CN207798777U - A kind of non-destructive testing robot system for urban road and pipe engineering underground defect - Google Patents
A kind of non-destructive testing robot system for urban road and pipe engineering underground defect Download PDFInfo
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- CN207798777U CN207798777U CN201721779364.XU CN201721779364U CN207798777U CN 207798777 U CN207798777 U CN 207798777U CN 201721779364 U CN201721779364 U CN 201721779364U CN 207798777 U CN207798777 U CN 207798777U
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Abstract
The utility model discloses a kind of non-destructive testing robot systems for urban road and pipe engineering underground defect, including mobile platform, detecting system, operating mechanism and intelligence control system；Operating mechanism is mechanically connected with mobile platform, detecting system, operating mechanism, intelligence control system is respectively mounted on a mobile platform, the intelligence control system is electrically connected with detecting system, operating mechanism respectively, mobile platform is used to support entire robot system, and power is provided for entire robot system while driving robot system mass motion.The fusion that the utility model passes through pipeline inspection gage and Ground Penetrating Radar detection data, determine various defects inside road, it can carry out efficient, accurately autonomous non-destructive testing, the robot system reliable operation, the completely inaccuracy instead of intensive work and testing result by artificial detection.
Description
Technical field
The utility model is related to a kind of detecting systems, specifically a kind of to be used for urban road and pipe engineering underground defect
Non-destructive testing robot system.
Background technology
The pipeline inspection gage for being currently used in Road Detection is mainly to detect the defect of metallic conduit, and nonmetallic can hardly
Detection, but investigation depth is deep；And Ground Penetrating Radar is mainly defect and the various defect of pipeline detected inside road surface, but
It is that investigation depth is more shallow than pipeline inspection gage；And above equipment mostly uses manually-operated mode, to the experience of staff
It is required that it is very high, and the accuracy detected is relatively low, and detection efficiency is low；Pipeline inspection gage and detection radar are all respectively independent
Manual work, shortage one kind can be integrated into can realize intelligentized non-destructive testing robot system together.
Utility model content
To overcome problem above of the existing technology, the utility model to provide one kind for urban road and pipeline work
The non-destructive testing robot system of journey underground defect, not only detection efficiency is high for the system, and the accuracy of testing result is high, and drops
The low labor intensity of staff, can effective guarantee staff personal safety.
The utility model is realized by following technical scheme：
A kind of non-destructive testing robot system for urban road and pipe engineering underground defect, including mobile platform,
Detecting system, operating mechanism and intelligence control system；Operating mechanism and mobile platform are mechanically connected, detecting system, operating mechanism,
Intelligence control system is respectively mounted on a mobile platform, and the intelligence control system is flat with detecting system, operating mechanism, movement respectively
Platform is electrically connected；The detecting system includes pipeline inspection gage and detection radar, and the pipeline inspection gage and detection radar are distinguished
It is connect with mobile platform by operating mechanism, the pipeline inspection gage and detection radar electrically connect with intelligence control system respectively
It connects；Mobile platform is used to support entire robot system, is entire system of robot while driving robot system mass motion
System provides power.
Further, the mobile platform includes dynamical system, control system and battery module；The control system is used for
Receive control signal, control dynamical system operating；The battery module provides power for detection robot system.
Further, the dynamical system includes train, motor, driver, speed reducer and suspension；Train passes through outstanding
Extension system is connect with mobile platform, and motor, driver and speed reducer are connect with train, and control system passes through driver control electricity
Machine operates, to realize the movement of control train.
Further, the mobile platform is omni-directional moving platform based on McCrum wheel, based on rubber tyre
Rear-guard mobile platform, the mobile platform of four main wheel type of drive, two main wheels drive and mobile platform, the double masters of two driven wheel modes
Wheel is any with the mobile platform of the Two-wheeled mode of four auxiliary wheels.
Further, the operating mechanism is hoisting mechanism, and the pipeline inspection gage and detection radar pass through promotion respectively
Mechanism is connect with mobile platform.
Further, the operating mechanism is hoisting mechanism and connection structure, and the pipeline inspection gage passes through hoisting mechanism
It is connect with mobile platform, the detection radar is connect by rigidity or flexible connecting structure with mobile platform, and mobile platform provides
Power pulls Ground Penetrating Radar work.
Further, the hoisting mechanism includes motor, retarder, driver, rack, shaft coupling, ball-screw, leading screw
Nut, guide post nut and linear guide poles；Intelligence control system controls the driver of hoisting mechanism, and driver control motor subtracts
The operating of fast device, motor, retarder and ball-screw are connected by shaft coupling, and motor drives ball-screw operating, ball-screw with
The feed screw nut occlusion transmission being fixed on the rack, to drive entire rack to be promoted or decline；Linear guide poles are by being fixed on
Guide post nut in rack is oriented to for entire gantry motion.
Further, the intelligence control system includes positioning navigation module, obstacle avoidance module, kernel control module, environment
Monitoring module, remote communication module, data processing module；The data processing module is mounted in kernel control module, remaining
Each module is respectively mounted on a mobile platform, the positioning navigation module, obstacle avoidance module, environmental monitoring module, remote communication module
It is electrically connected respectively with kernel control module.
Further, further include remote control device, remote control device is sent to intelligence control system controls signal, control
The movement of robot system processed and working condition, and distant surveillance testing result.
Compared with prior art, the beneficial effects of the utility model are as follows：
The utility model for coming to nothing inside autonomous non-destructive testing road, cavity, loosening body disease and beneath pipeline, electricity
The position of cable etc., trend, the position of depth and steel pipeline anti-corrision layer breaking point and size etc. threaten the defect of urban safety, lead to
The fusion for crossing pipeline inspection gage and Ground Penetrating Radar detection data determines various defects inside road, can carry out efficiently, accurately
Autonomous non-destructive testing, the robot system reliable operation are tied instead of the intensive work by artificial detection with detection completely
The inaccuracy of fruit.
The utility model provides a kind of hoisting mechanism and connection structure, simple and reliable for structure, and control is simple flexible, with from
Main formula mobile platform is used cooperatively, and greatly improves working efficiency.
Description of the drawings
Fig. 1 is the mobile platform bottom schematic view of the utility model.
Fig. 2 is mobile platform schematic diagram of the utility model based on Mecanum wheel.
Fig. 3 is rear-guard mobile platform schematic diagram of the utility model based on rubber tyre.
Fig. 4 is the mobile platform schematic diagram of Two-wheeled mode of the utility model based on double main wheels, four auxiliary wheels.
Fig. 5 is mobile platform schematic diagram of the utility model based on four main wheel type of drive.
Fig. 6 is that the utility model is driven based on two main wheels, the mobile platform schematic diagram of two driven wheel modes.
Fig. 7 is a kind of schematic diagram of embodiment of the utility model.
Fig. 8 is the schematic diagram of another embodiment of the utility model.
Fig. 9 is a kind of structural schematic diagram of hoisting mechanism of the utility model.
Figure 10 is the intelligence control system logic composition and connection block diagram of the utility model.
Figure 11 is the remote control device structural schematic diagram of the utility model.
Specific implementation mode
The utility model is further illustrated below in conjunction with the drawings and specific embodiments.
A kind of non-destructive testing robot system for urban road and pipe engineering underground defect, including mobile platform,
Detecting system, operating mechanism and intelligence control system；Operating mechanism is mechanically connected with mobile platform, detecting system, operating mechanism,
Intelligence control system is respectively mounted on a mobile platform, and the intelligence control system electrically connects with detecting system, operating mechanism respectively
It connects, mobile platform is used to support entire robot system, is entire system of robot while driving robot system mass motion
System provides power.Entire detection robot system is also equipped with remote control device, robot system by remote communication module with
Remote control device communicates, and is conveniently operated movement of the personnel from distant surveillance testing result and control robot system.
As shown in Figure 1, mobile platform is the ontology support of robot system, band mobile robot mass motion is simultaneously entire
Robot system provides power.Mobile platform is made of dynamical system, control system and battery module, and control system receives intelligence
The control signal of control system, control dynamical system operating；Battery module is that robot integrally provides power.The dynamical system
By train, motor, driver, speed reducer and suspension composition.Train is connect by suspension with mobile platform ontology, electricity
Machine, driver and speed reducer are connect with train, and control system is operated by driver control motor, to realize control train
Movement.
Mobile platform provides five kinds of schemes in this patent, but is not limited to this following five kinds of modes：
As shown in Fig. 2, using the omni-directional moving platform based on McCrum wheel, using this kind of chassis, movement speed is not
More than 5km/h, climbing capacity may be implemented 5 °, can be with all-around mobile, flexibly, steadily.
As shown in figure 3, using the rear-guard mobile platform based on rubber tyre, this kind of chassis, movement speed 20- are used
30km/h, climbing capacity may be implemented 20 °, and the speed of service is fast, efficient.
As shown in figure 4, the mobile chassis of the Two-wheeled mode using double main wheels, four auxiliary wheels, using this kind of chassis, four
Steamboat independent suspension, steady is assisted, bearing capacity is strong.
As shown in figure 5, with the mobile platform of four main wheel type of drive, four-wheel can realize driving and steering respectively, operating
Flexibly, it is suitable for the detection of Different Ground.
As shown in fig. 6, being driven using two main wheels, the mobile platform of two driven wheel modes, two front-wheels are driving wheel, can be distinguished
It realizes driving and turns to, two trailing wheels are driven wheel.
As shown in Fig. 7, Fig. 8, Fig. 9, the detecting system includes pipeline inspection gage and detection radar, detects robot system
By the detection data fusion to pipeline inspection gage and Ground Penetrating Radar, the information of various defects inside road can be accurately provided,
Such as defect kind, position, depth and size information.
Pipeline inspection gage and Ground Penetrating Radar are connect by operating mechanism with mobile platform respectively, and electric with intelligence control system
Gas connects, and intelligence control system sends out instruction control operating mechanism detecting system and reaches operating position, then again by control system
It issues instructions to detecting system and does detection work, and pass back carry out data processing in gathered data to intelligence control system in real time；
Operating personnel can also be by remote control device distant surveillance testing result, and by remotely leading to intelligence control system
Letter, to control the working condition of operating mechanism movement, detecting system.
Pipeline inspection gage is connected to mobile platform front end by hoisting mechanism, and hoisting mechanism places pipeline inspection when working condition
It surveys instrument to start to detect to ground, hoisting mechanism lifts the deposit position in pipeline inspection gage to mobile platform when off working state.
The operating mechanism that Ground Penetrating Radar is connect with mobile platform, this patent provide two schemes, but be not limited to it is following this two
Kind mode can determine connection scheme according to actual use operating mode：
1. using intergration model, Ground Penetrating Radar is connected to mobile platform rear end by hoisting mechanism, and when working condition is promoted
Mechanism places Ground Penetrating Radar and starts to detect to ground, and hoisting mechanism lifts in Ground Penetrating Radar to mobile platform when off working state
Deposit position.
2. using dragging pattern, Ground Penetrating Radar is connected to mobile platform posterior end by connection structure, can be as needed
Using rigidity or flexible connection, mobile platform provides the work of power traction Ground Penetrating Radar.
Intelligence control system controls the driver of hoisting mechanism by industrial personal computer, and driver control motor reducer operates,
Motor reducer is connect with ball-screw by shaft coupling, and motor drives ball-screw operating, ball-screw and is fixed on rack
On feed screw nut occlusion transmission, to drive entire rack to be promoted or decline；Linear guide poles are led by what is be fixed on the rack
Column nut is oriented to for entire gantry motion.
Shown in Figure 10, intelligence control system includes positioning navigation module, obstacle avoidance module, kernel control module, environmental monitoring
Module, remote communication module, data processing module etc..Data processing module is mounted on kernel control module, remaining each module
Be separately mounted on mobile platform, positioning navigation module, obstacle avoidance module, environmental monitoring module, remote communication module respectively with core
Heart control module is electrically connected.
Positioning navigation module is including but not limited to monitoring camera, odometer, gyroscope, GPS geo-location system.Odometer
Outdoor high precision position and gesture stability are realized together for recording relative displacement and gyroscope, GPS, are kernel control module
It carries out path planning and condition is provided.Monitoring camera is mounted on four orientation of mobile platform, for observing ambient enviroment, phase when work
Each sensor information that the video image information and kernel control module of machine shooting are collected is sent to by remote communication module
Remote control device is shown.
Obstacle avoidance module is made of two single-line type laser radars, is separately mounted to the front and back oblique angle orientation of robot, is realized
All standing scanning to robot surrounding environment, object of the obstacle avoidance module detection higher than 50cm, such as encounters barrier, robot meeting
It stops and pathfinding bypasses.
Pipeline inspection gage and the data of Ground Penetrating Radar acquisition pass intelligence control system back, and data processing module carries out at data
Reason, data that treated can then be read by remote control device.
Kernel control module is mainly made of one or more industrial personal computer.Kernel control module is by operating in industrial personal computer
Control software, obtain positioning navigation module data, carry out path planning and decision；Issue a command to the control system of mobile platform
System, control mobile platform movement；When work, moved by the driver control hoisting mechanism of hoisting mechanism；Control detecting system
Detection work simultaneously stores in detection data to industrial personal computer hard disk；Data processing module is controlled to merge detection data processing；Pass through
Detection data and data processed result are sent to remote control device by remote communication module；Constantly handle the module scans letter that keeps in obscurity
Breath controls robot moving platform stopping if finding obstacle, and calculates path cut-through simultaneously.
Meanwhile operating personnel's also operable remote control device, give kernel control module to send by remote communication module
Control instruction.
Remote control device can send instruction control meter robot system directly to robot system and execute action, may be used also
It is communicated with being passed into line number with the remote communication module of intelligence control system and scheming to pass, obtains working condition, the mistake letter of robot
The video of breath, detection data and the shooting of multiple cameras.
Remote control device this patent provides two schemes, but is not limited to both following modes：
1, haulage vehicle and monitoring system composition, monitoring system are built in haulage vehicle.
2, portable remote control terminal as shown in Figure 10, is made of, human-computer interaction human-computer interaction module and display module
Module includes multiple three axis industry handles, button, knob, indicator light, and operating personnel can be by human-computer interaction module to machine
People's system sends instruction control meter robot system and executes action, can also pass through remote communication module and portable remote control
Hold regarding for the working condition that robot is obtained into line number biography and figure biography communication, error message, detection data and the shooting of multiple cameras
Frequently；Display module is made of an industrial display, can show the detailed operation state of each module of testing result and robot.
Description for the understanding of specific implementation mode is only to understand the utility model for help, rather than be used for limiting
The utility model.Those skilled in the art can carry out some modifications and changes using the thought of the utility model, as long as
Its technological means is not detached from the thought and main points of the utility model, is still within the protection scope of the utility model.
Claims (9)
1. a kind of non-destructive testing robot system for urban road and pipe engineering underground defect, it is characterised in that：Including
Mobile platform, detecting system, operating mechanism and intelligence control system；Operating mechanism is mechanically connected with mobile platform, detecting system,
Operating mechanism, intelligence control system are respectively mounted on a mobile platform, the intelligence control system respectively with detecting system, operation machine
Structure, mobile platform electrical connection；The detecting system includes pipeline inspection gage and detection radar, the pipeline inspection gage and detection
Radar is connect by operating mechanism with mobile platform respectively, and the pipeline inspection gage and detection radar are respectively and intelligence control system
Electrical connection；Mobile platform is used to support entire robot system, is entire machine while driving robot system mass motion
Device people's system provides power.
2. a kind of system of non-destructive testing robot for urban road and pipe engineering underground defect according to claim 1
System, it is characterised in that：The mobile platform includes dynamical system, control system and battery module；The control system is for connecing
Receive control signal, control dynamical system operating；The battery module provides power for detection robot system.
3. a kind of system of non-destructive testing robot for urban road and pipe engineering underground defect according to claim 2
System, it is characterised in that the dynamical system includes train, motor, driver, speed reducer and suspension；Train is by hanging system
System is connect with mobile platform, and motor, driver and speed reducer are connect with train, and control system is transported by driver control motor
Turn, to realize the movement of control train.
4. a kind of system of non-destructive testing robot for urban road and pipe engineering underground defect according to claim 1
System, it is characterised in that：The mobile platform is the omni-directional moving platform based on McCrum wheel, the rear-guard based on rubber tyre
Mobile platform, the mobile platform of four main wheel type of drive, the driving of two main wheels and the mobile platforms of two driven wheel modes, double main wheels and
The mobile platform of the Two-wheeled mode of four auxiliary wheels it is any.
5. a kind of system of non-destructive testing robot for urban road and pipe engineering underground defect according to claim 1
System, it is characterised in that：The operating mechanism is hoisting mechanism.
6. a kind of system of non-destructive testing robot for urban road and pipe engineering underground defect according to claim 1
System, it is characterised in that：The operating mechanism is hoisting mechanism and connection structure, and the pipeline inspection gage passes through hoisting mechanism and shifting
Moving platform connects；The detection radar is connect by rigidity or flexible connecting structure with mobile platform, and mobile platform provides power
Pull Ground Penetrating Radar work.
7. according to a kind of any non-destructive testing for urban road and pipe engineering underground defect of claim 5 or 6
Robot system, it is characterised in that：The hoisting mechanism includes motor, retarder, driver, rack, shaft coupling, ball wire
Thick stick, feed screw nut, guide post nut and linear guide poles；Intelligence control system controls the driver of hoisting mechanism, driver control
Motor, retarder operating, motor, retarder and ball-screw are connected by shaft coupling, and motor drives ball-screw operating, ball
Leading screw is engaged transmission with the feed screw nut being fixed on the rack, to drive entire rack to be promoted or decline；Linear guide poles pass through
The guide post nut being fixed on the rack is oriented to for entire gantry motion.
8. a kind of system of non-destructive testing robot for urban road and pipe engineering underground defect according to claim 1
System, it is characterised in that：The intelligence control system includes positioning navigation module, obstacle avoidance module, kernel control module, environmental monitoring
Module, remote communication module, data processing module；The data processing module is mounted in kernel control module, remaining each mould
Block is respectively mounted on a mobile platform, the positioning navigation module, obstacle avoidance module, environmental monitoring module, remote communication module difference
It is electrically connected with kernel control module.
9. a kind of system of non-destructive testing robot for urban road and pipe engineering underground defect according to claim 1
System, it is characterised in that：Further include remote control device, remote control device sends control signal, control to intelligence control system
The movement of robot system and working condition, and distant surveillance testing result.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721779364.XU CN207798777U (en) | 2017-12-19 | 2017-12-19 | A kind of non-destructive testing robot system for urban road and pipe engineering underground defect |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721779364.XU CN207798777U (en) | 2017-12-19 | 2017-12-19 | A kind of non-destructive testing robot system for urban road and pipe engineering underground defect |
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| CN207798777U true CN207798777U (en) | 2018-08-31 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107817319A (en) * | 2017-12-19 | 2018-03-20 | 成都圭目机器人有限公司 | It is a kind of to be used for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect |
| CN113588663A (en) * | 2021-08-03 | 2021-11-02 | 上海圭目机器人有限公司 | Pipeline defect identification and information extraction method |
-
2017
- 2017-12-19 CN CN201721779364.XU patent/CN207798777U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107817319A (en) * | 2017-12-19 | 2018-03-20 | 成都圭目机器人有限公司 | It is a kind of to be used for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect |
| CN113588663A (en) * | 2021-08-03 | 2021-11-02 | 上海圭目机器人有限公司 | Pipeline defect identification and information extraction method |
| CN113588663B (en) * | 2021-08-03 | 2024-01-23 | 上海圭目机器人有限公司 | Pipeline defect identification and information extraction method |
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Effective date of registration: 20200731 Address after: 237000, 1st floor, 2nd floor, building 14, intelligent terminal Industrial Park, sansansanpu Town, Jin'an District, Lu'an City, Anhui Province Patentee after: Anhui Guimu robot Co., Ltd Address before: 5 No. 610000 Sichuan city of Chengdu province high tech Zone West Avenue (core exchange headquarters) 6 Building 1 layer 3 Patentee before: CHENGDU GUIMU ROBOT Co.,Ltd. |