CN114737459A - Automatic detection and restoration integrated robot for road and bridge cracks - Google Patents
Automatic detection and restoration integrated robot for road and bridge cracks Download PDFInfo
- Publication number
- CN114737459A CN114737459A CN202210486325.XA CN202210486325A CN114737459A CN 114737459 A CN114737459 A CN 114737459A CN 202210486325 A CN202210486325 A CN 202210486325A CN 114737459 A CN114737459 A CN 114737459A
- Authority
- CN
- China
- Prior art keywords
- repair
- driving
- control device
- rack
- repairing
- 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.)
- Pending
Links
Images
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
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/09—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D22/00—Methods or apparatus for repairing or strengthening existing bridges ; Methods or apparatus for dismantling bridges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
Abstract
The invention relates to an automatic detection and repair integrated robot for road and bridge cracks, which comprises a rack, wherein a flaw detection assembly is arranged on the front side of the rack; a base plate is arranged at the upper part of the frame, and a repairing integrated robot is arranged on the base plate; the flaw detection assembly is provided with a plurality of pulse probes, and the pulse probes are used for acquiring reflected sound wave signals of a roadbed surface and inputting the acquired reflected sound wave signals to the control device; the control device converts the reflected signal into an analog signal after acquiring the reflected sound wave signal; the method comprises the steps of obtaining amplitude change corresponding to the analog signal based on the analog signal, comparing the amplitude change with a reference amplitude to obtain an amplitude deviation state based on the amplitude deviation state, obtaining a crack state based on the amplitude deviation state, obtaining a repair plan arranged in a control device based on a crack state execution unit, and driving a repair integrated robot based on the repair plan control device to select corresponding repair equipment to repair the crack under the control of a tool changing control assembly.
Description
Technical Field
The invention relates to the technical field of road and bridge crack detection and repair, in particular to an automatic road and bridge crack detection and repair integrated robot.
Background
The existing maintenance of road and bridge cracks basically depends on people to distinguish whether cracks exist, which can only repair the cracks which are already shown on the surface, but cannot repair some potential cracks. And the existing maintenance means is basically dependent on people, and for some dangerous zones such as viaducts, tunnels and the like, manual maintenance can only be carried out in fixed time, which is not beneficial to timely repairing cracks. In the prior art, as disclosed in publication nos.: "CN 110161047A" discloses an integrated robot for automatically detecting and repairing road and bridge cracks, which is used for automatically detecting and repairing uneven road surfaces and bridge surface cracks. The robot carries an image acquisition module to detect cracks, carries a special crack repairing end effector at the tail end of the robot, and can repair uneven road and bridge cracks. The invention replaces the conventional manual detection and repair operation by an automatic means, improves the repair efficiency, reduces the potential safety hazard of operators, has the functions of autonomous navigation, autonomous obstacle avoidance, autonomous crack detection and crack repair, carries an image acquisition module for crack detection, carries a distance measurement sensor module on a repair end executor for distance measurement of uneven cracks, enables the repair end executor to adapt to the repair of uneven road and bridge cracks, utilizes the image acquisition module for observation of repair effect and injection condition of end repair liquid, and controls the end repair executor to obtain better repair effect through the observed condition.
The robot is used for replacing manual work, but the camera module is used for detecting cracks, and the cracks can only be obtained in the mode, but potential cracks in the roadbed cannot be detected. Of course, in the prior art, some flaw detectors are used to detect potential cracks in the subgrade, but the flaw detection equipment cannot well distinguish the differences between the holes and cracks due to the large number of holes (caused by subgrade materials, such as asphalt subgrades containing stones) contained in the subgrade.
Disclosure of Invention
In view of the above, the present invention provides an integrated robot for automatically detecting and repairing a road and bridge crack, so as to solve the problems mentioned in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic detection and repair integrated robot for road and bridge cracks comprises a rack, wherein a driving wheel set is arranged at the bottom of the rack, a driving system is arranged on one side of the rack, and the driving system is used for driving the driving wheel set to rotate under the control of a control device; a flaw detection assembly is arranged on the front side of the rack;
a base plate is arranged at the upper part of the frame, and a repairing integrated robot is arranged on the base plate;
a tool changing box is arranged on one side of the base plate at the rear side of the rack, and repair equipment and a tool changing control assembly are arranged in the tool changing box;
the flaw detection assembly is provided with a plurality of pulse probes, and the pulse probes are used for acquiring reflected sound wave signals of a roadbed surface and inputting the acquired reflected sound wave signals to the control device;
the control device has:
the conversion unit is used for acquiring a reflected sound wave signal and converting the reflected signal into an analog signal;
a processing unit for obtaining an amplitude variation corresponding to the analog signal based on the analog signal, comparing the amplitude variation with a reference amplitude to obtain an amplitude deviation state, obtaining a crack state based on the amplitude deviation state,
and the execution unit acquires a repair plan arranged in the control device based on the crack state, and drives the repair integrated robot based on the repair plan control device to select corresponding repair equipment to repair the crack under the control of the tool changing control assembly.
Further, the inspection assembly includes: the front end of the rack is provided with a flaw detection assembly fixing seat, the flaw detection assembly fixing seat is provided with a first rotating motor, a motor shaft of the first rotating motor is connected to a first inner arm through a first coupler, the outer side of the first inner arm is provided with a first outer arm, the front end of the first outer arm is provided with a flaw detector, the flaw detector is internally provided with a plurality of pulse probes, the first inner arm is provided with a first driving motor, and the first driving motor is used for driving the first outer arm to rotate.
Further, the repair integrated robot includes: a robot fixing seat arranged on the base plate, a second rotating motor arranged on the robot fixing seat, a motor shaft of the second rotating motor connected to a second inner arm through a second coupling, a second outer arm arranged outside the second inner arm, a second driving motor arranged at the second inner arm for driving the second outer arm to rotate, a third inner arm arranged at the front end of the second outer arm, a third driving motor arranged at the third inner arm for driving the second outer arm to rotate, a shaft arm arranged at the front end of the third inner arm, a fixed base arranged at the front end of the shaft arm, a fourth inner arm arranged on the fixed base, a fourth outer arm arranged outside the fourth inner arm, a fourth driving motor arranged at the fourth inner arm for driving the fourth outer arm to rotate, and a fifth rotating motor arranged at the front end of the fourth outer arm, a tool changing head is arranged at the front end of the fifth rotating motor, and a butt joint threaded column is arranged on the tool changing head.
Furthermore, a groove body is arranged on the rack, and a plurality of groups of heating devices are arranged at the bottom of the groove body; the tank body is used for placing a repairing agent, and the heating device is used for heating the repairing agent to a set temperature;
the tank body is used for placing a repairing agent, and the heating device is used for heating the repairing agent to a set temperature;
a pressure pump is arranged on one side of the tank body and arranged on a repair pipeline, one end of the repair pipeline is connected into the tank body, the tail end of the repair pipeline is arranged on the rear side of the rack and used for guiding a repair agent into the crack, and an image acquisition device is further arranged at the tail end of the repair pipeline;
a control device arranged on one side of the pressure pump; and
obstacle avoidance sensors are arranged on the front side, the rear side, the left side and the right side of the rack respectively and are connected with the control device;
the front side of the frame is provided with a camera system, and the camera system and the image acquisition equipment are connected with a control device.
Furthermore, the camera system is used for acquiring image information of advancing, the control device plans an advancing path based on the image information, and the obstacle avoidance sensor is used for correcting the advancing path in real time.
Further, the repair apparatus includes: the upper part of the fixed block is provided with a butt joint shaft, and the middle part of the butt joint shaft is provided with a butt joint threaded hole;
the lower part of the fixed block is provided with a drill bit or a vibration rod or a shovel.
Further, the tool changer handling assembly comprises a set of fixtures;
the fixing device is provided with a driving part, a fixing claw is arranged at the front part of the driving part, and the driving part is used for driving the fixing claw to move forwards to fix the fixing block; or the driving part is used for driving the fixing claw to move backwards to be far away from the fixing block.
Furthermore, the rear end of the frame is provided with a vibrating wheel, and the vibrating wheel is fixed on the frame through a protection plate.
In the application, the image information of the forward movement is acquired in real time through the camera system, the control device receives the image information, processes the image information, plans the forward movement path, and is used for correcting the forward movement path in real time based on the obstacle avoidance sensor, and the control device controls the movement of the robot based on the obtained planned forward movement path; during movement, scanning the road surface by adopting a plurality of pulse probes of the flaw detector to obtain reflected sound wave signals of a road surface, and inputting the obtained reflected sound wave signals to the control device; the control device converts the reflected signal into an analog signal after acquiring the reflected sound wave signal; the method comprises the steps of obtaining amplitude change corresponding to the analog signal based on the analog signal, comparing the amplitude change with a reference amplitude to obtain an amplitude deviation state based on the amplitude deviation state, obtaining a crack state based on the amplitude deviation state, obtaining a repair plan arranged in a control device based on a crack state execution unit, and driving a repair integrated robot based on the repair plan control device to select corresponding repair equipment to repair the crack under the control of a tool changing control assembly.
In the above, the repair plans include a plurality of repair plans, and the repair plans are correspondingly selected based on the crack states, for example, the obtained crack states are on the surface of the roadbed or inside the roadbed, the crack states are gaps substantially along one direction or criss-cross, whether holes are included or not, and the corresponding repair plans are different, and the repair actions correspondingly performed by different repair plans are also different, for example, only the gaps substantially along one direction on the surface need only be filled with the repair agent. If the hole is formed in the hole, the corresponding repairing action is as follows: the control device guides the repairing integrated robot to move through the control command so as to replace the drill bit, completes drilling of the hole position through the control command, drills the hole position to be exposed, guides the repairing integrated robot to move through the control command so as to replace the shovel to clean the hole position, and guides the repairing agent into the crack through the repairing pipeline after cleaning. If necessary, a vibration rod can be adopted for vibration, and a vibration wheel can be adopted for compaction.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of one embodiment of a repair apparatus and tool change handling assembly of the present invention;
fig. 3 is a schematic diagram of the control system of the present invention.
Detailed Description
The present invention is described in detail below with reference to the accompanying drawings, which refer to fig. 1 to 3.
The invention provides an automatic detection and repair integrated robot for road and bridge cracks, which comprises a rack 100, wherein a driving wheel set is arranged at the bottom of the rack 100, and a driving system is arranged on one side of the rack 100 and is used for driving the driving wheel set to rotate under the control of a control device 107; a flaw detection assembly is arranged on the front side of the rack 100;
a base plate 117 is arranged at the upper part of the frame 100, and a repairing integrated robot is arranged on the base plate 117;
and a tool changing box 106 is arranged at the rear side of the machine frame 100 and at one side of the base plate 117, and a repairing device and a tool changing control assembly are arranged in the tool changing box 106; the bottom of the knife changing box 106 is provided with a support seat 105.
A groove body 118 is arranged on the rack 100, and a plurality of groups of heating devices 101 are arranged at the bottom of the groove body 118;
the groove 118 is used for placing a repairing agent, and the heating device 101 is used for heating the repairing agent to a set temperature;
the trough 118 is used for placing a repairing agent, and the heating device 101 is used for heating the repairing agent to a set temperature which can be measured by a temperature sensor arranged inside the trough 118;
the pressurizing pump 108 is arranged on one side of the groove body 118, the pressurizing pump 108 is arranged on the repairing pipeline 102, preferably, the bottom of the groove body 118 is arranged in an inclined shape, an electric valve is arranged at one end of a discharge hole of the groove body 118, when the repairing agent needs to be introduced, the control device 107 controls the electric valve to be opened, the repairing agent slides into the repairing pipeline 102, and the repairing agent is introduced to the tail end through the pressurizing pump 108.
One end of the repair pipeline 102 is connected into the groove body 118, the tail end of the repair pipeline is arranged at the rear side of the rack 100 and used for guiding a repair agent into the crack, and an image acquisition device is further arranged at the tail end of the repair pipeline 102;
a control device 107 provided on one side of the pressure pump 108; and
obstacle avoidance sensors are respectively arranged on the front side, the rear side, the left side and the right side of the rack 100 and are connected with the control device 107;
a camera system 124 is provided on the front side of the gantry 100, and the camera system 124 and the image capturing apparatus are connected to the control device 107.
Further, the camera system 124 is configured to acquire image information of a forward moving object, the control device 107 plans a forward moving path based on the image information, and the obstacle avoidance sensor is configured to correct the forward moving path in real time;
the flaw detection assembly is provided with a plurality of pulse probes, and the pulse probes are used for acquiring reflected sound wave signals of a road surface and inputting the acquired reflected sound wave signals to the control device 107;
the control device 107 includes:
the conversion unit is used for acquiring a reflected sound wave signal and converting the reflected signal into an analog signal;
a processing unit for obtaining an amplitude variation corresponding to the analog signal based on the analog signal, comparing the amplitude variation with a reference amplitude to obtain an amplitude deviation state, obtaining a crack state based on the amplitude deviation state,
and the execution unit acquires a repair plan arranged in the control device 107 based on the crack state, and drives the repair integrated robot based on the repair plan control device 107 to select corresponding repair equipment to repair the crack under the control of the tool changing control assembly.
In some embodiments, the control device 107 is connected to a machine learning system, the machine learning system has a neural network model, before pavement restoration, a certain number of reflected acoustic signals can be obtained by a flaw detector, the neural network model performs iterative training on the obtained reflected acoustic signals, in the training process, abnormal signals in the reflected acoustic signals are screened out by a detection module arranged in the neural network model and are removed by a removal module, after training, reference reflected acoustic signals of a roadbed can be obtained, and reference analog signal amplitude values corresponding to the reference analog signals are obtained after the reference reflected acoustic signals are converted into the reference analog signals; the reference analog signal amplitude is transmitted to the control device 107 to be stored as a reference amplitude for comparison.
In the above, through realizing carrying out the scanner scanning to the road bed, preferably, gather a certain quantity (generally be no less than 500 groups) to the intact different places of a plurality of road bed surfacing, can obtain the normal pore state of different road beds, through the study to the normal gap state of road bed, other crack condition that can accurate discernment be different from the normal gap state of road bed.
In some embodiments, the image information of the forward movement is acquired in real time by the camera system 124, the control device 107 receives the image information, processes the image information, plans the forward path, and corrects the forward path in real time based on the obstacle avoidance sensor, and the control device 107 controls the movement of the robot based on the planned forward path. Specifically, a first image processing module is arranged inside the control device 107, and the first image processing module scans and detects images acquired by the image acquisition system 124 in real time to detect whether an obstacle or a road pit exists, plans a forward path according to a detection result, and corrects the planned forward path based on obstacle avoidance sensors arranged in front of, behind, left of and right of the rack 100 to realize automatic driving of the robot. In the moving process, a plurality of pulse probes of the flaw detector are adopted to scan the road surface so as to obtain reflected acoustic signals of the road surface, and the obtained reflected acoustic signals are input into the control device 107; the control device 107 converts the reflected signal into an analog signal after acquiring the reflected acoustic signal; the method comprises the steps of obtaining amplitude change corresponding to the analog signal based on the analog signal, comparing the amplitude change with a reference amplitude to obtain an amplitude deviation state based on the amplitude deviation state, obtaining a crack state based on the amplitude deviation state, obtaining a repair plan arranged in a control device 107 based on a crack state execution unit, and driving a repair integrated robot based on the repair plan control device 107 to select corresponding repair equipment to repair the crack under the control of a tool changing control assembly.
In some embodiments, the repair plans include a plurality of repair plans, which are correspondingly selected based on the crack states, for example, the obtained crack states are on the surface of the roadbed or inside the roadbed, the crack states are gaps approximately along one direction or criss-cross, whether holes are included, and the like, the corresponding repair plans are different, and the repair actions correspondingly performed by different repair plans are also different, for example, only the gaps approximately along one direction on the surface need only be filled with a repair agent.
In some embodiments, after acquiring the state of the crack, the crack-state-based execution unit acquires a repair plan provided in the control device 107, and the control device 107 forms therein a plurality of fragmented consecutive control commands, such as a first control command, a second control command associated with the first control command, and a third control command … … associated with the second control command, based on the repair plan; the first control command, the second control command and the third control command form a continuous guide, for example, if there is a hole in the roadbed, the corresponding repair action is as follows, in combination with the above description: the control device 107 guides the repairing integrated robot to move through the first control command so as to replace the drill bit, guides the repairing integrated robot through the second control command so as to drive the drill bit to complete drilling of the hole position, drills the hole position to be exposed, guides the repairing integrated robot through the third control command so as to replace a shovel to clean the hole position, and guides the repairing agent into the crack through the repairing pipeline 102 after cleaning is completed. If necessary, a vibrating rod can be used for vibrating and a vibrating wheel can be used for compacting.
In the above, during the introduction of the repairing agent, the pressurizing pump 108 may be driven to apply pressure to the inside of the slot 118 by, for example, a fourth control command to drive the repairing agent to be introduced into the lower fracture from the inside of the slot 118. The control device 107 guides the repairing integrated robot to move through a fifth control command to replace a vibroseis, tamping and sorting positions filled with the repairing agent, in the whole repairing process, the image acquisition equipment is used for acquiring an introduction state image of the repairing agent in real time, inputting the introduction state image into the control device 107, and a second image processing module with the control device 107 scans and detects whether the introduction state image is sufficiently filled; thereby controlling the operation of the booster pump.
In some embodiments, the inspection assembly comprises: the front end of the rack 100 is provided with a flaw detection assembly fixing seat, the flaw detection assembly fixing seat is provided with a first rotating motor 121, a motor shaft of the first rotating motor 121 is connected to a first inner arm 119 through a first coupler 122, the outer side of the first inner arm 119 is provided with a first outer arm 120, the front end of the first outer arm is provided with a flaw detector 123, the flaw detector is internally provided with a plurality of pulse probes, the first inner arm is provided with a first driving motor, and the first driving motor is used for driving the first outer arm to rotate. In this embodiment, the subassembly of detecting a flaw is triaxial moving robot in fact, and first rotating electrical machines possesses 360 rotatory functions, can drive first inner arm through the shaft coupling and carry out 360 rotations, and first outer arm rotates along first inner arm.
In some embodiments, the repair-all robot includes: a robot holder arranged on the base plate 117, a second rotating motor 109 arranged on the robot holder, a motor shaft of the second rotating motor 109 connected to a second inner arm 110 through a second coupling, a second outer arm 111 arranged outside the second inner arm, a second driving motor arranged at the second inner arm for driving the second outer arm to rotate, a third inner arm 112 arranged at the front end of the second outer arm, a third driving motor arranged at the third inner arm for driving the second outer arm to rotate, a shaft arm 113 arranged at the front end of the third inner arm, a fixed base arranged at the front end of the shaft arm 113, a fourth inner arm 114 arranged on the fixed base, a fourth outer arm 115 arranged outside the fourth inner arm 114, a fourth driving motor arranged at the fourth inner arm 115 for driving the fourth outer arm to rotate, a fifth rotating motor 116 is provided at the front end of the fourth outer arm, a cutter changing head is provided at the front end of the fifth rotating motor, and a butt-joint threaded column is provided on the cutter changing head. In the present embodiment, the repair integrated robot is a five-axis motion robot. The robot is consistent with the existing five-axis motion robot technology, and is different in that a fifth rotating motor is arranged at the front end of a fourth outer arm, a tool changing head is arranged at the front end of the fifth rotating motor, and a butt joint threaded column is arranged on the tool changing head.
Correspondingly, the repair device comprises: a fixed block 203, wherein the upper part of the fixed block 203 is provided with a butt joint shaft 206, and the middle part of the butt joint shaft is provided with a butt joint threaded hole 207; the butt joint threaded hole and the butt joint threaded column are fixed,
the lower part of the fixed block is provided with a drill bit or a vibration rod or a shovel.
The tool changing control assembly comprises a group of fixing devices;
the fixing device is provided with a driving part 204, a fixing claw 205 is arranged at the front part of the driving part, and the driving part is used for driving the fixing claw to move forwards to fix a fixing block; or the driving part is used for driving the fixing claw to move backwards to be far away from the fixing block.
The rear end of the frame 100 is provided with a vibration wheel 103, which is fixed on the frame 100 through a guard plate 104.
When concrete tool changing, the driving part (air cylinder) fixed in the tool changing box 106 drives the fixing claws to move forwards to fix the fixing blocks, then the integrated control repairing robot is guided to control the alignment of the butt joint threaded column and the butt joint threaded hole, and then the integrated repairing robot provides downward movement displacement to match the butt joint threaded column and screw in the butt joint threaded hole to complete tool changing when the fifth rotating motor rotates.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.
Claims (8)
1. An automatic detection and repair integrated robot for road and bridge cracks comprises a rack, wherein a driving wheel set is arranged at the bottom of the rack, a driving system is arranged on one side of the rack, and the driving system is used for driving the driving wheel set to rotate under the control of a control device; it is characterized in that the preparation method is characterized in that,
a flaw detection assembly is arranged on the front side of the rack;
a base plate is arranged at the upper part of the frame, and a repairing integrated robot is arranged on the base plate;
a tool changing box is arranged on one side of the base plate at the rear side of the rack, and repair equipment and a tool changing control assembly are arranged in the tool changing box;
the flaw detection assembly is provided with a plurality of pulse probes, and the pulse probes are used for acquiring reflected sound wave signals of a roadbed surface and inputting the acquired reflected sound wave signals to the control device;
the control device has:
the conversion unit is used for acquiring a reflected sound wave signal and converting the reflected signal into an analog signal;
a processing unit for obtaining an amplitude variation corresponding to the analog signal based on the analog signal, comparing the amplitude variation with a reference amplitude to obtain an amplitude deviation state, obtaining a crack state based on the amplitude deviation state,
and the execution unit acquires a repair plan arranged in the control device based on the crack state, and drives the repair integrated robot based on the repair plan control device to select corresponding repair equipment to repair the crack under the control of the tool changing control assembly.
2. The integrated robot for automatically detecting and repairing road and bridge cracks according to claim 1, wherein the flaw detection assembly comprises: the front end of the rack is provided with a flaw detection assembly fixing seat, the flaw detection assembly fixing seat is provided with a first rotating motor, a motor shaft of the first rotating motor is connected to a first inner arm through a first coupler, the outer side of the first inner arm is provided with a first outer arm, the front end of the first outer arm is provided with a flaw detector, the flaw detector is internally provided with a plurality of pulse probes, the first inner arm is provided with a first driving motor, and the first driving motor is used for driving the first outer arm to rotate.
3. The integrated robot for automatically detecting and repairing road and bridge cracks according to claim 1, wherein the integrated robot for repairing road and bridge cracks comprises: a robot fixing seat arranged on the base plate, a second rotating motor arranged on the robot fixing seat, a motor shaft of the second rotating motor connected to a second inner arm through a second coupling, a second outer arm arranged outside the second inner arm, a second driving motor arranged at the second inner arm for driving the second outer arm to rotate, a third inner arm arranged at the front end of the second outer arm, a third driving motor arranged at the third inner arm for driving the second outer arm to rotate, a shaft arm arranged at the front end of the third inner arm, a fixed base arranged at the front end of the shaft arm, a fourth inner arm arranged on the fixed base, a fourth outer arm arranged outside the fourth inner arm, a fourth driving motor arranged at the fourth inner arm for driving the fourth outer arm to rotate, and a fifth rotating motor arranged at the front end of the fourth outer arm, a tool changing head is arranged at the front end of the fifth rotating motor, and a butt joint threaded column is arranged on the tool changing head.
4. The automatic detection and repair integrated robot for the road and bridge cracks as claimed in claim 1, wherein a groove body is arranged on the rack, and a plurality of groups of heating devices are arranged at the bottom of the groove body;
the groove body is used for placing a repairing agent, and the heating device is used for heating the repairing agent to a set temperature;
a pressure pump is arranged on one side of the tank body and arranged on a repair pipeline, one end of the repair pipeline is connected into the tank body, the tail end of the repair pipeline is arranged on the rear side of the rack and used for guiding a repair agent into the crack, and an image acquisition device is further arranged at the tail end of the repair pipeline;
a control device arranged on one side of the pressure pump; and
obstacle avoidance sensors are arranged on the front side, the rear side, the left side and the right side of the rack respectively and are connected with the control device;
the front side of the frame is provided with a camera system, and the camera system and the image acquisition equipment are connected with a control device.
5. The robot of claim 1, wherein the camera system is configured to obtain image information of a forward movement, the control device plans a forward movement path based on the image information, and the obstacle avoidance sensor is configured to correct the forward movement path in real time.
6. The integrated robot for automatically detecting and repairing road and bridge cracks according to claim 1, wherein the repairing device comprises: the upper part of the fixed block is provided with a butt joint shaft, and the middle part of the butt joint shaft is provided with a butt joint threaded hole;
the lower part of the fixed block is provided with a drill bit or a vibration rod or a shovel.
7. The integrated robot for automatically detecting and repairing road and bridge cracks according to claim 1, wherein the tool changing control assembly comprises a set of fixing devices;
the fixing device is provided with a driving part, a fixing claw is arranged at the front part of the driving part, and the driving part is used for driving the fixing claw to move forwards to fix the fixing block; or the driving part is used for driving the fixing claw to move backwards to be far away from the fixing block.
8. The robot for automatically detecting and repairing the road and bridge cracks as claimed in claim 1, wherein a vibrating wheel is arranged at the rear end of the frame, and the vibrating wheel is fixed on the frame through a guard plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210486325.XA CN114737459A (en) | 2022-05-06 | 2022-05-06 | Automatic detection and restoration integrated robot for road and bridge cracks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210486325.XA CN114737459A (en) | 2022-05-06 | 2022-05-06 | Automatic detection and restoration integrated robot for road and bridge cracks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114737459A true CN114737459A (en) | 2022-07-12 |
Family
ID=82285696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210486325.XA Pending CN114737459A (en) | 2022-05-06 | 2022-05-06 | Automatic detection and restoration integrated robot for road and bridge cracks |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114737459A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115849261A (en) * | 2022-11-17 | 2023-03-28 | 华交智慧(江西)工程技术有限公司 | Multifunctional tunnel maintenance vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011242293A (en) * | 2010-05-19 | 2011-12-01 | Hanshin Expressway Engineering Co Ltd | Road inspection method and road inspection vehicle |
| CN106337358A (en) * | 2016-10-26 | 2017-01-18 | 东北石油大学 | Light-weight bituminous pavement road repairing device |
| CN106758719A (en) * | 2016-12-30 | 2017-05-31 | 成都圭目机器人有限公司 | A kind of Two-wheeled road face repair robot system and road surface repair method |
| CN109440610A (en) * | 2018-12-18 | 2019-03-08 | 江苏中路工程技术研究院有限公司 | A kind of pavement crack width, depth determination method and quick maintenance method based on Ground Penetrating Radar |
| CN110161047A (en) * | 2019-06-14 | 2019-08-23 | 汕头大学 | A kind of road and bridge Crack Detection and repair integrated robot |
-
2022
- 2022-05-06 CN CN202210486325.XA patent/CN114737459A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011242293A (en) * | 2010-05-19 | 2011-12-01 | Hanshin Expressway Engineering Co Ltd | Road inspection method and road inspection vehicle |
| CN106337358A (en) * | 2016-10-26 | 2017-01-18 | 东北石油大学 | Light-weight bituminous pavement road repairing device |
| CN106758719A (en) * | 2016-12-30 | 2017-05-31 | 成都圭目机器人有限公司 | A kind of Two-wheeled road face repair robot system and road surface repair method |
| CN109440610A (en) * | 2018-12-18 | 2019-03-08 | 江苏中路工程技术研究院有限公司 | A kind of pavement crack width, depth determination method and quick maintenance method based on Ground Penetrating Radar |
| CN110161047A (en) * | 2019-06-14 | 2019-08-23 | 汕头大学 | A kind of road and bridge Crack Detection and repair integrated robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115849261A (en) * | 2022-11-17 | 2023-03-28 | 华交智慧(江西)工程技术有限公司 | Multifunctional tunnel maintenance vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0534730B1 (en) | Method for locating and examining cavities under paved roads | |
| Montero et al. | Past, present and future of robotic tunnel inspection | |
| CN102901772B (en) | Robot for intelligent tracking ultrasonic detection of welding line, and software analysis system therefor | |
| CN102590245B (en) | Intelligent X-ray digital flat imaging detection system device and detection method | |
| CN106498834A (en) | A kind of Athey wheel road face repair robot system and road surface repair method | |
| CN114737459A (en) | Automatic detection and restoration integrated robot for road and bridge cracks | |
| CN104792869B (en) | The Ultrasonic Nondestructive system of low-voltage electrical apparatus electrical contact brazing quality | |
| Balaguer et al. | Towards fully automated tunnel inspection: A survey and future trends | |
| CN110682400B (en) | Digital twin structure test system and method based on 3D printing platform | |
| CN106514607A (en) | Four-wheel drive road face repairing robot system and road face repairing method | |
| EA011912B1 (en) | Method and device for positioning a power tong at a pipe joint | |
| CN103917343A (en) | System and method for the reconditioning of barrels including a robotic arm with a removable laser module | |
| RU2554205C2 (en) | Controlled sleeper tamping machine | |
| CN106758719A (en) | A kind of Two-wheeled road face repair robot system and road surface repair method | |
| DE2309944A1 (en) | ULTRASONIC ERROR CHECK DEVICE | |
| CN103884775A (en) | Water immersion ultrasonic automatic flaw detection system used for swing bolster or side frame of railway wagon | |
| CN107300368A (en) | A kind of ultrasonic detection device for being used to detect cast-in-place concrete pile stake footpath | |
| CN112881029B (en) | Vehicle chassis detection method and system | |
| CN113915449B (en) | Robot system and method suitable for detecting defects of inner wall of pipeline | |
| CN206477235U (en) | A kind of Two-wheeled road face repair robot system | |
| JP2852559B2 (en) | Investigation method for ground structure of paved road | |
| KR20060095338A (en) | Non-destructive tester using ultrasonic | |
| JP2000206098A (en) | Apparatus for inspecting wall structure of building | |
| CN206477237U (en) | A kind of Athey wheel road face repair robot system | |
| CN206510018U (en) | A kind of four-wheel drive road face repair robot system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |