CN117496612A - Road surface compactness inspection robot based on Beidou satellite positioning - Google Patents
Road surface compactness inspection robot based on Beidou satellite positioning Download PDFInfo
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- 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
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G06F18/25—Fusion techniques
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- G06F21/60—Protecting data
- G06F21/602—Providing cryptographic facilities or services
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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Abstract
The invention provides a Beidou satellite positioning-based road surface compactness inspection robot, which relates to the technical field of road surface compaction detection and comprises a robot main body, a positioning device, a motion control device, a compactness detection device and a data analysis device, wherein the positioning device, the motion control device, the compactness detection device and the data analysis device are arranged on the robot main body; the robot comprises a robot main body, wherein a positioning device, a motion control device, a compactness detection device and a data analysis device are arranged on the robot main body, the positioning device can position the robot main body, the motion control device can control the robot main body to move according to a preset inspection path according to the position of the robot main body, road surface data acquisition and compactness evaluation are carried out through the compactness detection device and the data analysis device, a plurality of different road surface positions can be continuously detected, inspection work of road surface compactness is realized, and the intelligent degree is higher.
Description
Technical Field
The invention mainly relates to the technical field of pavement compaction detection, in particular to a pavement compaction degree inspection robot based on Beidou satellite positioning.
Background
In modern road construction, the compactness of the road surface is an important link for guaranteeing the durability and safety of the road. Roadbed compactness detection is crucial for road construction and maintenance. The traditional compactness detection method needs manual operation, is time-consuming and labor-consuming, has low precision and high cost, and has certain potential safety hazard.
At present, some detection devices are used for detecting the compactness of a road surface, but only the same road surface position can be detected, a plurality of different road surface positions can not be continuously detected, and the existing detection devices are imperfect and have low intelligent degree.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the road compactness inspection robot based on Beidou satellite positioning.
The technical scheme for solving the technical problems is as follows: the road surface compactness inspection robot based on Beidou satellite positioning comprises a robot main body, and further comprises a positioning device, a motion control device, a compactness detection device and a data analysis device which are arranged on the robot main body;
the positioning device is used for positioning the current inspection position of the robot main body through the Beidou satellite positioning system according to the positioning instruction sent by the motion control device to obtain positioning information of the current inspection position;
the motion control device is used for determining and generating a detection signal according to a preset inspection path and positioning information of a current inspection position, and sending the detection signal to the compactness detection device;
the compactness detection device is used for detecting pavement data of the current inspection position of the robot main body according to detection signals;
the data analysis device is used for evaluating the road compactness of the road data through a pre-constructed compactness detection model to obtain an evaluation result and sending an evaluation end signal to the motion control device;
and the motion control device is used for controlling the robot main body to move to the next inspection position according to a preset inspection path when receiving the evaluation ending signal, and sending a positioning instruction to the positioning device when reaching the next inspection position.
Further, in the generating the detection signal according to the positioning information and the preset routing inspection path determination, the method further includes:
generating an electronic navigation map from a preset routing inspection path, wherein the preset routing inspection path comprises a starting point position coordinate, a plurality of routing inspection position coordinates and an end point position coordinate;
obtaining current positioning coordinates from positioning information of a current routing inspection position, positioning the current positioning coordinates into the electronic navigation map, determining whether the current routing inspection position is an end position or not in the electronic navigation map according to the end position coordinates and the current positioning coordinates, and if so, generating a return starting point instruction; if not, generating a detection signal.
Further, the robot further comprises a communication device which is arranged on the robot main body and is used for sending the positioning information of the current inspection position and the road surface data of the current inspection position to the road pressing equipment of the collaborative work.
Further, the device also comprises a compactness detection device; the compactness detection device comprises a data collector and a plurality of pressure sensors, wherein the data collector and the pressure sensors are arranged at the bottom of the robot main body;
each pressure sensor is used for collecting the pressure applied by the robot main body to the road surface to obtain pressure data, and sending the pressure data to the data collector;
the data collector is used for storing and transmitting a plurality of pressure data to the data analysis device.
Further, the device also comprises an obstacle avoidance device; the obstacle avoidance device is arranged on the outer surface of the robot main body and comprises a laser radar and an ultrasonic sensor;
the laser radar is used for transmitting laser signals in real time, detecting obstacles in front of the robot main body through the transmitted laser signals to obtain laser detection data, and transmitting the laser detection data to the motion control device;
the ultrasonic sensor is used for transmitting ultrasonic signals in real time, detecting the surrounding environment of the robot main body through the transmitted ultrasonic signals to obtain ultrasonic detection data, and transmitting the ultrasonic detection data to the motion control device.
Further, the motion control device is further configured to adjust a traveling direction of the robot main body according to the laser detection data and/or the ultrasonic detection data.
Further, the motion control device is further configured to obtain current positioning information of the robot main body from the positioning device when the laser detection data or the ultrasonic detection data is not received any more, and control the robot main body to return to the inspection path according to a preset inspection path and the current positioning information.
Further, in the data analysis device, road surface compactness evaluation is performed on road surface data through a pre-constructed compactness detection model, so as to obtain an evaluation result, which specifically includes:
the pavement parameters comprise pressure data acquired by a plurality of sensors, all the pressure data are subjected to data cleaning, and the pressure data obtained after the data cleaning are subjected to format conversion according to a set format to obtain pressure data with the same format;
and carrying out pavement compactness evaluation on the pressure data in the same format through a pre-constructed compactness detection model to obtain an evaluation result.
Further, the data analysis device is further configured to:
and after the evaluation result is obtained, carrying out data encryption on the evaluation result according to a preset encryption rule, and sending the encrypted evaluation result to the appointed cloud platform.
Further, the robot further comprises a power supply device which is installed on the robot main body and is electrically connected with the robot main body and each device installed on the robot main body so as to provide power.
The beneficial effects of the invention are as follows: the robot comprises a robot main body, wherein a positioning device, a motion control device, a compactness detection device and a data analysis device are arranged on the robot main body, the positioning device can position the robot main body, the motion control device can control the robot main body to move according to a preset inspection path according to the position of the robot main body, road surface data acquisition and compactness evaluation are carried out through the compactness detection device and the data analysis device, a plurality of different road surface positions can be continuously detected, inspection work of road surface compactness is realized, and the intelligent degree is higher.
Drawings
Fig. 1 is a hardware composition diagram of a road surface compactness inspection robot provided by an embodiment of the invention;
fig. 2 is a schematic diagram of a road surface compactness evaluation process in the data analysis device according to the embodiment of the present invention;
fig. 3 is a schematic diagram of a robot road compactness inspection workflow provided in an embodiment of the present invention;
fig. 4 is a system frame diagram of a robot and a cloud platform according to an embodiment of the present invention.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
As shown in fig. 1, the road compactness inspection robot based on Beidou satellite positioning provided by the embodiment of the invention comprises a robot main body, and further comprises a positioning device, a motion control device, a compactness detection device and a data analysis device which are arranged on the robot main body;
the positioning device is used for positioning the current inspection position of the robot main body through the Beidou satellite positioning system according to the positioning instruction sent by the motion control device to obtain positioning information of the current inspection position;
the motion control device is used for determining and generating a detection signal according to a preset inspection path and positioning information of a current inspection position, and sending the detection signal to the compactness detection device;
the compactness detection device is used for detecting pavement data of the current inspection position of the robot main body according to detection signals;
the data analysis device is used for evaluating the road compactness of the road data through a pre-constructed compactness detection model to obtain an evaluation result and sending an evaluation end signal to the motion control device;
and the motion control device is used for controlling the robot main body to move to the next inspection position according to a preset inspection path when receiving the evaluation ending signal, and sending a positioning instruction to the positioning device when reaching the next inspection position.
The bottom of the robot main body is provided with a chassis module, the chassis module consists of driving wheels, steering wheels, a motor, a battery and the like, and the four-wheel drive is adopted, so that the robot can adapt to various road conditions, has good stability and flexibility, and realizes autonomous navigation and positioning through a Beidou satellite positioning system;
specifically, install positioner, motion control device, compactness detection device and data analysis device on the robot main part, positioner can fix a position the position of robot main part, and motion control device can be according to the position of robot main part and patrol and examine the route control robot main part according to predetermineeing and remove to carry out road surface data acquisition and compactness aassessment through compactness detection device and data analysis device, can detect a plurality of different road surface positions of continuity, realized the work of patrolling and examining of road surface compactness, intelligent degree is higher.
The Beidou satellite positioning system adopts a high-precision positioning technology, and can accurately determine the position and the motion trail of the robot. When the robot moves, the Beidou positioning module can update the position information of the robot in real time and transmit the position information to the motion control device.
The automatic roadbed compaction detection robot based on Beidou satellite positioning has the advantages of high efficiency, accuracy, real-time monitoring, strong flexibility, high stability, high reliability and the like, and can improve construction quality and safety, reduce construction accident rate and maintenance cost, thereby creating more values for users.
As shown in fig. 1, in some embodiments, the apparatus further includes a communication device, which is installed on the robot body, and is configured to send the positioning information of the current inspection position and the road surface data of the current inspection position to the road pressing device of the collaborative work.
Specifically, the positioning information and the road surface data of the current inspection position are launched to the road pressing equipment through the communication device, so that remote communication and data transmission with operators and communication and cooperative operation with other road pressing equipment are realized.
As shown in fig. 1, in some embodiments, a power supply device is further included, and is mounted on the robot body and electrically connected to the robot body and each device mounted on the robot body to supply power.
Specifically, the robot body is rectangular, the power supply device can be a battery, and the robot body can support continuous operation for a long time by adopting battery power supply.
As shown in fig. 1, in some embodiments, an obstacle avoidance device is also included; the obstacle avoidance device is arranged on the outer surface of the robot main body and comprises a laser radar and an ultrasonic sensor;
the laser radar is used for transmitting laser signals in real time, detecting obstacles in front of the robot main body through the transmitted laser signals to obtain laser detection data, and transmitting the laser detection data to the motion control device;
the ultrasonic sensor is used for transmitting ultrasonic signals in real time, detecting the surrounding environment of the robot main body through the transmitted ultrasonic signals to obtain ultrasonic detection data, and transmitting the ultrasonic detection data to the motion control device.
For example, the robot body may be provided with 1 laser sensor and 2 ultrasonic sensors.
The obstacle avoidance device may take a variety of sensor combinations, and may include cameras, lidar and ultrasonic sensors, for example. The laser radar is mainly used for detecting obstacles in front of the robot, the ultrasonic sensor is used for detecting the surrounding environment of the robot, and the laser radar can adapt to different environments and scenes through various sensors; when the robot detects an obstacle, the control module can enable the robot to automatically stop or adjust the traveling direction through the driving device so as to avoid collision.
In the embodiment, the real-time sensing of the front and surrounding environments of the robot body is realized, and the intelligent obstacle avoidance function is realized.
In some embodiments, the motion control device determines to generate a detection signal according to the preset inspection path and the positioning information of the current inspection position, and further includes:
generating an electronic navigation map from a preset routing inspection path, wherein the preset routing inspection path comprises a starting point position coordinate, a plurality of routing inspection position coordinates and an end point position coordinate;
obtaining current positioning coordinates from positioning information of a current inspection position, positioning the current positioning coordinates into the electronic navigation map, determining whether the current inspection position is an end position or not in the electronic navigation map according to the end position coordinates and the current positioning coordinates, and if so, controlling the robot main body to return to a starting point; if not, generating a detection signal.
It should be understood that the preset inspection path can be configured according to the inspection requirement, and a corresponding electronic navigation map is generated, and the position of the robot main body on the inspection path is determined through the current positioning coordinates and the starting point position coordinates, the plurality of inspection position coordinates and the end point position coordinates in the preset inspection path, so as to control the movement of the robot main body, realize autonomous running, and facilitate operation in a complex environment; and a detection signal is generated, and the detection signal enables the compactness detection device and the data analysis device to acquire pavement data and evaluate compactness at the current position, so that the pavement compactness inspection work of the robot is realized.
In some embodiments, further comprising compaction detection means; the compactness detection device comprises a data collector and a plurality of pressure sensors, wherein the data collector and the pressure sensors are arranged at the bottom of the robot main body;
each pressure sensor is used for collecting the pressure applied by the robot main body to the road surface to obtain pressure data, and sending the pressure data to the data collector;
the data collector is used for storing and transmitting a plurality of pressure data to the data analysis device.
For example, the robot body may be provided with 2 compaction sensors for measuring road surface pressure.
Preferably, the robot body is further provided with 1 IMU sensor for acquiring the posture of the robot body.
The Beidou satellite positioning system is combined with the IMU sensor to acquire the position, the gesture, the speed and other information of the robot in real time. And the algorithm based on Beidou satellite navigation is adopted, and the technologies of inertial navigation, visual sensors and the like are combined, so that high-precision positioning and navigation are realized.
When the robot runs on the roadbed, the deformation condition of the roadbed is detected through the pressure sensor, and then the compaction condition of the roadbed is judged. In order to improve the detection precision, the compactness detection device adopts a multipoint distributed detection mode, so that the road surface can be comprehensively monitored, and the compaction condition of the road surface can be accurately judged. The data collector transmits the detected data to the data analysis device for processing and analysis, so that the compaction condition of the road surface can be monitored in real time.
In some embodiments, the motion control device is further configured to adjust a direction of travel of the robot body according to the laser detection data and/or the ultrasonic detection data.
In the above embodiments, the motion control device, the compactness detection device and the data analysis device are integrated with each other, so that the autonomous navigation of the robot, the sensor perception and the operation of the compaction equipment can be comprehensively coordinated and controlled, and the intelligent detection analysis and compaction operation of the roadbed can be realized.
In some embodiments, the motion control device is further configured to obtain current positioning information of the robot main body from the positioning device when the laser detection data or the ultrasonic detection data is no longer received, and control the robot main body to return to the inspection path according to a preset inspection path and the current positioning information.
In some embodiments, as shown in fig. 2, in the data analysis apparatus, road compactness evaluation is performed on road data through a pre-constructed compactness detection model, so as to obtain an evaluation result, which specifically is:
the road surface parameters comprise pressure data acquired by a plurality of sensors, all the pressure data are subjected to data cleaning, and the pressure data obtained after the data cleaning are subjected to format conversion according to a set format to obtain the pressure data with the same format.
The above process is a data preprocessing process, including:
and the data cleaning is to clean the acquired data to remove abnormal values and noise.
And converting the data format into format conversion of the data of different sensors so as to perform data fusion processing.
The data fusion processing is that the fusion processing and analysis can be carried out on different sensor data by adopting algorithms such as Kalman filtering or particle filtering.
Then, data modeling and data prediction are performed:
and carrying out pavement compactness evaluation on the pressure data in the same format through a pre-constructed compactness detection model to obtain an evaluation result.
And the data modeling is to model the fused data by using an artificial intelligence technology, and establish a compactness detection model.
And the data prediction is to predict the modeled data and evaluate and optimize the compactness of the road surface.
After the evaluation result is obtained, carrying out security management on the data, namely carrying out data encryption on the evaluation result according to a preset encryption rule:
the data encryption is to encrypt the processed data to protect the confidentiality of the data.
And the data backup is to backup important data, so that the integrity and usability of the data are ensured.
And finally, sending the encrypted evaluation result to a designated cloud platform, namely uploading and sharing the data.
And uploading the data, namely uploading the processed data to a cloud platform to realize data sharing and collaborative operation.
And the data sharing is that the data sharing is carried out with other road pressing equipment, so that collaborative operation and optimal control are realized.
In the embodiment, a data processing and analyzing platform can be established by means of cloud computing and artificial intelligence technology, data acquired by a robot are uploaded to the platform, data modeling and prediction are performed by means of the artificial intelligence technology, pavement compaction suggestions and predictions are provided, and pavement maintenance and optimization are facilitated.
The cloud computing technology is adopted to realize networking control and collaborative operation of a plurality of road rollers, and the data visualization technology is adopted to realize real-time sharing and transmission of a plurality of construction data so as to improve construction management and decision making efficiency. The road surface compactness inspection robot can realize real-time monitoring and fine management on compacting operation through a data sharing technology; various data security measures are employed, including data encryption, data backup, data recovery, etc., to protect the confidentiality and integrity of the construction data.
The following describes the robot inspection operation procedure, as shown in fig. 3:
s0, starting;
s1, acquiring Beidou positioning signals and determining the current position of a robot body;
s2, judging whether the current inspection position is an end position according to the preset inspection path and the positioning information of the current inspection position, if so, executing S7, and if not, executing S3;
s3, detecting road surface data of the current inspection position of the robot main body;
s4, evaluating the pavement compactness of the pavement data to obtain an evaluation result;
s5, uploading the evaluation result and the related information of the robot body operation to a designated cloud platform;
s6, continuing to run according to a preset routing inspection path, and returning to the S1;
s7, controlling the robot main body to return to a starting point;
s8, ending.
S6, an obstacle avoidance process is also included: transmitting laser signals in real time, detecting obstacles in front of the robot main body through the transmitted laser signals to obtain laser detection data, and transmitting the laser detection data to a motion control device;
transmitting ultrasonic signals in real time, detecting the surrounding environment of the robot main body through the transmitted ultrasonic signals to obtain ultrasonic detection data, and transmitting the ultrasonic detection data to a motion control device;
and the motion control device adjusts the advancing direction of the robot main body according to the laser detection data and/or the ultrasonic detection data.
The invention can continuously detect a plurality of different road surface positions, realizes the inspection work of the road surface compactness and has higher intelligent degree.
The following describes the construction of a system frame between the present road compactness inspection robot and a remote server, as shown in fig. 4:
the system framework may include a perception layer, a data transmission layer, and an application services layer.
And deploying the Beidou satellite positioning system and a plurality of sensors on the sensing layer. The Beidou satellite positioning system comprises a GNSS antenna and a host; each sensor includes a drive sensor, a temperature sensor, a compactness sensor, and the like.
And disposing a motion control device and a data analysis device on the data transmission layer.
The appointed cloud platform is deployed on the application service layer and can comprise a remote server, an intelligent compaction system monitoring platform and a dynamic early warning system. The remote server comprises a data management server and a WEB server; the remote server is used for receiving and managing the transmitted evaluation result and the related data of the inspection robot, sending the evaluation result and the related data of the inspection robot to the dynamic early warning system, analyzing the dynamic early warning system according to the evaluation result and the related data of the inspection robot, carrying out abnormal early warning, and sending the abnormal early warning information to the terminal of the engineering quality manager.
Specifically, users of the intelligent compaction system monitoring platform may include government quality supervision authorities, construction unit administrators, regulatory unit administrators, construction unit administrators, and the like.
Practical applications of the invention include, but are not limited to, the following: the road construction field can be used for detecting the compactness of the roadbed and constructing the road surface; the construction field can be used for detecting the compaction degree of the foundation and constructing the ground; the mine field can be used for mine compactness detection and mine construction.
According to the invention, the positioning device, the motion control device, the compactness detection device and the data analysis device are arranged on the robot main body, the positioning device can position the robot main body, the motion control device can control the robot main body to move according to the position of the robot main body and a preset inspection path, road surface data acquisition and compactness evaluation are carried out through the compactness detection device and the data analysis device, a plurality of different road surface positions can be continuously detected, inspection work of road surface compactness is realized, and the intelligent degree is higher.
The invention is an important technical innovation, can effectively improve the construction efficiency and quality, reduces the construction cost and the manpower resource cost, and has obvious economic and social benefits. The application and popularization of this patent will help promote the development and progress of the relevant art. Can play an important role in the fields of highway construction, urban road maintenance, road safety management and the like, and has wide application space and market potential.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The road surface compactness inspection robot based on Beidou satellite positioning is characterized by comprising a robot main body, and further comprising a positioning device, a motion control device, a compactness detection device and a data analysis device which are arranged on the robot main body;
the positioning device is used for positioning the current inspection position of the robot main body through the Beidou satellite positioning system according to the positioning instruction sent by the motion control device to obtain positioning information of the current inspection position;
the motion control device is used for determining and generating a detection signal according to a preset inspection path and positioning information of a current inspection position, and sending the detection signal to the compactness detection device;
the compactness detection device is used for detecting pavement data of the current inspection position of the robot main body according to detection signals;
the data analysis device is used for evaluating the road compactness of the road data through a pre-constructed compactness detection model to obtain an evaluation result and sending an evaluation end signal to the motion control device;
and the motion control device is used for controlling the robot main body to move to the next inspection position according to a preset inspection path when receiving the evaluation ending signal, and sending a positioning instruction to the positioning device when reaching the next inspection position.
2. The road compactness inspection robot of claim 1, wherein the motion control device determines to generate the detection signal according to the positioning information of the preset inspection path and the current inspection position, and further includes:
generating an electronic navigation map from a preset routing inspection path, wherein the preset routing inspection path comprises a starting point position coordinate, a plurality of routing inspection position coordinates and an end point position coordinate;
obtaining current positioning coordinates from positioning information of a current inspection position, positioning the current positioning coordinates into the electronic navigation map, determining whether the current inspection position is an end position or not in the electronic navigation map according to the end position coordinates and the current positioning coordinates, and if so, controlling the robot main body to return to a starting point; if not, generating a detection signal.
3. The road compactness inspection robot of claim 1, further comprising a communication device mounted on the robot body for transmitting the positioning information of the current inspection position and the road data of the current inspection position to a cooperating road compacting device.
4. The road compactness inspection robot of claim 1, further comprising a compactness detection device; the compactness detection device comprises a data collector and a plurality of pressure sensors, wherein the data collector and the pressure sensors are arranged at the bottom of the robot main body;
each pressure sensor is used for collecting the pressure applied by the robot main body to the road surface to obtain pressure data, and sending the pressure data to the data collector;
the data collector is used for storing and transmitting a plurality of pressure data to the data analysis device.
5. The road compactness inspection robot of claim 1, further comprising an obstacle avoidance device; the obstacle avoidance device is arranged on the outer surface of the robot main body and comprises a laser radar and an ultrasonic sensor;
the laser radar is used for transmitting laser signals in real time, detecting obstacles in front of the robot main body through the transmitted laser signals to obtain laser detection data, and transmitting the laser detection data to the motion control device;
the ultrasonic sensor is used for transmitting ultrasonic signals in real time, detecting the surrounding environment of the robot main body through the transmitted ultrasonic signals to obtain ultrasonic detection data, and transmitting the ultrasonic detection data to the motion control device.
6. The road compactness inspection robot of claim 5, wherein the motion control device is further configured to adjust the direction of travel of the robot body based on the laser detection data and/or the ultrasonic detection data.
7. The road compactness inspection robot of claim 6, wherein the motion control device is further configured to obtain current positioning information of the robot body from the positioning device when the laser detection data or the ultrasonic detection data is no longer received, and control the robot body to return to the inspection path according to a preset inspection path and the current positioning information.
8. The road surface compactness inspection robot of claim 1, wherein in the data analysis device, road surface compactness evaluation is performed on road surface data through a pre-constructed compactness detection model, so as to obtain an evaluation result, specifically:
the pavement parameters comprise pressure data acquired by a plurality of sensors, all the pressure data are subjected to data cleaning, and the pressure data obtained after the data cleaning are subjected to format conversion according to a set format to obtain pressure data with the same format;
and carrying out pavement compactness evaluation on the pressure data in the same format through a pre-constructed compactness detection model to obtain an evaluation result.
9. The road compactness inspection robot of claim 8, wherein the data analysis device is further for:
and after the evaluation result is obtained, carrying out data encryption on the evaluation result according to a preset encryption rule, and sending the encrypted evaluation result to the appointed cloud platform.
10. The road compactness inspection robot of any of claims 1 to 9, further comprising a power supply device mounted on the robot body and electrically connected to the robot body and each device mounted on the robot body to provide power.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311450462.9A CN117496612A (en) | 2023-11-02 | 2023-11-02 | Road surface compactness inspection robot based on Beidou satellite positioning |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311450462.9A CN117496612A (en) | 2023-11-02 | 2023-11-02 | Road surface compactness inspection robot based on Beidou satellite positioning |
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