CN110453578A - A kind of urban road detection robot system - Google Patents
A kind of urban road detection robot system Download PDFInfo
- Publication number
- CN110453578A CN110453578A CN201910608935.0A CN201910608935A CN110453578A CN 110453578 A CN110453578 A CN 110453578A CN 201910608935 A CN201910608935 A CN 201910608935A CN 110453578 A CN110453578 A CN 110453578A
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- Prior art keywords
- standalone chassis
- standalone
- chassis
- robot
- video camera
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to town road detection fields, disclose a kind of urban road detection robot system, it solves and vehicle is relied on to be detected, measurement detection is limited big, the problem of measurement data inaccuracy, its key points of the technical solution are that including the mark post robot being used cooperatively and detection robot, the mark post robot includes moveable first standalone chassis, the top of first standalone chassis is equipped with telescopic overcasting staff, detection robot includes moveable second standalone chassis, and the top of second standalone chassis is equipped with levelness video camera；Level support platform has been separately equipped between the overcasting staff and first standalone chassis, between the levelness video camera and second standalone chassis, the mark post robot and the detection robot are respectively equipped with the GPS module being correspondingly connected with, wireless communication module, processor module and controller module, using robot, each orientation on road can be reached, testing result is accurate.
Description
Technical field
The present invention relates to town road detection fields, more specifically, it relates to which a kind of urban road detects system, robot
System.
Background technique
The detection of general town road, what is predominantly detected is the gradient and levelness of road etc., but measurement in practice
Data are generally obtained by manual measurement, and manual resource consuming is huge, some is support vehicle to be detected, but
It is the region that vehicle can reach is limited, so measurement data is inaccurate；
Such as notification number is patent-road detection vehicle of CN108330792A, the present invention relates to a kind of road detection vehicles, are related to
Road detection technique field solves the problems, such as that detection device installation position sets low, is easy to wear, including car body and setting are above back door
Detection device case, be provided with the connecting framework being fixed on car body in the detection device case, installed on the connecting framework
There is detection device, the detection device includes body, and the fixed part for connecting with connecting framework, institute are provided on the body
The laser emitter that detection device both ends are provided with transmitting laser downwards is stated, the connecting framework two sides are provided with wears for laser
The form crossed is covered with transparent prevention plate above the form, which is to rely on automobile to be detected, be limited compared with
Greatly, testing result inaccuracy.
Summary of the invention
The object of the present invention is to provide a kind of urban roads to detect robot system, can be reached on road using robot
Each orientation, testing result is accurate.
Above-mentioned technical purpose of the invention has the technical scheme that a kind of urban road detection machine
People's system, it is characterized in that: including the mark post robot being used cooperatively and detection robot, the mark post robot includes removable
The first standalone chassis, the top of first standalone chassis is equipped with telescopic overcasting staff, and detection robot includes removable
The top of the second dynamic standalone chassis, second standalone chassis is equipped with levelness video camera；
Between the overcasting staff and first standalone chassis, between the levelness video camera and second standalone chassis
It is separately equipped with level support platform, the plane where the top surface of the level support platform is horizontal plane, the overcasting staff and institute
It is vertical to state level support platform；
The mark post robot and the detection robot are respectively equipped with the GPS module being correspondingly connected with, wireless communication module, processing
Device module and controller module.
Preferably, the overcasting staff includes several loop bars that multilayer is arranged, and push-rod electric machine, institute are equipped with inside the loop bar
State the scale registration that recess is equipped on the outside of loop bar.
Preferably, the level support platform includes support plate and several support rods, the top of the support rod and the branch
The bottom surface of fagging is hinged, and the bottom end of the support rod is in the top surface of first standalone chassis or the top of second standalone chassis
Face is hinged, and the support rod is electric telescopic rod.
Preferably, the bottom surface of the support plate is equipped with horizon sensor.
Preferably, vibrating sensor is respectively equipped in first standalone chassis and second standalone chassis.
Preferably, the side of second standalone chassis, which is run through, is equipped with vision measurement hole, sets in second standalone chassis
There is road surface capture video camera, the camera end of the road surface capture video camera passes through the vision measurement hole and is set to described second independently
Outside cabinet.
Preferably, the levelness video camera and the road surface capture video camera are automatic focusing video camera.
Preferably, battery is equipped in first standalone chassis and second standalone chassis.
Preferably, the bottom of first standalone chassis and second standalone chassis is equipped with electric roller.
Preferably, being sticked on the outside of first standalone chassis and second standalone chassis has warning reflection adhesive tape, institute
It states and is equipped with alarm flashing lamp at the top of the first standalone chassis and second standalone chassis.
In conclusion the invention has the following advantages: the levelness video camera of detection robot can give mark post machine
The overcasting staff of device people is taken pictures, and can be obtained mark post robot and be detected the difference in height between robot location, in conjunction with GPS module
The distance between mark post robot and detection robot for sensing, just can be derived that, mark post robot and detection institute, robot
Locate the levelness or the gradient in section；And levelness video camera and overcasting staff bottom are equipped with level support platform, horizontally-supported
Platform can remain horizontal, and overcasting staff is vertical with level support platform, so that the measurement numerical value of levelness shot by camera
Reduce final horizontal gradient error and slope errors without the altitude conversion of progress tilt angle for the difference in height of vertical direction,
So that measurement data is more acurrate, and mark post robot and detection robot be can be movable independently, in actual production, body
Product is controllable, so mark post robot and detection robot position that can be detected are limited small, more convenient actual use.
Detailed description of the invention
Fig. 1 is mark post robot of the present invention schematic diagram；
Fig. 2 is present invention detection robot schematic diagram.
In figure: 1, the first standalone chassis；2, the second standalone chassis；3, electric roller；4, support plate；5, support rod；6, it surveys
Measure mark post；7, levelness video camera；8, road surface capture video camera.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
As depicted in figs. 1 and 2, a kind of urban road detects robot system, the mark post robot including being used cooperatively and
Detect robot, the present invention in, mark post robot and detection machine be equipped with GPS module, wireless communication module, vision-based detection per capita
Module, memory module, processor module and controller module, for controlling mark post robot and detection robot, so that two
Person can be with cooperating, to reach the detection to urban road, and the connection between the above modules connects according to real work circuit
It connects, is subject to and realizes that this urban road detection robot system can operate normally.
As depicted in figs. 1 and 2, mark post robot includes moveable first standalone chassis 1, the top of the first standalone chassis 1
Portion is equipped with telescopic overcasting staff 6, and overcasting staff 6 includes several loop bars that multilayer is arranged, and is equipped with push-rod electric machine inside loop bar,
By control push-rod electric machine work, come so that overcasting staff 6 is flexible, the scale registration equipped with recess on the outside of loop bar detects machine
People includes moveable second standalone chassis 2, and the top of the second standalone chassis 2 is equipped with levelness video camera 7, at work, water
Pingdu video camera 7 is taken pictures to containing scale registration, and the related data of levelness can be directly obtained from resulting photo, and
The scale registration of recess is avoided because the registration being coated with is reflective, and data collection is caused to fail；
As depicted in figs. 1 and 2, between overcasting staff 6 and the first standalone chassis 1, levelness video camera 7 and the second standalone chassis 2
Between be separately equipped with level support platform, the plane where the top surface of level support platform be horizontal plane, level support platform include branch
Fagging 4 and several support rods 5, the top of support rod 5 and the bottom surface of support plate 4 are hinged, and the bottom end of support rod 5 is in the first independent machine
The top surface of case 1 or the top surface of the second standalone chassis 2 are hinged, and support rod 5 is electric telescopic rod, and the bottom surface of support plate 4 is equipped with level
The horizon sensor of sensor, level support platform can send the angle-data experienced to processor module, by diagonal
The processing of degree evidence, will treated data transmission to controller module, controller module controls support rod 5 according to the data
It is flexible, level support platform is adjusted to horizontal state by each length for adjusting support rod 5, horizon sensor is not stop
Work, so level support platform can remain horizontal, so as to make overcasting staff 6 vertical always, but also water
Pingdu video camera 7 shoot the obtained data value of overcasting staff 6 be vertical direction height difference, that is, mark post robot and
The difference in height of the vertical direction on road surface reduces final water without carrying out the altitude conversion of tilt angle where robot measurement
Pingdu error and slope errors, so that measurement data is more acurrate.
In use, mark post robot and detection robot move to the section for needing to measure levelness, pass through GPS module
Obtain the distance between mark post robot and robot measurement, the movement of mark post robot and detection robot can pass through nothing
Line communication module is instructed to controller module, so that mark post robot and detection robot are moved to corresponding measurement position, is connect
Extended using controller module control overcasting staff 6, controlled level degree video camera 7 takes pictures against overcasting staff 6, can obtain
To the photo about levelness, it can also identify that scale registration obtains mark post robot and detection robot two by vision-based detection module
Difference in height between position, in conjunction with mark post robot and detection the distance between robot value, just by the calculating of processor module
The measurement of the available levelness about the section, and mark post robot and detection robot be can be movable independently,
In actual production, volume be it is controllable, so mark post robot and detection robot position that can be detected be limited it is small, it is more square
Just it actually uses.
Specifically, being respectively equipped with vibrating sensor in the first standalone chassis 1 and the second standalone chassis 2, pass through induction vibration
Amplitude, in conjunction with mark post robot and detection robot position, the evenness of road surface degree of available corresponding position.
Specifically, as shown in Fig. 2, the side of the second standalone chassis 2, which is run through, is equipped with vision measurement hole, the second standalone chassis 2
Interior to be equipped with road surface capture video camera 8, the camera end of road surface capture video camera 8 passes through vision measurement hole, in conjunction with vision-based detection module,
It can take pictures and identify with road pavement, so as to differentiate whether shooting road surface is damaged, such as crack equivalent damage.
Specifically, levelness video camera 7 and road surface capture video camera 8 are automatic focusing video camera, it is more convenient actually to make
With.
Specifically, being equipped with battery in the first standalone chassis 1 and the second standalone chassis 2, battery can be mark post machine
The power supply for electrical equipment of device people and detection robot.
Specifically, as depicted in figs. 1 and 2, the bottom of the first standalone chassis 1 and the second standalone chassis 2 is equipped with electronic rolling
Wheel 3 facilitates mark post robot and detection robot shift position.
Specifically, the outside of the first standalone chassis 1 and the second standalone chassis 2, which is sticked, warning reflection adhesive tape, first is independent
The top of cabinet 1 and the second standalone chassis 2 is equipped with alarm flashing lamp, in measurement, opens alarm flashing lamp, anti-in conjunction with warning
Optical cement band can be good at that the traffic on section is prompted to pay attention to avoiding, and improves mark post robot and detects the safety of robot
Property.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of urban road detects robot system, it is characterized in that: including the mark post robot being used cooperatively and detection machine
People, the mark post robot include moveable first standalone chassis (1), and the top of first standalone chassis (1) is equipped with can
Flexible overcasting staff (6), detection robot includes moveable second standalone chassis (2), second standalone chassis (2)
Top is equipped with levelness video camera (7)；
Between the overcasting staff (6) and first standalone chassis (1), the levelness video camera (7) with described second solely
It is separately equipped with level support platform between vertical cabinet (2), the plane where the top surface of the level support platform is horizontal plane, described
Overcasting staff (6) is vertical with the level support platform；
The mark post robot and the detection robot are respectively equipped with the GPS module being correspondingly connected with, wireless communication module, processing
Device module and controller module.
2. a kind of urban road according to claim 1 detects robot system, it is characterized in that: the overcasting staff (6)
Including several loop bars that multilayer is arranged, push-rod electric machine is equipped with inside the loop bar, the scale that recess is equipped on the outside of the loop bar shows
Number.
3. a kind of urban road according to claim 1 detects robot system, it is characterized in that: the level support platform packet
Support plate (4) and several support rods (5) are included, the top of the support rod (5) and the bottom surface of the support plate (4) are hinged, described
The bottom end of support rod (5) is hinged in the top surface of first standalone chassis (1) or the top surface of second standalone chassis (2), institute
Stating support rod (5) is electric telescopic rod.
4. a kind of urban road according to claim 3 detects robot system, it is characterized in that: the support plate (4)
Bottom surface is equipped with horizon sensor.
5. a kind of urban road according to claim 1 detects robot system, it is characterized in that: first standalone chassis
(1) and in second standalone chassis (2) it is respectively equipped with vibrating sensor.
6. a kind of urban road according to claim 1 detects robot system, it is characterized in that: second standalone chassis
(2) side, which is run through, is equipped with vision measurement hole, is equipped with road surface capture video camera (8), the road in second standalone chassis (2)
The camera end of face capture video camera (8) passes through the vision measurement hole and is set to second standalone chassis (2) outside.
7. a kind of urban road according to claim 6 detects robot system, it is characterized in that: the levelness video camera
(7) and the road surface capture video camera (8) is automatic focusing video camera.
8. a kind of urban road according to claim 1 detects robot system, it is characterized in that: first standalone chassis
(1) and in second standalone chassis (2) it is equipped with battery.
9. a kind of urban road according to claim 1 detects robot system, it is characterized in that: first standalone chassis
(1) and the bottom of second standalone chassis (2) is equipped with electric roller (3).
10. a kind of urban road according to claim 1 detects robot system, it is characterized in that: first independent machine
Being sticked on the outside of case (1) and second standalone chassis (2) has warning reflection adhesive tape, first standalone chassis (1) and described
Second standalone chassis is equipped with alarm flashing lamp at the top of (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910608935.0A CN110453578A (en) | 2019-07-08 | 2019-07-08 | A kind of urban road detection robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910608935.0A CN110453578A (en) | 2019-07-08 | 2019-07-08 | A kind of urban road detection robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110453578A true CN110453578A (en) | 2019-11-15 |
Family
ID=68482368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910608935.0A Pending CN110453578A (en) | 2019-07-08 | 2019-07-08 | A kind of urban road detection robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112880599A (en) * | 2021-01-26 | 2021-06-01 | 武汉市市政建设集团有限公司 | Roadbed flatness detection system based on four-foot robot and working method |
| CN114199197A (en) * | 2021-12-14 | 2022-03-18 | 中电建路桥集团有限公司 | Urban road quality dynamic monitoring device |
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| JPS60210706A (en) * | 1984-04-04 | 1985-10-23 | Kensetsusho Chubu Chiho Kensetsukyoku | Measuring apparatus for rut groove on road surface |
| CN1629601A (en) * | 2003-12-15 | 2005-06-22 | 上海浩顺科技有限公司 | Laser test control device and method for pavement construction flatness |
| CN101319485A (en) * | 2008-07-16 | 2008-12-10 | 张小虎 | Photographing measurement method for detecting highroad pavement planeness |
| CN101881000A (en) * | 2010-06-11 | 2010-11-10 | 中国人民解放军国防科学技术大学 | Photographic measurement system and method for pavement evenness |
| CN108951386A (en) * | 2018-08-01 | 2018-12-07 | 芜湖市祥居家具设计有限公司 | A kind of surface evenness detection device |
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2019
- 2019-07-08 CN CN201910608935.0A patent/CN110453578A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60210706A (en) * | 1984-04-04 | 1985-10-23 | Kensetsusho Chubu Chiho Kensetsukyoku | Measuring apparatus for rut groove on road surface |
| CN1629601A (en) * | 2003-12-15 | 2005-06-22 | 上海浩顺科技有限公司 | Laser test control device and method for pavement construction flatness |
| CN101319485A (en) * | 2008-07-16 | 2008-12-10 | 张小虎 | Photographing measurement method for detecting highroad pavement planeness |
| CN101881000A (en) * | 2010-06-11 | 2010-11-10 | 中国人民解放军国防科学技术大学 | Photographic measurement system and method for pavement evenness |
| CN108951386A (en) * | 2018-08-01 | 2018-12-07 | 芜湖市祥居家具设计有限公司 | A kind of surface evenness detection device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112880599A (en) * | 2021-01-26 | 2021-06-01 | 武汉市市政建设集团有限公司 | Roadbed flatness detection system based on four-foot robot and working method |
| CN112880599B (en) * | 2021-01-26 | 2022-05-20 | 武汉市市政建设集团有限公司 | Roadbed flatness detection system based on four-foot robot and working method |
| CN114199197A (en) * | 2021-12-14 | 2022-03-18 | 中电建路桥集团有限公司 | Urban road quality dynamic monitoring device |
| CN114199197B (en) * | 2021-12-14 | 2024-05-17 | 中电建路桥集团有限公司 | Urban road quality dynamic monitoring device |
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Application publication date: 20191115 |