CN206477235U - A kind of Two-wheeled road face repair robot system - Google Patents
A kind of Two-wheeled road face repair robot system Download PDFInfo
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- CN206477235U CN206477235U CN201621473958.3U CN201621473958U CN206477235U CN 206477235 U CN206477235 U CN 206477235U CN 201621473958 U CN201621473958 U CN 201621473958U CN 206477235 U CN206477235 U CN 206477235U
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Abstract
The utility model discloses a kind of Two-wheeled road face repair robot system, including the robot body with dynamical system, it is provided with robot body on mechanical arm, mechanical arm and road surface prosthetic device is installed；The control system for control machinery arm is additionally provided with robot body, control system has wireless signal receiver, control system and mechanical arm electrical connection.Specifically, the road surface prosthetic device includes provisions for grouting and/or drill hammer and/or slotting device.Intelligent reparation can be realized using robot system of the present utility model, due to only needing to artificial remote intervention, therefore, security during reparation is improved to a certain extent；Modular mechanical arm is integrated with, dismounting combination can be carried out according to actual conditions, and changes end fix tool, the service efficiency of modular mechanical arm is improved.
Description
Technical field
The utility model is related to a kind of Two-wheeled road face repair robot system, belongs to road rehabilitation technical field.
Background technology
After highway is built up, in order to ensure current security and efficiency, it is necessary to which periodic inspection is conserved.With Chinese high
The rapid growth of fast mileage in highway open to traffic, the increase of the road service time limit, highway have been enter into build with maintenance lay equal stress on when
Phase, more than the 10000 kilometers of highway built up before 2000 is comprehensively into overhaul time, more than 50,000 built up before the end of the year 2008
The normal maintenance curing period that kilometer highway also generally enters after defects liability period, the overall staff size of maintenance industry increases fast
Speed.Highway Maintenance include roadbed maintenance, maintenance of surface, bridges and culverts maintenance, passage maintenance, tunnel maintenance, identifier marking conserve,
House maintenance, electromechanical facility maintenance etc., wherein maintenance of surface is the important content of Highway Maintenance.The premise of maintenance of surface
It is the detection and assessment of road pavement situation.
At present, pavement behavior detection is with repairing the main mode manually coordinated with equipment, still, and which is imitated in work
There is certain defect in terms of rate, personal safety, reparation speed.With the development of science and technology, occurring in that some road surfaces are repaired successively
Equipment, but the general automaticity of the said equipment is relatively low, or volume is larger, demand is repaired on unsuitable modern accurately road surface,
Moreover, also easily causing the unnecessary loss of manpower and materials.
Utility model content
The purpose of this utility model is there is provided a kind of Two-wheeled road face repair robot system, using automation formula
Design concept, reparation speed and remediation efficiency can be effectively improved.
In order to solve the above technical problems, the utility model is adopted the following technical scheme that：
A kind of Two-wheeled road face repair robot system, including the robot body with dynamical system, robot sheet
It is provided with body on mechanical arm, mechanical arm and road surface prosthetic device is installed forms a set of Dao Mian robots repair system；Robot
Be additionally provided with the control system for control machinery arm on body, control system has a wireless signal receiver, control system and
Mechanical arm is electrically connected.Specifically, the road surface prosthetic device includes provisions for grouting and/or drill hammer and/or slotting device.Machine
Tool arm can select electrically driven (operated), and motor machine arm is mainly made up of in terms of driving motor, decelerator, driver etc., motor
Start under the control of driver or stop, by the startup of controlled motor, stop reacting the machine in mechanical arm through decelerator
In tool activity.Mechanical arm can also select hydraulic/pneumatic formula mechanical arm, hydraulic/pneumatic formula mechanical arm in terms of driving it is main by
Hydraulic/pneumatic pump, hydraulic/pneumatic cylinder, overflow valve, choke valve, reversal valve, sequence valve etc. are constituted, so as to drive manipulator motion.
As one of which embodiment, the mechanical arm is made up of some connecting rods being hinged successively, adjacent
It is connected between connecting rod by drive mechanism；The drive mechanism is more than or equal to 4, and less than or equal to 7, it is described to drive
Motivation structure is completed the repair of a series of road face, is at least needed mechanical arm using hydraulic pressure, air pressure or electronic as drive form
With 4 frees degree, the free degree of mechanical arm is realized by drive mechanism, for example：Drive mechanism uses motor, then passes through electricity
Machine drivening rod rotates, and a drive mechanism can increase one degree of freedom, so the quantity of drive mechanism is at least 4
It is individual.It is worth noting that, under non-working condition, modular mechanical arm is in dead-center position, modular mechanical arm shrinks, so that
Reduce robot center of gravity so that operation is more steady, also reduces overall space-consuming, it is to avoid colliding with of being likely to occur
The damage brought；Modular mechanical arm deploys in a state of use, passes through industrial camera for being carried on modular mechanical arm etc.
Auxiliary equipment is positioned to area to be repaired, and restoring area is cleared up followed by the drill hammer of end, cleared up
Cheng Hou, using grouting equipment to the regional perfusion concrete, after condensation, is examined using pavement detection equipment to repairing effect
Test.
As a kind of type of drive of robot body, the dynamical system of the robot body includes Athey wheel, slowed down
Mechanism, actuating unit and supply unit, supply unit and actuating unit electrical connection, actuating unit are connected with reducing gear, slowed down
Mechanism is connected with Athey wheel.Robot body is driven using Athey wheel so that robot body possesses all-around mobile and one
Fixed obstacle climbing ability.
In a kind of foregoing Two-wheeled road face repair robot system, the control system include global positioning system,
Gyroscope, encoder and avoidance laser radar, the system also include the remote monitoring for robot body described in remote control
Accessory system, remote monitoring accessory system and robot body wireless telecommunications connection.Remote monitoring accessory system is used for control machine
The movement of device human body, and on robot body detection device, prosthetic device and mechanical arm operation.Robot body is led
Boat uses the navigation scheme based on global positioning system, gyroscope, encoder and avoidance laser radar Multi-Sensor Data Fusion,
Realize the high accuracy navigation of outdoor Centimeter Level and the location position of detection data；In modular mechanical arm control aspect, use
Modular mechanical arm calibration method based on spinor theory, this method can preferably make up DH parametric techniques because of model error
Caused precision problem.
In a kind of foregoing Two-wheeled road face repair robot system, the dynamical system includes two groups of universal wheels and one
Group driving wheel, driving wheel is located between two groups of universal wheels, and each driving wheel is respectively provided with independent drive device.Such a type of drive
It is more succinct compared to Athey wheel and Mecanum wheel structure type, it is easy to later maintenance work, and cost is told somebody what one's real intentions are relatively, and
Larger weight can be born.
In a kind of foregoing Two-wheeled road face repair robot system, the dynamical system includes four driving wheels, often
Individual driving wheel is respectively provided with independent drive device.The mobility of robot body is improved using four motorized wheels, is improved
Corresponding speed, meanwhile, compared to two wheel guide robot mode, reduce radius of turn during low speed so that control is more light；And
And, can using four In-wheel motor drivings and with reference to electronic, electrification feedback and the multi-functional wheel hub motor technology of electromagnetic braking is had concurrently
So that robot body realizes the recovery to kinetic energy energy under the road conditions such as descending, to save and improve endurance.Robot
Body can also use Mecanum wheel, and Mecanum wheel is more a little, and straight trip, 45 degree of diagonals, row, pirouette can be achieved
To omnibearing movable is waited, system flexibility is substantially improved, also, with more preferable lifting capacity.
In a kind of foregoing Two-wheeled road face repair robot system, the another embodiment of mechanical arm, institute are used as
Mechanical arm is stated including mounting seat, is fixed with mounting seat on support frame, support frame and is hinged with first connecting rod, support frame connection
The middle part of first connecting rod, the end of first connecting rod and second connecting rod are hinged；Also include the first retractor device and the second retractor device,
First retractor device one end connects support frame, other end connection first connecting rod；Second retractor device one end connection support frame is another
End connection second connecting rod, the end of second connecting rod is provided with the instrument installation position for being used for installing road surface prosthetic device.Such a form
Mechanical arm configuration is compacter, and cost is lower.
In a kind of foregoing Two-wheeled road face repair robot system, binocular camera is installed in the robot sheet,
Binocular camera and control system electrical connection；Binocular camera is used to collect pavement image information and be transferred to control system, controls
The pavement image information that system docking processed is received is filtered, edge detection process, crack image binaryzation, classification of rifts, shape
State method measurement flaw size, restoring area are demarcated and map match, optimal route selection, then control system control machinery
Arm and road surface prosthetic device road pavement carry out repair.
The invention also discloses a kind of road surface repair method, including following methods：Control machine human body is moved to
The position that road face is specified；The artificial crucial point coordinates for determining area to be repaired；The restoring area in artificial setting road face and reparation
Method, robot body detects path according to area to be repaired position planning road face；Control machine human body examines along the road face
Survey path and be moved to area to be repaired, drill hammer or provisions for grouting or slotting device are navigated to by specific bit by mechanical arm
Put, road face is drilled and/or is in the milk and/or cracked according to the road surface repair method manually set；Road after collection reparation
Face information data, real-time monitoring analysis is carried out to road face information data or analysis is delayed, repairing effect is determined.
Mechanical arm determines the position of maintenance by the coordinate information pre-entered, and area to be repaired is entered using drill hammer
Row bore operation, then using grouting equipment by the mixture injection hole such as concrete region.
In foregoing road surface repair method, the loose pavement disease of road pavement basic unit is drilled, reparation of being in the milk；It is described to bore
Hole, grouting reparation include following methods：In road surface to be repaired drilling, so as to obtain grout hole, then by oxidized asphalt or
Cement mortar injects grout hole with space under fill concrete plate, rebuilds the uniform bulk strength of road deck.Adopt this method and repair
The loose road surface of complex radical layer, it is possible to increase the quality on road surface, improves its bearing capacity, the problems such as preventing deformation, collapse.
In foregoing road surface repair method, the crack disease on road surface is repaired by cracking, being in the milk；It is described to crack, be in the milk and repair
Include following methods again：Crack, according to the fluting size of design, be pre-adjusted groove depth, then carry out fluting operation；Clearly
Seam：The dust in the range of the disintegrating slag in groove and crack both sides at least 10cm is cleaned up with blowing apparatus；The cementation of fissures：Set with grouting
It is standby equably to pour into fluid sealant in groove.
Compared with prior art, 1, road face robot for overhauling system of the present utility model, employs high-precision outdoor and leads
Boat system, modular mechanical arm system and detachable tool head, it is possible to achieve the autonomous reparation of road pavement, remediation efficiency,
Economical and security is increased dramatically, and overall system performance is preferable；
2nd, the utility model, can contexture by self arrival using the control mode of " macroscopical remote control, microcosmic autonomous, remote monitoring "
Area path to be repaired, implementation repair；Robot body is moved to after specified location, utilizes the industrial phase of modular mechanical arm
The equipment such as machine, are positioned to restoring area, and complete reparation to ground using instruments such as drill hammer, grouting equipments, can be led to
Cross automatic, semiautomatic fashion to switch over fix tool, intelligent reparation is realized, due to less need for manual intervention, carrying
The high security of repair process；
3rd, the utility model uses the navigation based on GPS, gyroscope, encoder and laser radar Multi-Sensor Data Fusion
Scheme, realizes the high accuracy navigation of outdoor Centimeter Level, drastically increases the accuracy of positioning；
4th, the utility model integrated modular mechanical arm, it is different freely that the modular mechanical arm can enter line translation as needed
Degree, and end-equipment is replaced by the instruments such as drill hammer, grouting equipment, it is thereby achieved that an arm is multi-purpose, improves mould
The utilization ratio of block mechanical arm；
5th, reparation position of the present utility model and method can be by artificially formulating, and use industrial camera to repairing feelings
Condition is confirmed, improves the accuracy of reparation, and ensures repairing effect；
6th, the utility model mobile platform is used as travel mechanism using Athey wheel, it is possible to achieve all-around mobile, also, tool
Standby certain obstacle climbing ability, can more flexibly set the track route of robot body, and then be more efficiently completed reparation
Operation.
7th, Two-wheeled road described in the utility model face repair robot system can also be assisted with multiple similar humanoid robots
Same mode of operation, can further lift remediation efficiency.
Brief description of the drawings
Fig. 1 is a kind of running status structural representation of embodiment of robot body；
Fig. 2 is a kind of structural representation of embodiment of mechanical arm；
Fig. 3 is the embodiment schematic diagram that modular mechanical arm uses drill hammer；
Fig. 4 is the partial electric annexation schematic diagram of dynamical system；
Fig. 5 is a kind of structural representation of embodiment of dynamical system；
Fig. 6 is the structural representation of another embodiment of mechanical arm；
Fig. 7 is the structural representation of robot body non-operating state；
Fig. 8 is the embodiment schematic diagram that modular mechanical arm uses slotting device；
Fig. 9 is the embodiment schematic diagram that robot body uses Mecanum wheel；
Figure 10 is the embodiment schematic diagram that robot body uses four-wheel drive；
Figure 11 is the robot system overall schematic of the configuration diagram of accessory system containing remote monitoring；
Figure 12 is robot body mode of operation schematic diagram.
Reference：1- dynamical systems, 2- robot bodies, 3- mechanical arms, 4- road surfaces prosthetic device, 5- connecting rods, 6- drives
Motivation structure, 7- Athey wheels, 8- reducing gears, 9- actuating units, 10- supply units, 11- driving wheels, 12- drive devices, 13- ten thousand
To wheel, 14- support frames, the retractor devices of 15- first, 16- first connecting rods, the retractor devices of 17- second, 18- installation positions, 19- second
Connecting rod, 20- mounting seats, 21- operating desks, 22- monitoring screens, 23- refitted cars, 24- supply units, 25- control racks.
The utility model is further described with reference to the accompanying drawings and detailed description.
Embodiment
Embodiment 1 of the present utility model：A kind of Two-wheeled road face repair robot system, including with dynamical system 1
Robot body 2, be provided with robot body 2 and road surface prosthetic device 4 is installed on mechanical arm 3, mechanical arm 3 forms a set of
Dao Mian robots repair system；The control system for control machinery arm 3 is additionally provided with robot body 2, control system has
Wireless signal receiver, control system and mechanical arm 3 are electrically connected.Filled specifically, the road surface prosthetic device 4 includes grouting
Put.Provisions for grouting is made up of mounting seat, connector, flexible pipe, cylinder etc., is injected the mixture into by forms such as air pressure, hydraulic pressure
Crack or repairing area.In the present embodiment, the mechanical arm 3 is made up of some connecting rods 5 being hinged successively, adjacent connecting rod
It is connected between 5 by drive mechanism 6；The drive mechanism is equal to 6, and the drive mechanism 6 is using hydraulic pressure, air pressure or electronic work
For drive form, more low degree-of-freedom mechanical arm system is assembled into according to user's request, its end can install drill hammer, grouting dress additional
Put, slotting device etc..
The dynamical system 1 of the robot body 2 includes Athey wheel 7, reducing gear 8, actuating unit 9 and supply unit
10, supply unit 10 and actuating unit 9 are electrically connected, and actuating unit 9 is connected with reducing gear 8, reducing gear 8 and the phase of Athey wheel 7
Even.The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes being used for
The remote monitoring accessory system of robot body 2 described in remote control, remote monitoring accessory system and the channel radio of robot body 2
News connection.Remote monitoring accessory system includes operating desk 21, monitoring screen 22 and control rack 25, operating desk 21 and monitoring screen
22 electrically connect with control rack 25；Pass through wireless telecommunications side between robot body 1, mechanical arm 3 and remote monitoring accessory system
Formula is received and sent messages.
Binocular camera, binocular camera and control system electrical connection are installed on the robot body 2；Binocular camera
For collecting pavement image information and being transferred to control system, control system is filtered to the pavement image information received,
Edge detection process, crack image binaryzation, classification of rifts, morphological method measurement flaw size, restoring area demarcation and ground
Figure matching, optimal route selection, then control system control machinery arm 3 and the road pavement of road surface prosthetic device 4 carry out repair.
Embodiment 2：A kind of Two-wheeled road face repair robot system, including the robot body with dynamical system 1
2, it is provided with mechanical arm 3, mechanical arm 3 on robot body 2 road surface prosthetic device 4 is installed to form a set of Dao Mian robots and repaiies
Complex system；The control system for control machinery arm 3 is additionally provided with robot body 2, control system has reception of wireless signals
Device, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 includes drill hammer.Drill hammer is main by big work(
Rate motor, radiator fan, top-type impact module, drilling attachment and drill bit composition, and be impact by way of electrical connection
Drill bit provides the energy.
The mechanical arm 3 is made up of some connecting rods 5 being hinged successively, and drive mechanism 6 is passed through between adjacent connecting rod 5
It is connected；The drive mechanism 6 is equal to 4, and the drive mechanism 6 is using hydraulic pressure, air pressure or electronic is used as drive form.The control
System processed includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes being used for remote control institute
State the remote monitoring accessory system of robot body 2, remote monitoring accessory system and the wireless telecommunications of robot body 2 connection.Machine
Device human body 1 gathers the geological information below road face and road surface, and the information collected then is sent into remote monitoring auxiliary
System, remote monitoring accessory system can be the form (as shown in figure 11) of refitted car, in refitted car provided with supply unit 24,
Control rack 25, operating desk 14 and monitoring screen 22, monitoring screen 22 are Multi-screen display system, and supply unit 24 is remote monitoring
Accessory system is powered, and the geological information detected is first sent to control rack 25, is then shown by monitoring screen 22, can
To handle the geological information collected by operating desk 21；Remote monitoring accessory system can be used for control machine people's sheet simultaneously
The working condition of body 1, is also used as long-distance transport and the storing unit of robot body.The dynamical system 1 includes two groups
Universal wheel 13 and one group of driving wheel 11, driving wheel 11 are located between two groups of universal wheels 13, and each driving wheel 11 is respectively provided with independent
Drive device 12.
Binocular camera, binocular camera and control system electrical connection are installed on the robot body 2；Binocular camera
For collecting pavement image information and being transferred to control system, control system is filtered to the pavement image information received,
Edge detection process, crack image binaryzation, classification of rifts, morphological method measurement flaw size, restoring area demarcation and ground
Figure matching, optimal route selection, then control system control machinery arm 3 and the road pavement of road surface prosthetic device 4 carry out repair.
Embodiment 3：A kind of Two-wheeled road face repair robot system, including the robot body with dynamical system 1
2, it is provided with mechanical arm 3, mechanical arm 3 on robot body 2 road surface prosthetic device 4 is installed to form a set of Dao Mian robots and repaiies
Complex system；The control system for control machinery arm 3 is additionally provided with robot body 2, control system has reception of wireless signals
Device, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 includes slotting device.
The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes
For the remote monitoring accessory system of robot body described in remote control 2, remote monitoring accessory system and the nothing of robot body 2
Line communication connection.The dynamical system 1 includes four driving wheels 11, and each driving wheel 11 is respectively provided with independent drive device 12.
The mechanical arm 3, which includes being fixed with support frame 14, support frame 14 in mounting seat 20, mounting seat 20, is hinged with first connecting rod
16, support frame 14 connects the middle part of first connecting rod 16, and the end of first connecting rod 16 and second connecting rod 19 are hinged；Also stretched including first
The retractor device 17 of compression apparatus 15 and second, the one end of the first retractor device 15 connection support frame 14, other end connection first connecting rod 16；
The one end of second retractor device 17 connection support frame 14 other end connection second connecting rod 19, the end of second connecting rod 19, which is provided with, to be used to pacify
Fill the instrument installation position 18 of road surface prosthetic device 4.
Embodiment 4：A kind of Two-wheeled road face repair robot system, including the robot body with dynamical system 1
2, it is provided with mechanical arm 3, mechanical arm 3 on robot body 2 road surface prosthetic device 4 is installed to form a set of Dao Mian robots and repaiies
Complex system；The control system for control machinery arm 3 is additionally provided with robot body 2, control system has reception of wireless signals
Device, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 include provisions for grouting and/or drill hammer and/or
Slotting device.
The dynamical system 1 of the robot body 2 includes Athey wheel 7, reducing gear 8, actuating unit 9 and supply unit
10, supply unit 10 and actuating unit 9 are electrically connected, and actuating unit 9 is connected with reducing gear 8, reducing gear 8 and the phase of Athey wheel 7
Even.The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes being used for
The remote monitoring accessory system of robot body 2 described in remote control, remote monitoring accessory system and the channel radio of robot body 2
News connection.
The mechanical arm 3, which includes being fixed with support frame 14, support frame 14 in mounting seat 20, mounting seat 20, to be hinged with
First connecting rod 16, support frame 14 connects the middle part of first connecting rod 16, and the end of first connecting rod 16 and second connecting rod 19 are hinged；Also wrap
Include the first retractor device 15 and the second retractor device 17, the one end of the first retractor device 15 connection support frame 14, other end connection the
One connecting rod 16；The one end of second retractor device 17 connection support frame 14 other end connection second connecting rod 19, the end of second connecting rod 19
Provided with the instrument installation position 18 for installing road surface prosthetic device 4.
The utility model additionally provides a kind of road surface repair method, is repaiied by the Two-wheeled road face described in above example
Multiple robot system repairs road face, specifically includes following methods：Control machine human body 2 is moved to the position that face is specified；People
Work determines the crucial point coordinates of area to be repaired；The restoring area and restorative procedure in artificial setting road face, robot body 2
Path is detected according to area to be repaired position planning road face；Control machine human body 2 is moved to be repaired along road face detection path
Multiple region, navigates to specified location, according to what is manually set by mechanical arm 3 by drill hammer or provisions for grouting or slotting device
Road surface repair method is drilled and/or is in the milk and/or cracked to road face；Road face information data after collection reparation, to road face
Information data carries out real-time monitoring analysis or delays analysis, determines repairing effect；Mechanical arm 3 passes through the coordinate information that pre-enters
It is determined that the position of maintenance, carries out bore operation, then using grouting equipment by concrete using drill hammer to area to be repaired
Deng mixture injection hole region.
In foregoing road surface repair method, the loose pavement disease of road pavement basic unit is drilled, reparation of being in the milk；It is described to bore
Hole, grouting reparation include following methods：In road surface to be repaired drilling, so as to obtain grout hole, then by oxidized asphalt or
Cement mortar injects grout hole with space under fill concrete plate, rebuilds the uniform bulk strength of road deck.Adopt this method and repair
The loose road surface of complex radical layer, it is possible to increase the quality on road surface, improves its bearing capacity, the problems such as preventing deformation, collapse.
Method for repairing road surface in the alternatively restorative procedure on road surface, the present embodiment is applied to the crack disease on road surface
Evil；It is described crack, be in the milk reparation include following methods：Crack, according to the fluting size of design, be pre-adjusted groove depth,
Then fluting operation is carried out；Raked joint：It is with blowing apparatus that the dust in the range of the disintegrating slag in groove and crack both sides at least 10cm is clear
Sweep clean；The cementation of fissures：Fluid sealant is equably poured into groove with grouting equipment.Other methods of method for repairing road surface, step are with before
State embodiment identical, therefore not to repeat here.
Robot body 1 is first by manual remote control to detection operation initial point position, then according to the maintenance manually set
Region, maintenance point and repair method, robot autonomous planning repair path simultaneously are implemented to repair, and after the completion of reparation, are set by detection
It is standby that repairing effect is weighed.The control system of robot body 1 and mechanical arm 3 is used as master control system using built-in PC
System；Remote monitoring accessory system possesses the work such as reparation confirmation, and operation is evaluated by view data etc..
Robot body 1 operationally, will carry robot body 1, mechanical arm 3 by remote monitoring accessory system first,
Drill hammer, grouting equipment etc. is transported to operation field, and then robot body 1 moves to detection starting point, sets manually
Relevant parameter information.After job initiation is repaired, robot body is moved near restoring area according to presetting, and root
According to technological requirement, using mechanical arm 3 and prosthetic appliance, repair is carried out to neighboring area, whole process can be by artificial real
When supervisory-controlled robot body working condition, as necessary by remote monitoring auxiliary control system its operation.
The invention also discloses a kind of method for repairing road surface of view-based access control model, road surface defect position is determined by vision
Put, contexture by self repair path specifically includes following methods：
Pavement behavior investigation is a regular content of highway maintenance work, and conventional investigation method is substantially manual measurement
Based on, the degree of accuracy, operability, implementation complexity are affected, also, because highway wagon flow is larger, there is one during measurement
Fixed danger.This method employs the visual intelligent measuring method of view-based access control model, in implementation process, collection image
Camera is installed on mechanical arm tail end, by remote monitoring accessory system the image collected is analyzed and processed, so that
Obtain the information such as length, the areas of pavement disease such as crack.
Road surface robot for overhauling can be demarcated according to testing result to each maintenance position, and for map with treating
The relation pair repair path of restoring area is planned, obtains optimal motion path.
Robot for overhauling progress IMAQ, path planning and the flow of road surface reparation are：Pavement image collection → image
Filtering, edge detection process → crack image binaryzation → classification of rifts → morphological method measurement crack (flaw size calculating)
→ restoring area is demarcated to be completed with map match → optimal route selection → road surface repair → reparation detection → construction.
Next the method for repairing road surface of foregoing view-based access control model is illustrated by embodiment of binocular vision detection method：
Binocular vision crack detection method be by binocular camera gather crack picture, to after image procossing with binocular vision
Feel the theoretical method for carrying out flaw size calculating.The collection core of this method is binocular camera, and binocular camera is placed in pavement detection
The end of robot arm, the image collected is handled by methods such as noise reduction, enhancing, rim detection, binaryzations, and
Above-mentioned image is matched and calculated using camera calibration, images match, Coordinate calculation method, so that flaw size is obtained,
Road surface robot for overhauling is by the way that restoring area is demarcated on the map of structure, so that optimal repair path is obtained, and root
Restorative procedure is independently determined according to surface conditions.
Claims (5)
1. a kind of Two-wheeled road face repair robot system, it is characterised in that including the robot sheet with dynamical system (1)
Be provided with body (2), robot body (2) on mechanical arm (3), mechanical arm (3) be provided with road surface prosthetic device (4) formation it is a set of
Dao Mian robots repair system；The control system for control machinery arm (3), control system are additionally provided with robot body (2)
With wireless signal receiver, control system and mechanical arm (3) electrical connection；The dynamical system (1) includes two groups of universal wheels
(13) and one group of driving wheel (11), driving wheel (11) is located between two groups of universal wheels (13), and each driving wheel (11) is respectively provided with solely
Vertical drive device (12).
2. a kind of Two-wheeled road face according to claim 1 repair robot system, it is characterised in that repair on the road surface
Apparatus for coating (4) includes provisions for grouting and/or drill hammer and/or slotting device.
3. a kind of Two-wheeled road face according to claim 1 repair robot system, it is characterised in that the mechanical arm
(3) it is made up of, is connected between adjacent connecting rod (5) by drive mechanism (6) some connecting rods (5) being hinged successively；It is described
The quantity of drive mechanism (6) is more than or equal to 4, and less than or equal to 7, the drive mechanism (6) is using hydraulic pressure, gas
Pressure electronic is used as drive form.
4. a kind of Two-wheeled road face according to claim 1 repair robot system, it is characterised in that the control system
System includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes being used for machine described in remote control
The remote monitoring accessory system of device human body (2), remote monitoring accessory system and robot body (2) wireless telecommunications connection.
5. a kind of Two-wheeled road face according to claim 1 repair robot system, it is characterised in that the mechanical arm
(3) include being fixed with support frame (14) in mounting seat (20), mounting seat (20), support frame is hinged with first connecting rod on (14)
(16), the middle part of support frame (14) connection first connecting rod (16), the end of first connecting rod (16) and second connecting rod (19) are hinged；Also
Including the first retractor device (15) and the second retractor device (17), the first retractor device (15) one end connects support frame (14), separately
One end connection first connecting rod (16)；Second retractor device (17) one end connection support frame (14) other end connection second connecting rod
(19), the end of second connecting rod (19) is provided with the instrument installation position (18) for being used for installing road surface prosthetic device (4).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621473958.3U CN206477235U (en) | 2016-12-30 | 2016-12-30 | A kind of Two-wheeled road face repair robot system |
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| CN201621473958.3U CN206477235U (en) | 2016-12-30 | 2016-12-30 | A kind of Two-wheeled road face repair robot system |
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| CN (1) | CN206477235U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN109653044A (en) * | 2017-10-12 | 2019-04-19 | 湖北木之君工程材料有限公司 | Bi-Block Slab Track in High Speed Railway road bed board repairing concrete crack modularization intelligent trolley |
| CN110512506A (en) * | 2019-09-03 | 2019-11-29 | 中国水利水电第九工程局有限公司 | Joint-cutting pore-creating apparatus and engineering machinery |
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2016
- 2016-12-30 CN CN201621473958.3U patent/CN206477235U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109653044A (en) * | 2017-10-12 | 2019-04-19 | 湖北木之君工程材料有限公司 | Bi-Block Slab Track in High Speed Railway road bed board repairing concrete crack modularization intelligent trolley |
| CN110512506A (en) * | 2019-09-03 | 2019-11-29 | 中国水利水电第九工程局有限公司 | Joint-cutting pore-creating apparatus and engineering machinery |
| CN110512506B (en) * | 2019-09-03 | 2024-02-23 | 中国水利水电第九工程局有限公司 | Lancing and hole-making device and engineering machinery |
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