 | A kind of visual wireless remote operated vehicle for bridge machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910686268.8A CN110424261A (en) | 2019-07-29 | 2019-07-29 | A kind of visual wireless remote operated vehicle for bridge machinery |
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| Publication Number | Publication Date |
|---|---|
| CN110424261A true CN110424261A (en) | 2019-11-08 |
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ID=68410994
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910686268.8A Pending CN110424261A (en) | 2019-07-29 | 2019-07-29 | A kind of visual wireless remote operated vehicle for bridge machinery |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111270608A (en) * | 2020-03-09 | 2020-06-12 | 浙江大学 | Wall-climbing robot for detection in steel box girder of large-span bridge |
| CN112342910A (en) * | 2020-11-09 | 2021-02-09 | 湖北工业大学 | Bridge maintenance car's on-vehicle intelligent information-based system based on thing networking |
| CN114384230A (en) * | 2021-12-14 | 2022-04-22 | 华中农业大学 | Farmland soil parameter measuring trolley |
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| CN107007955A (en) * | 2017-04-17 | 2017-08-04 | 东南大学 | A kind of small-sized warning firefighting robot towards Initial Stage of Fire |
| CN207216416U (en) * | 2017-06-09 | 2018-04-10 | 华南理工大学 | A kind of security patrol robot |
| CN109606089A (en) * | 2018-11-27 | 2019-04-12 | 北京建筑大学 | A kind of extinguishing vehicle |
| CN109866235A (en) * | 2019-04-02 | 2019-06-11 | 安徽延达智能科技有限公司 | A kind of crusing robot applying to underground coal mine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2011231602A (en) * | 2010-04-28 | 2011-11-17 | Advas Co Ltd | Structure inspection device |
| CN102966038A (en) * | 2012-11-23 | 2013-03-13 | 南京理工大学 | Bridge detecting robot based on negative-pressure absorption |
| CN107007955A (en) * | 2017-04-17 | 2017-08-04 | 东南大学 | A kind of small-sized warning firefighting robot towards Initial Stage of Fire |
| CN207216416U (en) * | 2017-06-09 | 2018-04-10 | 华南理工大学 | A kind of security patrol robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111270608A (en) * | 2020-03-09 | 2020-06-12 | 浙江大学 | Wall-climbing robot for detection in steel box girder of large-span bridge |
| CN111270608B (en) * | 2020-03-09 | 2021-11-16 | 浙江大学 | Wall-climbing robot for detection in steel box girder of large-span bridge |
| CN112342910A (en) * | 2020-11-09 | 2021-02-09 | 湖北工业大学 | Bridge maintenance car's on-vehicle intelligent information-based system based on thing networking |
| CN114384230A (en) * | 2021-12-14 | 2022-04-22 | 华中农业大学 | Farmland soil parameter measuring trolley |
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Application publication date: 20191108 |