CN210163775U - Guide tracked bridge inspection robot - Google Patents
Guide tracked bridge inspection robot Download PDFInfo
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- CN210163775U CN210163775U CN201920709100.XU CN201920709100U CN210163775U CN 210163775 U CN210163775 U CN 210163775U CN 201920709100 U CN201920709100 U CN 201920709100U CN 210163775 U CN210163775 U CN 210163775U
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- guide rail
- support
- chain
- transmission rod
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Abstract
The utility model discloses a guide tracked bridge inspection robot, it includes: a mechanical platform and a vision platform; wherein, mechanical platform includes: the device comprises a lower support, a lower transmission rod, an upper support, an upper transmission rod, a chain wheel, a chain, a guide rail, a motor and a motor support; the lower support corresponds to the upper support up and down, the lower supports are connected through a lower transmission rod, the upper supports are connected through an upper transmission rod, chain wheels on the upper supports corresponding up and down are connected with chain wheels on the lower supports through chains, and the guide rails are horizontally arranged and connected with the chains; the motor is used for driving the transmission rod to rotate, further drives the chain wheel to rotate, further drives the chain to rotate, and further drives the guide rail to move up and down. The utility model discloses a guide tracked bridge inspection robot, the dependable performance, the construction is quick, detection efficiency is high.
Description
Technical Field
The utility model relates to a bridge detects technical field, in particular to guide tracked bridge inspection robot.
Background
The bridge structure is a large civil engineering structure, and damage accumulation and resistance decline inevitably occur in the service life due to the load effect, fatigue and corrosion effect, material aging and lack of timely maintenance, thereby influencing the service life of the structure and even leading to sudden accidents. Thus, the damage of the built and used structures and facilities is detected, evaluated, identified, controlled and repaired by effective means, so as to prevent accidents. The basic connotation of bridge health monitoring is that the monitoring and evaluation of the bridge structure state are adopted to send out early warning signals when the operation state of bridge engineering is seriously abnormal under special climatic and traffic conditions, and provide basis and guidance for bridge maintenance, repair and management decisions. For a bridge with a low safety level, the bridge needs to be reinforced in time in order to ensure normal traffic and personal safety of each passenger, if the safety level of the bridge cannot be sensed through visual inspection or touch, the bridge can be accurately evaluated only through detection equipment, and measures are taken according to detection results to improve the safety performance of the bridge.
Manual inspection is a common method for bridge inspection. The manual inspection is generally a comprehensive inspection of the entire bridge by visual means. In the detection process, photos are taken at important parts, broken parts, defects or abnormal parts as required to be used as a reference for judging, each component is evaluated in a quantitative step to establish basic management data of the existing condition of the bridge, and finally, the comprehensive evaluation of the bridge is obtained according to weight distribution. The most important advantages of visual inspection are easy execution, time saving and low consumption, but the visual inspection has the disadvantages of low inspection efficiency, low inspection precision, high labor intensity, low safety and the like.
With the rapid development of artificial intelligence technology, robots are applied to various fields. It has many obvious advantages of economy, high efficiency, accuracy and safety. Therefore, if a detection method can be found, the robot and the bridge detection are combined, the characteristics of safety and high efficiency of the robot detection are fully exerted, and the optimization and the promotion of the bridge construction in the aspects of efficiency, accuracy, cost and the like are realized.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to the problem that exists among the above-mentioned prior art, provide a guide tracked bridge inspection robot, through the collaborative work of robotic system mechanical platform and visual platform, realize that safety, efficient bridge detect, overcome the shortcoming that traditional bridge detection efficiency is low, the precision is low, full play robotic system detection performance's advantage.
In order to solve the technical problem, the utility model discloses a realize through following technical scheme:
the utility model provides a guide tracked bridge inspection robot, it includes: a mechanical platform and a vision platform; wherein the mechanical platform comprises: the device comprises a lower support, a lower transmission rod, an upper support, an upper transmission rod, a chain wheel, a chain, a guide rail, a motor and a motor support;
the lower support comprises a plurality of parallel supports, and the upper support comprises a plurality of parallel supports;
the number of the lower supports is the same as that of the upper supports, and the positions of the lower supports correspond to the positions of the upper supports up and down;
each lower support and each upper support are provided with the chain wheel;
the chain wheels on the lower supports are connected through the lower transmission rod;
the chain wheels on the upper supports are connected through the upper transmission rod;
the chain wheel on the upper support is connected with the corresponding chain wheel on the lower support through the chain to form a closed conveying belt;
the guide rail is connected with the plurality of chains and is arranged in parallel;
the motor is arranged on the motor support; the motor is used for driving the lower transmission rod to rotate so as to drive the chain wheel to rotate and further drive the chain to rotate so as to drive the upper transmission rod to rotate and the guide rail to move up and down;
the visual platform is arranged on the guide rail of the mechanical platform, the guide rail is used for enabling the visual platform to move horizontally along the guide rail, and the visual platform is used for recording videos and shooting photos.
Preferably, the mechanical platform further comprises: a node;
the node is arranged at the joint of the chain and the guide rail and used for reinforcing the connection of the chain and the guide rail.
Preferably, the gusset plate of the node comprises at least four bolt holes, respectively: two bolt holes at the left end and the right end and two bolt holes vertically arranged in the middle;
the two bolt holes at the left end and the right end are connected with the guide rail and used for limiting the in-plane movement and in-plane rotation of the guide rail;
the two bolt holes in the middle vertical row are connected with the chain and used for limiting the node plane to be rotated.
Preferably, the motor and the motor support are also connected by the lower transmission rod. The mechanical platform is more integrated and the structure is more stable due to the arrangement.
Preferably, the upper support and/or the lower support and/or the motor support are provided with a sliding bottom plate for adjusting the vertical height of the upper support and/or the lower support and/or the motor support.
Preferably, the slide base plate includes: the sliding block, the sliding shaft and the fixing shaft; wherein the content of the first and second substances,
the sliding block is connected with the upper support and/or the lower support and/or the motor support;
the sliding shaft penetrates through the sliding block and is used for limiting the sliding block to rotate outside the plane;
the fixed shaft is used for clamping the sliding block so as to limit the sliding of the sliding block in the vertical direction.
Preferably, the vision platform comprises: the system comprises a remote control trolley, a distance measurement module and a camera module; wherein the content of the first and second substances,
the distance measuring module and the camera module are arranged on the remote control trolley;
the remote control trolley is used for horizontally moving along the guide rail;
the distance measurement module is used for acquiring the position information of the remote control trolley so as to control the operation and stop of the remote control trolley;
the camera module is used for recording videos and shooting photos.
Preferably, the camera module includes: a camera and a camera pan-tilt; wherein the content of the first and second substances,
the camera is arranged on the camera shooting tripod head, and the camera shooting tripod head is used for controlling the angle of the camera.
Preferably, the guide rail is made of aluminum alloy materials, and most of the weight of the guide rail is borne by the chain, so that the efficiency problem of the system is considered, the guide rail is made of the aluminum alloy materials, vertical load is reduced, and the influence of inertia on starting and braking of the motor system is reduced.
Compared with the prior art, the utility model has the advantages of it is following:
(1) the guide rail type bridge detection robot of the utility model has the advantages of simple and quick construction, convenient disassembly and great advantages in the application of bridge detection;
(2) the guide rail type bridge detection robot has high detection efficiency, saves time, and does not need equipment such as scaffold installation and disassembly required in the manual detection process;
(3) the guide rail type bridge detection robot has high detection precision, and compared with the visual observation of manual detection, the machine detection can not be influenced by the subjective factors of people;
(4) the guide rail type bridge detection robot has the advantages that the labor intensity is relieved, the bridge is multiple, the detection workload is large, the detection is not needed to be completed simply by manpower, and most of the work is completed only by machines;
(5) the guide rail type bridge detection robot has high safety, and manual detection personnel need to detect under the bridge bottom without safety guarantee;
(6) the guide rail type bridge detection robot has the advantages that the cost is greatly reduced, the machine detection does not need to use a large amount of manpower and material resources for detection, and the cost is greatly reduced;
(7) the guide rail type bridge detection robot has high informatization degree, can accurately establish bridge crack historical data, is convenient for the management and maintenance of dangerous bridges, and can quickly obtain the health information of the monitored bridges;
(8) the utility model discloses a guide tracked bridge inspection robot, convenient execution, the safety that often needs the guarantee staff of closing a way when carrying out artificial bridge inspection causes the traffic jam, but this problem can be solved completely to intelligent bridge inspection robot, and comprehensive accurate detecting under the condition that does not influence the bridge operation.
Of course, it is not necessary for any particular product to achieve all of the above-described advantages at the same time.
Drawings
The following further describes the embodiments of the present invention with reference to the attached drawings:
fig. 1 is a schematic structural view of a guide rail type bridge inspection robot according to an embodiment of the present invention;
fig. 2a is a schematic view of a lower transmission rod and an upper transmission rod of a guide rail type bridge inspection robot according to an embodiment of the present invention;
fig. 2b is a cross-sectional view of the lower transmission rod and the upper transmission rod of the guide rail type bridge inspection robot according to an embodiment of the present invention;
fig. 3a to 3c are schematic assembly diagrams of a lower support and a motor support of a guide rail type bridge inspection robot according to an embodiment of the present invention;
fig. 4a to 4c are schematic assembly views of an upper support of a guide rail type bridge inspection robot according to an embodiment of the present invention;
fig. 5a to 5b are schematic assembly views of the guide rail type bridge inspection robot according to an embodiment of the present invention.
Description of reference numerals: 1-lower support, 2-lower transmission rod, 3-upper support, 4-upper transmission rod, 5-chain, 6-guide rail, 7-motor support and 8-node;
z01-bottom plate, Z02A-sliding block and Z03-cushion block;
t01-bottom plate;
d01-wheel rail, D02-pallet, D03-box girder, D04-end plate.
Detailed Description
The embodiments of the present invention will be described in detail below, and the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Referring to fig. 1, the present embodiment describes the guide tracked bridge inspection robot in detail, as shown in fig. 1, the robot includes: a mechanical platform and a vision platform (not shown); wherein, mechanical platform includes: the device comprises a lower support 1, a lower transmission rod 2, an upper support 3, an upper transmission rod 4, a chain wheel, a chain 5, a guide rail 6, a motor and a motor support 7. Wherein, the lower support 1 comprises a plurality of parallel supports, and the upper support 3 comprises a plurality of parallel supports; the number of the lower supports 1 is the same as that of the upper supports 3, and the positions of the lower supports 1 correspond to the positions of the upper supports 3 up and down; each lower support 1 and each upper support 3 are provided with a chain wheel; the chain wheels on the lower supports 1 are connected through a lower transmission rod 2; the chain wheels on the upper supports 3 are connected through an upper transmission rod 4; the chain wheel on the upper support 3 is connected with the corresponding chain wheel on the lower support 1 through a chain 5 to form a closed conveying belt; the guide rail 6 is connected with a plurality of chains 5, and the guide rail 6 is arranged in parallel; the motor is arranged on the motor support 7; the motor is used for driving the lower transmission rod 2 to rotate, further driving the chain wheel to rotate, further driving the chain 5 to rotate, further driving the upper transmission rod to rotate 4 and driving the guide rail 6 to move up and down; the visual platform is arranged on a guide rail 6 of the mechanical platform, the guide rail 6 is used for enabling the visual platform to move horizontally along the guide rail, and the visual platform is used for recording videos and taking photos.
In this embodiment, the lower support and the upper support are both exemplified by two, and in different embodiments, more than two supports may be included. In this embodiment, in order to make the connection of chain and guide rail more stable, mechanical platform still includes: and the node 8 is arranged at the joint of the chain 5 and the guide rail 6.
In one embodiment, the primary function of the drive link is to transmit motor power. The size of the transmission rod is matched with the size of the motor hole and the size of the chain wheel hole. In order to ensure the normal operation of the system, the light round straight rod is selected as the transmission rod, and the material is stainless steel, so that the torsion resistance and bearing capacity of the transmission rod are fully ensured. The transmission rod comprises an upper transmission rod and a lower transmission rod, and a clamping groove is arranged at the contact part of the lower transmission rod and the chain wheel to prevent the transmission rod and the chain wheel from sliding relatively. The transmission rod is schematically shown in fig. 2a, and in fig. 2b in a cross-sectional view.
In one embodiment, in order to reduce weight, the lower support and the motor support are made of aluminum alloy materials, the lower support is used for fixing two ends of the lower transmission rod and conducting motor power, and the motor support is used for supporting and fixing the motor. In a preferred embodiment, the lower support and the motor support are provided with a sliding bottom plate for adjusting the height thereof. The lower support and the motor support comprise a bottom plate Z01, a sliding bottom plate Z02A, a cushion block Z03, corresponding bolts and the like. The bottom plate is provided with an M6 bolt for fixing the support on a wall surface; the bottom plate is provided with a convex flange and is provided with a bolt hole for fixing and moving the sliding bottom plate; the sliding bottom plate is provided with a cushion block for adjusting the height of the bearing support to enable the bearing support to be matched with the chain wheel for use, and the assembly schematic diagram of the lower support and the motor support is shown in figures 3 a-3 c.
In a preferred embodiment, the skid plate comprises: the sliding block, the sliding shaft and the fixing shaft; the sliding block is connected with the lower support and the motor support; the sliding shaft penetrates through the sliding block and is used for limiting the sliding block to rotate outside the plane; the fixed shaft is used for clamping the sliding block so as to limit the sliding of the sliding block in the vertical direction.
In one embodiment, the chain is used for transmitting power and driving the guide rail to move up and down. The chain is not easily customized, so the finished industrial chain is selected as the transmission of the system. Considering the factors of lateral rigidity, node arrangement and the like, a single section of the chain is required not to be too thin, certain lateral rigidity is required, the structure of the chain is simple, and the arrangement of other parts is not influenced. Such as: A20A-1 type industrial transmission chain can be selected.
In one embodiment, the upper support is difficult to adjust after installation due to a high installation position, and therefore, a sliding bottom plate is not arranged. The upper support includes: a bottom panel T01 and a spacer. The bottom plate is provided with an M6 bolt for fixing the support on the wall surface, but the arrangement mode of the bottom plate is different from that of the lower support; the cushion block is arranged on the bottom plate and used for adjusting the height of the bearing support so as to enable the bearing support to be matched with the chain wheel for use. The assembly of the upper support is schematically shown in figures 4a to 4 c. In a preferred embodiment, the upper support may also be provided with a sliding bottom plate for adjusting its height.
In one embodiment, the guide rail mainly functions to drive the vision platform to move up and down and provide a horizontally moving platform for the vision platform. In order to reduce the mounting and dismounting work and ensure that the test system can be reused, the guide rail is connected with other components by bolts. Because the guide rail weight is mostly born by the chain, the efficiency problem of the system is considered, so the guide rail is made of aluminum alloy materials, thereby reducing the vertical load and lightening the influence of inertia on the starting and braking of the motor system. The rail parts include wheel rail D01, pallet D02, box girder D03 and end plate D04. The wheel rail D01 adopts finished product U type aluminium groove, and two wheel rails pass through the rivet and link to each other with bottom layer board D02, strengthen the wholeness of guide rail. The single wheel rail is provided with 2 rows of M6 bolt holes, and two sides of the wheel rail are respectively provided with
And the round hole is used for bolt connection. End plates D04 are located at both ends of the guide rail, passing through
The bolts are connected with the wheel rails. The end plate can prevent that the visual platform roll-off guide rail from dropping. The end plate has an integral structure of C-shaped with 2
And the bolt hole is used for being connected with a chain node. The assembly of the guide rail is schematically shown in fig. 5 a-5 b.
In the preferred embodiment, the node has the main function of connecting the chain and the guide rail, so that the movement of the chain can drive the guide rail to move up and down. The node comprises a node plate and a matched bolt, and the weight of the node is reduced by adopting an aluminum alloy material. In a preferred embodiment, the gusset plate has at least 4 bolt holes, respectively: two bolt holes at the left end and the right end and two bolt holes vertically arranged in the middle; the two bolt holes at the left end and the right end are connected with the guide rail and used for limiting the in-plane movement and in-plane rotation of the guide rail; two bolt holes in the middle vertical row are connected with the chain and used for limiting the node plane from being rotated. The node is respectively provided with 2 bolt holes for connecting the node with a chain and connecting the node with a guide rail end plate.
The guide rail type bridge inspection robot in the above embodiment is simple and quick to construct and convenient to disassemble, and its assembling method is described in detail below, and includes:
1) support arrangement
Mounting and fixing the bottom support, the motor support and the upper support at specified positions;
2) lower drive link assembly
The lower support and the motor support are respectively provided with a bearing support, a chain wheel and a motor which are connected by a transmission rod. The transmission rod sequentially penetrates through the first lower bearing support, the first lower chain wheel, the second lower bearing support, the motor, the third lower bearing support, the second lower chain wheel and the fourth lower bearing support, and the positions of all the parts are fixed through the locking bearing support;
3) upper drive link mounting
The left upper support and the right upper support are connected by a transmission rod. The transmission rod sequentially passes through the first upper bearing support, the first upper chain wheel, the second upper bearing support, the third upper bearing support, the second upper chain wheel and the fourth upper bearing support, and the positions of all the components are fixed through the locking bearing support;
4) chain assembly
The chain is connected with the gusset plate to assemble the gusset;
5) guide rail assembly
The guide rail is composed of a U-shaped rail, a bottom supporting plate and an end plate. The left U-shaped track and the right U-shaped track are connected into a whole through a bottom supporting plate, and end plates are installed through shaft rods to form hinges;
6) mechanical platform assembly
And respectively installing the assembled upper transmission rod and the assembled lower transmission rod at corresponding supports, and sequentially passing the chain through the upper support chain wheel and the lower support chain wheel to form the closed conveying belt. The nodes on the chain are adjusted to be at the same horizontal height; connecting bolt holes at the end plates of the guide rails with the nodes to form a complete mechanical platform;
7) power supply installation
The power supply comprises a lead, a forward and reverse rotation control switch and a transformer. The circuit assembly is completed according to the sequence of an external power supply (220V), a transformer (12V), a positive and negative rotation control switch and a motor.
In one embodiment, a vision platform comprises: remote control dolly, range finding module and camera module. The distance measuring module and the camera module are arranged on the remote control trolley; the remote control trolley is used for horizontally moving along the guide rail; the distance measurement module is used for acquiring the position information of the remote control trolley so as to control the operation and stop of the remote control trolley; the camera module is used for recording videos and shooting photos.
In a preferred embodiment, the visual platform collects the data and also collects the relative position information of the picture, so as to provide data for splicing the subsequent images and generating a panoramic image.
In the preferred embodiment, the remote control car weighs approximately 850 g; the frequency of the main board is 2.400-2.4835 GHz. The remote control car uses a high-strength PCB chassis, is provided with a 4WD direct current motor drive, is provided with two paths of L298P high-power motor drive chips, and adopts a 7.4V rechargeable lithium battery pack for power supply. In addition, the remote control car also supports Linux Python2.7 programming and can be remotely controlled in various modes such as mobile phone APP, PC client side, Web page control and the like.
In a preferred embodiment, the camera module comprises: high definition camera and camera shooting cloud platform. The net weight of the high-definition camera is 38g, 30 ten thousand pixels (640 × 480P) photographing and image pickup work is supported, and a plurality of systems such as Windows, Linux and Openwrt are supported. And the high-definition camera performs image acquisition work on different parts of the surface of the target along with the movement of the visual platform, and the output format of the picture is Mjpeg output. In addition, high definition digtal camera supports manual focusing and 360 degrees free rotations in level, possess wider shooting visual angle, and it passes through USB interface connection with the mainboard, and the image information who will collect transmits for computer terminal through the wireless module on the mainboard. The camera shooting pan-tilt consists of two steering engines, and the horizontal angle and the vertical angle of the camera are controlled respectively. The steering wheel passes through the dupont line and links to each other with the mainboard, can receive computer terminal instruction through wireless module, carries out the regulation of angle to help the camera to gather the image information of different positions. The steering engine is subjected to angle control through PWM, and the high level time of the PWM is 0.5-2.5 ms and corresponds to 0-180 degrees of the steering engine. There is the blind spot at steering wheel both ends, works in the blind spot within range for a long time, can lead to the steering wheel to destroy, and generally speaking, the work area of steering wheel is 20 ~ 160 degrees.
In a preferred embodiment, the ranging module can use ultrasonic ranging or infrared ranging.
The construction method of the guide rail type bridge detection robot in the embodiment comprises the following steps:
s91: turning on a forward and reverse rotation control switch, controlling a motor to rotate forward to drive a transmission rod, a chain wheel, a chain and a guide rail to move synchronously, and turning off the forward and reverse rotation control switch when the guide rail reaches a first designated height to maintain the guide rail at the first designated height;
s92: controlling the visual platform to horizontally move on the guide rail to perform video shooting and data acquisition;
s93: and opening the forward and reverse rotation control switch to control the motor to rotate reversely, so as to drive the transmission rod, the chain wheel, the chain and the guide rail to move synchronously and return the guide rail to the original position.
Preferably, in order to make the collected data more accurate and comprehensive, a plurality of designated heights can be included in the construction process. Specifically, the steps S92-93 further include: s101: and repeating the steps S11-S12 to enable the guide rail to reach the second designated height, and completing video shooting and data acquisition at the second designated height, even more designated heights until all acquisition is completed.
The disclosure herein of the preferred embodiments of the present invention is intended to be illustrative only, and not limiting, of the principles and applications of the present invention. Any modifications and variations within the scope of the description, which may occur to those skilled in the art, are intended to be within the scope of the invention.
Claims (8)
1. The utility model provides a guide tracked bridge inspection robot which characterized in that includes: a mechanical platform and a vision platform; wherein the content of the first and second substances,
the mechanical platform comprises: the device comprises a lower support, a lower transmission rod, an upper support, an upper transmission rod, a chain wheel, a chain, a guide rail, a motor and a motor support;
the lower support comprises a plurality of parallel supports, and the upper support comprises a plurality of parallel supports;
the number of the lower supports is the same as that of the upper supports, and the positions of the lower supports correspond to the positions of the upper supports up and down;
each lower support and each upper support are provided with the chain wheel;
the chain wheels on the lower supports are connected through the lower transmission rod;
the chain wheels on the upper supports are connected through the upper transmission rod;
the chain wheel on the upper support is connected with the corresponding chain wheel on the lower support through the chain to form a closed conveying belt;
the guide rail is connected with the plurality of chains and is arranged in parallel;
the motor is arranged on the motor support; the motor is used for driving the lower transmission rod to rotate so as to drive the chain wheel to rotate and further drive the chain to rotate so as to drive the upper transmission rod to rotate and the guide rail to move up and down;
the visual platform is arranged on the guide rail of the mechanical platform, the guide rail is used for enabling the visual platform to move horizontally along the guide rail, and the visual platform is used for recording videos and shooting photos.
2. The guided bridge inspection robot of claim 1, wherein the mechanical platform further comprises: a node;
the node is arranged at the joint of the chain and the guide rail and used for reinforcing the connection of the chain and the guide rail.
3. The guideway bridge inspection robot of claim 2, wherein the gusset plate of the node comprises at least four bolt holes, respectively: two bolt holes at the left end and the right end and two bolt holes vertically arranged in the middle;
the two bolt holes at the left end and the right end are connected with the guide rail and used for limiting the in-plane movement and in-plane rotation of the guide rail;
the two bolt holes in the middle vertical row are connected with the chain and used for limiting the node plane to be rotated.
4. The guideway bridge inspection robot of claim 1, wherein the motor and the motor support are also connected by the lower drive link.
5. The guided bridge inspection robot of claim 1, wherein the upper support and/or the lower support and/or the motor support is provided with a skid for adjusting a vertical height of the upper support and/or the lower support and/or the motor support.
6. The guided bridge inspection robot of claim 5, wherein the skid floor comprises: the sliding block, the sliding shaft and the fixing shaft; wherein the content of the first and second substances,
the sliding block is connected with the upper support and/or the lower support and/or the motor support;
the sliding shaft penetrates through the sliding block and is used for limiting the sliding block to rotate outside the plane;
the fixed shaft is used for clamping the sliding block so as to limit the sliding of the sliding block in the vertical direction.
7. The guided bridge inspection robot of claim 1, wherein the vision platform comprises: the system comprises a remote control trolley, a distance measurement module and a camera module; wherein the content of the first and second substances,
the distance measuring module and the camera module are arranged on the remote control trolley;
the remote control trolley is used for horizontally moving along the guide rail;
the distance measurement module is used for acquiring the position information of the remote control trolley so as to control the operation and stop of the remote control trolley;
the camera module is used for recording videos and shooting photos.
8. The guideway bridge inspection robot of claim 7, wherein the camera module comprises: a camera and a camera pan-tilt; wherein the content of the first and second substances,
the camera is arranged on the camera shooting tripod head, and the camera shooting tripod head is used for controlling the angle of the camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920709100.XU CN210163775U (en) | 2019-05-17 | 2019-05-17 | Guide tracked bridge inspection robot |
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| CN201920709100.XU CN210163775U (en) | 2019-05-17 | 2019-05-17 | Guide tracked bridge inspection robot |
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| CN210163775U true CN210163775U (en) | 2020-03-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109989343A (en) * | 2019-05-17 | 2019-07-09 | 中交公路规划设计院有限公司 | A kind of guide tracked bridge detection robot and its construction method |
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2019
- 2019-05-17 CN CN201920709100.XU patent/CN210163775U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109989343A (en) * | 2019-05-17 | 2019-07-09 | 中交公路规划设计院有限公司 | A kind of guide tracked bridge detection robot and its construction method |
| CN109989343B (en) * | 2019-05-17 | 2024-03-12 | 中交公路规划设计院有限公司 | Guide rail type bridge detection robot and construction method thereof |
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