CN111827108A - Be applied to dual-purpose intelligent robot in land and air that bridge crack detected - Google Patents
Be applied to dual-purpose intelligent robot in land and air that bridge crack detected Download PDFInfo
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- CN111827108A CN111827108A CN201910300138.6A CN201910300138A CN111827108A CN 111827108 A CN111827108 A CN 111827108A CN 201910300138 A CN201910300138 A CN 201910300138A CN 111827108 A CN111827108 A CN 111827108A
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- 238000001514 detection method Methods 0.000 claims abstract description 24
- 230000009193 crawling Effects 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 229920003023 plastic Polymers 0.000 claims abstract description 4
- 239000004033 plastic Substances 0.000 claims abstract description 4
- 230000003287 optical effect Effects 0.000 claims description 5
- 230000009194 climbing Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims 1
- 238000011156 evaluation Methods 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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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
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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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
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention relates to an air-ground dual-purpose intelligent robot applied to bridge crack detection, which comprises a crawling unit, a flying unit and a shooting system, wherein a machine body is connected with a driving wheel and a driven wheel through magnetic tracks, the driving wheel and the driven wheel are respectively and symmetrically and fixedly arranged on four supporting rods, the machine body is hinged with the supporting rods, the crawling unit can be freely folded or put down, the machine body is made of POLYMSJ (PolyMSJ) plastics, a rotor wing assembly is connected with four corners of the machine body, a propeller is connected above the rotor wing assembly through a transmission rod, the shooting system comprises an illuminating lamp and a camera which are arranged side by side, the orientation of the illuminating lamp and the orientation of the camera are the same, and the camera can realize 0-90-degree rotation of a pitch angle and 360-degree rotation in the horizontal direction The detection and evaluation provide reliable data basis.
Description
Technical Field
The invention relates to a robot applied to bridge crack detection, in particular to an air-ground dual-purpose intelligent robot applied to bridge crack detection.
Background
The bridge is used as a junction of traffic systems such as roads, highways, railways and the like, the health condition of the bridge needs to be regularly evaluated, the crack of the bridge is one of the most main bridge diseases, the crack appearing on the surface of the bridge is a concentrated performance that the internal damage reaches a certain dangerous degree, when the width of the crack reaches more than 0.2mm, external water vapor easily enters the internal part to accelerate the corrosion of reinforcing steel bars, the integrity of the bridge can be directly damaged, the bearing capacity of the bridge is greatly reduced, and the safe operation of the bridge is seriously influenced, so the crack on the surface of the bridge is captured and checked in time, and the bridge has important significance for predicting or discovering engineering dangerous situations in time, ensuring the reliable operation of the bridge and prolonging.
The bridge crack detects mainly relies on the staff to take and is close to in the hanging flower basket that the car was examined to the bridge and wait to detect the bridge floor manual observation at present, and this kind of method is inefficient, dangerous high, simultaneously, because of the hanging flower basket will be close to waiting to detect the bridge floor, when the hanging flower basket met pier and dodge the platform, the car was examined to the bridge will stop to walk the line, withdraws the hanging flower basket, extends to operating position again after avoiding pier and dodge the platform, and work efficiency is very low.
Most of the existing robots applied to bridge crack detection can only perform single aerial detection or land detection, the single function limits the detection range, and the detection precision is low.
Disclosure of Invention
Aiming at the problems, the invention aims to provide an air-ground dual-purpose intelligent robot applied to bridge crack detection.
The purpose of the invention is realized by adopting the following technical scheme: the utility model provides an air-ground dual-purpose intelligent robot for bridge crack detects, including crawling unit, flight unit, shooting system, fuselage.
Preferably, crawl unit action wheel, magnetic track, take-up pulley, follow the driving wheel, install action wheel, take-up pulley, follow the driving wheel respectively from a left side to the right side according to the horizontal direction below the both sides of fuselage, the action wheel with pass through magnetic track from the driving wheel and be connected, crawl the unit and pass through the bracing piece and be connected with the fuselage, the bracing piece is articulated with the fuselage, action wheel and follow driving wheel symmetry fixed mounting respectively are four on the bracing piece.
Preferably, the fuselage adopts POLYMSJ plastics, and this kind of material intensity is high, toughness is good, high temperature resistant, super light in weight, accords with the flight condition, and fuselage surface design is the cambered surface, and the lower surface design is the plane, thereby makes the air current produce the pressure differential when passing through the aircraft main part at upper and lower surface and produce and climb lift, still be equipped with switch on a side of fuselage, just inside still fixed mounting of fuselage has the battery, the battery pass through the wire respectively with switch, controller, No. 1 motor series connection, still be equipped with USB interface and the interface that charges on a side of fuselage, the interface that charges pass through the wire with battery series connection, the USB interface pass through the data line with controller electric connection.
Preferably, the fuselage bottom is provided with the column spinner, and the winding of one section rope is in on the column spinner, one section fixed connection is on above-mentioned bracing piece, and the other No. 2 motors that set up of column spinner to provide the required power of column spinner.
Preferably, the flight unit includes screw, rotor subassembly and fuselage four corners are connected, and the screw is connected through the transfer line in rotor subassembly top, screw left side lower half and right side upper half have the angle of inclination with the horizontal plane.
Preferably, the shooting system comprises a lower shooting system and an upper shooting system, the lower shooting system is connected with the machine body through a connecting rod, the lower shooting system comprises a lighting lamp and a camera which are arranged side by side, the lighting lamp can perform optical compensation, so that the camera can also complete clear image shooting under dark conditions, the orientation of the lighting lamp and the orientation of the camera are the same, the camera can realize 0-90 degree rotation of a pitch angle and 360-degree rotation of a horizontal direction, a position sensor, a distance sensor and an information acquisition sensor are respectively arranged on the side surface of the camera from left to right, a telescopic rod is fixedly connected on the machine body, a fixed rod is fixedly connected on the telescopic rod, a telescopic camera is fixedly connected at the top end of the fixed rod, the telescopic camera can flexibly complete data information acquisition work within a lifting range, and the lighting lamps are arranged beside the telescopic camera side by side, the light can carry out optical compensation, makes scalable camera also can accomplish clear image shooting under the dark condition, and the light is the same with scalable camera's orientation, and scalable camera can realize that the angle of pitch is 0 to 90 rotatory and the horizontal direction is to 360 rotations, and scalable camera side sets up position sensor, distance sensor, information acquisition sensor respectively from a left side to the right side.
When carrying out the crack measurement, at first make the robot take off by ground (or bridge floor) through the screw fast rotation, the column spinner begins working, the unit of crawling is slowly packed up, fly to bridge crack observation area based on position sensor and corresponding control command, when reaching the position, the aircraft is hovered and is shot, when crack observation effect is not good when flying, the unit of crawling slowly puts down, adjustment flight direction, make magnetic track contact bridge surface, action wheel and follow driving wheel begin work this moment, screw slew velocity reduces until stall, at the in-process of crawling, acquire the crack image data of bridge bottom surface and acquire corresponding positional information through each sensor through the camera among the detection equipment, thereby realize accurate positioning and the high-efficient acquisition of accurate detection information to bridge crack position.
The device has the advantages of being dual-purpose in land and air, meeting the detection requirements under different environments, reducing the labor intensity and operation danger of operators, adopting the wall climbing robot to carry the shooting equipment, being capable of freely moving on the surface of the bridge without external equipment, being free from the influence of geographical positions, having strong flexibility, being provided with the lighting system, reducing the dependence on natural light, having strong adaptability and providing reliable data basis for accurate positioning, detection and evaluation of bridge cracks.
Drawings
Fig. 1 is an overall structural diagram of an air-ground dual-purpose intelligent robot according to an embodiment of the present invention.
Fig. 2 is an overall structural diagram of the ground-air dual-purpose intelligent robot according to the embodiment of the invention after the crawling unit is retracted.
Fig. 3 is a detailed view of the lower part of the body of the air-ground dual-purpose intelligent robot according to the embodiment of the invention.
Fig. 4 is a detailed view of the interior of the body of the air-ground dual-purpose intelligent robot according to the embodiment of the invention.
Fig. 5 is a detailed diagram of an upper camera system of the air-ground dual-purpose intelligent robot according to the embodiment of the invention.
In the figure: 1. a body; 2. camera, 3, rotor assembly; 4. a propeller; 5. a transmission rod; 6. a support bar; 7. a connecting rod; 8. a retractable camera; 9. a magnetic crawler belt; 10. a driving wheel; 11. a tension wheel; 12. a driven wheel; 13. a power switch; 14. a storage battery; 15. a motor No. 1; 16. a controller; 17. a USB interface; 18. a charger interface; 19. a telescopic rod; 20. an illuminating lamp; 21. a No. 2 motor; 22. a rope; 23. and (4) rotating the column.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and embodiments, so that the objects, technical solutions and advantages of the present invention will be more clearly understood. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The air-ground dual-purpose intelligent robot of this embodiment melts aircraft, intelligent robot, pastes accurate motion control in an organic whole of wall, can hug closely the bridge floor after hovering, realizes the high accuracy at the bridge floor crawling motion and detects.
Crawl unit action wheel 10, magnetic track 9, take-up pulley 11, from driving wheel 12, the action wheel 10 is installed respectively from a left side to the right side according to the horizontal direction in the both sides below of fuselage 1, take-up pulley 11, from driving wheel 12 is connected through magnetic track 9 from the driving wheel 10, the unit of crawling passes through bracing piece 6 and is connected with fuselage 1, bracing piece 6 is articulated with fuselage 1, action wheel 10 with from driving wheel 12 symmetry fixed mounting respectively on four bracing pieces 6.
The flight unit comprises propellers 4 and rotor wing assemblies 3, the rotor wing assemblies 3 are connected with four corners of the aircraft body 1, the propellers 4 are connected above the rotor wing assemblies 3 through transmission rods 5, and the lower half part of the left side of each propeller 4 and the upper half part of the right side of each propeller have an inclination angle with the horizontal plane.
The shooting system comprises a lower shooting system and an upper shooting system, the lower shooting system is connected with the machine body 1 through a connecting rod 7, the lower shooting system comprises illuminating lamps 20 and cameras 2 which are arranged side by side, the illuminating lamps 20 can carry out optical compensation, so that the cameras 2 can also finish clear image shooting under dark conditions, the orientation of the illuminating lamps 20 is the same as that of the cameras 2, the cameras 2 can realize 0-90 degree rotation of a pitch angle and 360-degree rotation in the horizontal direction, the side surfaces of the cameras 2 are respectively provided with a position sensor, a distance sensor and an information acquisition sensor from left to right, telescopic rods 19 are fixedly connected on the machine body 1, fixed rods are fixedly connected on the telescopic rods 19, telescopic cameras 8 are fixedly connected at the top ends of the fixed rods, the telescopic cameras 8 can flexibly finish data information acquisition work within the lifting range, the illuminating lamps 20 are arranged beside the telescopic cameras 8 side by side, light 20 can carry out optical compensation, makes scalable camera 8 also can accomplish clear image shooting under the dark condition, and light 20 is the same with scalable camera 8's orientation, and scalable camera 8 can realize that the angle of pitch is 0 to 90 rotatory and the horizontal direction is to 360 rotations, and scalable camera 8 side sets up position sensor, distance sensor, information acquisition sensor respectively from a left side to the right side.
When carrying out the crack measurement, at first make the robot take off by ground (or bridge floor) through the screw fast rotation, the column spinner begins working, the unit of crawling is slowly packed up, fly to bridge crack observation area based on position sensor and corresponding control command, when reaching the position, the aircraft is hovered and is shot, when crack observation effect is not good when flying, the unit of crawling slowly puts down, adjustment flight direction, make magnetic track contact bridge surface, action wheel and follow driving wheel begin work this moment, screw slew velocity reduces until stall, at the in-process of crawling, acquire the crack image data of bridge bottom surface and acquire corresponding positional information through each sensor through the camera among the detection equipment, thereby realize accurate positioning and the high-efficient acquisition of accurate detection information to bridge crack position.
Claims (9)
1. The utility model provides a be applied to dual-purpose intelligent robot in land and air that bridge crack detected which characterized in that: the utility model provides an air-ground dual-purpose intelligent robot for bridge crack detects, includes crawl unit, flight unit, shooting system, fuselage.
2. The air-ground intelligent robot applied to bridge crack detection is characterized in that: crawl unit action wheel (10), magnetic track (9), take-up pulley (11), from driving wheel (12), install action wheel (10) respectively from a left side to the right side according to the horizontal direction below the both sides of fuselage (1), take-up pulley (11), from driving wheel (12), action wheel (10) are connected through magnetic track (9) with from driving wheel (12), the unit of crawling is connected through bracing piece (6) with fuselage (1), bracing piece (6) are articulated with fuselage (1), action wheel (10) and from driving wheel (12) symmetry fixed mounting respectively are on four bracing pieces (60).
3. The air-ground intelligent robot applied to bridge crack detection is characterized in that: still be equipped with switch (13) on the side of fuselage (1), and the inside of fuselage (1) still fixed mounting have battery (14), battery (14) pass through the wire respectively with switch (13), controller (16), No. 1 motor (15) series connection, still be equipped with USB interface (17) and interface (18) that charge on the side of fuselage (1), interface (18) that charge pass through wire and battery (14) series connection, USB interface (17) pass through data line and controller electric connection.
4. The air-ground intelligent robot applied to bridge crack detection is characterized in that: the aircraft body (1) is made of POLYMSJ plastic, the material is high in strength, good in toughness, high-temperature resistant, ultra-light in weight and capable of meeting flight conditions, the surface of the aircraft body is designed to be an arc surface, and the lower surface of the aircraft body is designed to be a plane, so that when air flows through the aircraft body, pressure difference is generated between the upper surface and the lower surface of the aircraft body, and climbing force is generated.
5. The air-ground intelligent robot applied to bridge crack detection is characterized in that: the flight unit comprises a propeller (4) and a rotor wing assembly (3), the rotor wing assembly (3) is connected with four corners of the aircraft body (1), the propeller (4) is connected with the upper portion of the rotor wing assembly (3) through a transmission rod (5), and the lower half portion of the left side and the upper half portion of the right side of the propeller (4) have an inclination angle with the horizontal plane.
6. The air-ground intelligent robot applied to bridge crack detection is characterized in that: the lower shooting system is connected with the machine body (1) through a connecting rod (7), the lower shooting system comprises illuminating lamps (20) and cameras (2) which are arranged side by side, the side surfaces of the cameras (2) are respectively provided with a position sensor, a distance sensor and an information acquisition sensor from left to right, telescopic rods (19) are fixedly connected on the machine body (1), fixed rods are fixedly connected on the telescopic rods (19), the top ends of the fixed rods are fixedly connected with telescopic cameras (2), the telescopic cameras (8) can flexibly complete data information acquisition work in a lifting range, the illuminating lamps (20) are arranged beside the telescopic cameras (8) side by side, the illuminating lamps (20) can perform optical compensation, the telescopic cameras (8) can also complete clear image shooting under dark conditions, the orientation of the illuminating lamps (20) and the telescopic cameras (8) is the same, the telescopic cameras (8) can realize the rotation of a pitch angle of 0-90 degrees and the rotation of the horizontal direction of 360 degrees, the side surface of the telescopic camera (8) is respectively provided with a position sensor, a distance sensor and an information acquisition sensor from left to right.
7. The air-ground intelligent robot applied to bridge crack detection is characterized in that: the camera is arranged side by side with light (20) to the orientation is the same, and the camera can realize that pitch angle 0 is rotatory to 90 and the horizontal direction is to 360 rotations.
8. The air-ground intelligent robot applied to bridge crack detection is characterized in that: the crawling unit can be folded up during flying, the size is reduced, taking-off is facilitated, and the crawling unit can be put down when crawling is needed, so that a crawling function is realized.
9. The air-ground intelligent robot applied to bridge crack detection is characterized in that: a magnetic adsorption device is arranged in the magnetic track (9), so that the robot can be prevented from falling off when climbing the wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910300138.6A CN111827108A (en) | 2019-04-15 | 2019-04-15 | Be applied to dual-purpose intelligent robot in land and air that bridge crack detected |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910300138.6A CN111827108A (en) | 2019-04-15 | 2019-04-15 | Be applied to dual-purpose intelligent robot in land and air that bridge crack detected |
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| CN111827108A true CN111827108A (en) | 2020-10-27 |
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| CN201910300138.6A Pending CN111827108A (en) | 2019-04-15 | 2019-04-15 | Be applied to dual-purpose intelligent robot in land and air that bridge crack detected |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112627024A (en) * | 2020-12-16 | 2021-04-09 | 山东交通学院 | Bridge detection equipment capable of automatically avoiding obstacles |
| CN113091616A (en) * | 2021-03-17 | 2021-07-09 | 中冶检测认证有限公司 | Measuring device and measuring system |
| CN113189039A (en) * | 2021-04-02 | 2021-07-30 | 应急管理部天津消防研究所 | Multi-phase state hazardous chemical substance three-dimensional detection system and method |
| CN116463937A (en) * | 2023-04-06 | 2023-07-21 | 广西科学院 | Novel parallel double-sling detection robot |
| CN117699085A (en) * | 2024-02-04 | 2024-03-15 | 安徽省交规院工程智慧养护科技有限公司 | Detection equipment and method for bridge disease detection |
-
2019
- 2019-04-15 CN CN201910300138.6A patent/CN111827108A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112627024A (en) * | 2020-12-16 | 2021-04-09 | 山东交通学院 | Bridge detection equipment capable of automatically avoiding obstacles |
| CN112627024B (en) * | 2020-12-16 | 2022-05-17 | 山东交通学院 | Bridge detection equipment capable of automatically avoiding obstacles |
| CN113091616A (en) * | 2021-03-17 | 2021-07-09 | 中冶检测认证有限公司 | Measuring device and measuring system |
| CN113189039A (en) * | 2021-04-02 | 2021-07-30 | 应急管理部天津消防研究所 | Multi-phase state hazardous chemical substance three-dimensional detection system and method |
| CN116463937A (en) * | 2023-04-06 | 2023-07-21 | 广西科学院 | Novel parallel double-sling detection robot |
| CN116463937B (en) * | 2023-04-06 | 2024-01-19 | 广西科学院 | Parallel double-sling detection robot |
| CN117699085A (en) * | 2024-02-04 | 2024-03-15 | 安徽省交规院工程智慧养护科技有限公司 | Detection equipment and method for bridge disease detection |
| CN117699085B (en) * | 2024-02-04 | 2024-04-19 | 安徽省交规院工程智慧养护科技有限公司 | Detection equipment and method for bridge disease detection |
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