CN216696092U - Equipment for detecting blind areas of roadway - Google Patents
Equipment for detecting blind areas of roadway Download PDFInfo
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- CN216696092U CN216696092U CN202122368564.9U CN202122368564U CN216696092U CN 216696092 U CN216696092 U CN 216696092U CN 202122368564 U CN202122368564 U CN 202122368564U CN 216696092 U CN216696092 U CN 216696092U
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Abstract
The application relates to an equipment for tunnel blind area detects, this equipment includes: one end of the multi-degree-of-freedom motion device is fixedly arranged on the moving device, the other end of the multi-degree-of-freedom motion device is connected with the scanning device, and the control device is fixedly connected with the moving device, the multi-degree-of-freedom motion device and the scanning device; the control device is used for driving the mobile device to move to the blind area; the multi-degree-of-freedom motion device is used for adjusting the pose scanned aiming at the blind area; the scanning device is used for scanning the blind area to obtain blind area scanning information. This application can realize the scanning to the tunnel blind area.
Description
Technical Field
The application relates to the technical field of roadway scanning, in particular to equipment for detecting blind areas of a roadway.
Background
For roadway engineering, in the process of point cloud scanning of a roadway, scanning blind areas are easily caused by the blocking of some obstacles, and the conventional three-dimensional laser scanning devices for mine roadway engineering and tunnel engineering mostly adopt ground static station type and mobile three-dimensional laser scanning, so that the problem of scanning the blind areas cannot be solved. For the ground static standing type three-dimensional laser scanning equipment, the following defects exist: 1. due to self condition limitation, the scanner cannot be moved in the scanning process, and the autonomous scanning capability is lacked. 2. Because the setting position is limited, scanning can not be carried out aiming at some laser scanning blind areas. For a mobile three-dimensional laser scanning device, the following drawbacks exist: because the mobile three-dimensional scanning equipment can only move along the central line of the tunnel, the scanning cannot be carried out aiming at the blind area of the laser scanning.
SUMMERY OF THE UTILITY MODEL
In view of this, the present application provides an apparatus for detecting a blind area of a roadway, so as to solve the technical problem that the blind area of the roadway cannot be scanned.
In order to solve the above problem, the present application provides an equipment for tunnel blind area detects, an equipment for tunnel blind area detects includes:
one end of the multi-degree-of-freedom motion device is fixedly arranged on the moving device, the other end of the multi-degree-of-freedom motion device is connected with the scanning device, and the control device is fixedly connected with the moving device, the multi-degree-of-freedom motion device and the scanning device;
the control device is used for driving the mobile device to move to the blind area;
the multi-degree-of-freedom motion device is used for adjusting the pose scanned aiming at the blind area;
the scanning device is used for scanning the blind area to obtain blind area scanning information.
Optionally, the equipment for detecting blind areas of the roadway further includes:
the navigation device is arranged at the front end of the mobile device, and a depth camera is installed in the navigation device; the navigation device is connected with the control device and used for acquiring real-time image data information through the depth camera in the moving process of the mobile device.
Optionally, the mobile device includes a mobile platform, a servo deceleration motor and a mobile control module, the servo deceleration motor and the mobile control module are fixedly mounted in the mobile platform, the mobile control module is connected with the control device, the servo deceleration motor is used for providing power for the mobile device, the mobile control module includes a servo deceleration motor driving unit and a first embedded processing unit, the first embedded processing unit is used for receiving a driving signal and controlling the servo deceleration motor driving unit to drive the servo deceleration motor to work so as to enable the mobile device to move.
Optionally, mecanum wheels are installed around the moving platform, and the mecanum wheels are fixedly installed at the tail end of the servo speed reduction motor.
Optionally, the multi-degree-of-freedom motion device comprises a multi-degree-of-freedom motion platform, a multi-degree-of-freedom mechanical arm and a multi-degree-of-freedom motion control module, the multi-degree-of-freedom motion platform is fixed at the top of the mobile platform, the multi-degree-of-freedom motion control module and the control device are fixedly installed in the multi-degree-of-freedom motion platform, one end of the multi-degree-of-freedom mechanical arm is arranged in the multi-degree-of-freedom motion platform, and the other end of the multi-degree-of-freedom mechanical arm is connected with the scanning device; the multi-degree-of-freedom motion control module is respectively connected with the control device and the multi-degree-of-freedom mechanical arm; the multi-degree-of-freedom motion control module comprises a second embedded processing unit, and the second embedded processing unit is used for controlling the multi-degree-of-freedom mechanical arm to adjust the pose of the multi-degree-of-freedom mechanical arm for the blind area scanning.
Optionally, the multi-degree-of-freedom mechanical arm is a six-axis mechanical arm.
Optionally, the equipment for detecting blind areas of roadways further includes:
the scanning equipment switching device is arranged between the multi-degree-of-freedom movement device and the scanning device, is also connected with the control device, and is fixedly provided with a servo motor;
the scanning device comprises a three-dimensional laser scanner, a CCD camera and an infrared thermal imager, the three-dimensional laser scanner, the CCD camera and the infrared thermal imager are respectively and fixedly installed at the tail end of the scanning equipment switching device, and the three-dimensional laser scanner, the CCD camera and the infrared thermal imager are respectively connected with the control device;
the scanning equipment switching device is also used for driving the servo motor to operate so as to switch the three-dimensional laser scanner, the CCD camera and the infrared thermal imager in the scanning device.
Optionally, the blind area includes a scanning blind area or a hole disease area, and a three-dimensional laser scanner in the scanning device is used for scanning the scanning blind area or the hole disease area.
Optionally, the blind area still includes the infiltration disease region, infrared thermal imaging appearance among the scanning device is used for scanning the infiltration disease region.
Optionally, the blind area further includes a pipeline crack damaged area, and a CCD camera in the scanning device is used for scanning the pipeline crack damaged area.
The beneficial effects of adopting the above embodiment are: the control device drives the moving device to move to the blind area, and after the pose of the multi-freedom-degree motion device is adjusted, the scanning device scans the blind area to obtain blind area scanning information. The blind area can be scanned by the scanning device after the pose of the multi-freedom-degree motion device connected with the scanning device is adjusted, so that the blind area of the roadway can be scanned.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of an apparatus for detecting blind areas in a roadway according to the present application;
fig. 2 is a front view of a structure of an embodiment of the apparatus for detecting blind areas in a roadway provided in the present application;
fig. 3 is a top view of a structure of an embodiment of the apparatus for detecting blind areas in a roadway provided in the present application;
fig. 4 is a left side view of a structure of an embodiment of the apparatus for detecting blind areas in a roadway provided in the present application;
fig. 5 is a structural sectional view of an embodiment of the device for detecting blind areas in a roadway provided by the present application.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the application and together with the description, serve to explain the principles of the application and not to limit the scope of the application.
In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The application provides an equipment for tunnel blind area detects, refer to fig. 1 and show, fig. 1 is the structural schematic diagram of an equipment embodiment for tunnel blind area detects that this application provided. The equipment for detecting blind areas of the roadway comprises:
a moving device 101, a multi-degree-of-freedom motion device 102, a control device 103 and a scanning device 104; one end of the multi-degree-of-freedom motion device 102 is fixed on the moving device 103, the other end of the multi-degree-of-freedom motion device 102 is connected with the scanning device 104, and the control device 103 is connected with the moving device 101, the multi-degree-of-freedom motion device 102 and the scanning device 104.
The control device 103 determines the three-dimensional coordinates and path planning related to the blind area according to initial point cloud information and grid map information obtained by scanning the roadway wall in advance, and sends corresponding driving signals to the mobile device 101; the mobile device 101 moves to the blind area according to the driving signal; the control device 103 sends a pose instruction corresponding to the blind area to the multi-degree-of-freedom motion device 102; the multiple degrees of freedom motion device 102 adjusts the pose according to the pose instruction; the control device 103 sends a scanning signal to the scanning device 104, and the scanning device 104 scans the blind area according to the scanning signal to obtain blind area scanning information and feeds the blind area scanning information back to the control device 103.
In this embodiment, the control device 103 determines the relevant three-dimensional coordinates and path plan of the blind area of the roadway, the mobile device 101 moves to the blind area, and after the pose of the multi-degree-of-freedom motion device 102 is adjusted, the scanning signal scans the blind area to obtain the blind area scanning information. Because the control device 103 can find and determine the blind area relevant information of the roadway after scanning the roadway wall in advance and move the roadway to the blind area, the scanning device 104 can scan the blind area after the pose of the multi-degree-of-freedom motion device 102 connected with the scanning device 104 is adjusted, thereby realizing the scanning of the blind area of the roadway.
Specifically, referring to fig. 2, 3, 4, 5, in an alternative embodiment,
the moving device 101 comprises a moving platform 201 and a moving control module 202, the multiple-degree-of-freedom moving device 102 comprises a multiple-degree-of-freedom moving platform 203, a multiple-degree-of-freedom mechanical arm 204 and a multiple-degree-of-freedom moving control module 205, and the equipment for detecting the blind area of the roadway further comprises: navigation means 206, scanning device switching means 207.
Specifically, a relatively large space is stored inside the mobile platform 201, and the space is used for installing a storage battery device, a mobile control module 202 and four servo speed reduction motors; the mobile platform 201 has 4 mecanum wheels mounted around it. In this embodiment, the four servo deceleration motors are used for providing power for the moving platform 201; the mecanum wheel is fixed at the end of the servo deceleration motor through a coupling, and in other alternative embodiments, the mecanum wheel can be fixed at the end of the servo deceleration motor through a crawler belt method and the like.
The multi-degree-of-freedom motion platform 203 is arranged at the top of the mobile platform 201; the multi-degree-of-freedom motion platform 203 includes a multi-degree-of-freedom mechanical arm 204 such as a six-axis mechanical arm; a large space is stored in the multi-degree-of-freedom motion platform 203, and the space is used for installing the control device 103 and the multi-degree-of-freedom motion control module 205. Specifically, in the present embodiment, the multiple degree of freedom motion platform 203 is fixed on the upper portion of the moving platform 201 by bolts; the control device 103 is fixed inside the multi-degree-of-freedom motion platform 203 through bolts. The multi-degree-of-freedom motion control module 205 is fixed inside the multi-degree-of-freedom motion platform 203 through bolts. The multi-degree-of-freedom robot 204 is fixed to the upper portion of the moving platform 201 by bolts, for example, a six-axis robot.
The mobile control module 202 is arranged inside the mobile platform 201; the motion control module 202 includes a selection switch, a four-way servo deceleration motor driving unit and an embedded processing unit. Specifically, the mobile control module 202 is fixedly arranged in the mobile platform 201 through bolts; the selection switch is fixedly arranged outside the mobile platform 201 through a bolt; the four-way servo reducing motor driving unit is fixedly arranged in the mobile platform 201 through bolts; the embedded processing unit is fixedly arranged in the mobile platform 201 through bolts, and outputs high and low levels through an I/O (input/output) of the embedded processing unit to control the four-way servo reducing motor driving unit.
The multi-degree-of-freedom motion control module 205 is arranged inside the multi-degree-of-freedom motion platform 203; the multiple degree of freedom motion control module 205 includes a selection switch and an embedded processing unit. Specifically, the multiple degree of freedom motion control module 205 is fixedly arranged in the multiple degree of freedom motion platform 203 through bolts; the selection switch is fixedly arranged outside the multi-degree-of-freedom motion platform 203 through bolts; the embedded processing unit is fixedly arranged in the multi-degree-of-freedom motion platform 203 through bolts, and the embedded processing unit outputs signals to control the six-axis mechanical arm device.
The scanning device switching device 207 includes a servo motor; the scanning equipment switching device 207 is arranged at the tail end of the multi-degree-of-freedom motion platform 203 and is positioned at the tail end of the six-axis mechanical arm; the scanning switching device 207 is connected with the tail end of the multi-degree-of-freedom motion platform 203 through a flange plate; the servo motor is fixedly arranged inside the scanning device switching device 207 through a bolt.
The navigation device 206 comprises a depth camera; the depth camera is fixed outside the mobile platform 201 through bolts; the depth camera is connected with the control device 103 through a USB3.0 interface.
The scanning device 104 includes: the three-dimensional laser scanning equipment is fixed at the tail end of the scanning equipment switching device 207 through a flange plate bolt and is connected with the control device 103 through a gigabit network cable interface RJ-45; the high-precision CCD camera is fixed at the tail end of the scanning equipment switching device 207 through a flange plate bolt and is connected with the control device 103 through a gigabit network cable interface RJ-45; the infrared thermal imager is fixed at the tail end of the scanning equipment switching device 207 through a flange plate bolt and is connected with the control device 103 through a gigabit network cable interface RJ-45.
The equipment for detecting the blind areas of the roadway further comprises a storage battery device, wherein the storage battery device comprises a storage battery, and the storage battery is fixedly arranged inside the mobile platform 201. Specifically, in the present embodiment, the storage battery is fixedly disposed in the moving platform 201 through a bolt, and in other alternative embodiments, the storage battery may be fixedly disposed in the moving platform 201 through other means, such as a shaft pin, and the like. The charging wire with the battery is connected, the charging wire gives the battery charges, makes mobile platform 201 not receive the space restriction.
The control device 103 is arranged inside the multi-degree-of-freedom motion platform 203, is respectively connected with the power storage device, the motion control module 202, the multi-degree-of-freedom motion control module 205, the scanning device switching device 207, the navigation device 206 and the scanning device 104, and is used for controlling the operation of the mobile platform 201 and the multi-degree-of-freedom motion platform 203, controlling the scanning device switching device 207, collecting, processing and analyzing navigation information of the navigation device 206 and point cloud information of the scanning device 104, and sending position information of obstacles, diseases and blind areas.
In an alternative embodiment, the control device 103 comprises: 1. the motion control unit is connected with the mobile control module 202 through a UART (universal asynchronous receiver/transmitter) in a serial port communication protocol; the multi-freedom-degree motion control module 205 is connected with a TCP/IP protocol through a network cable interface RJ-45; and is connected with the scanning device switching device 207 through an IO port. 2. A measurement control unit connected to the navigation device 206 via a USB3.0 interface; the scanning device 104 is connected by the connection described above for the scanning device 104. 3. And the information processing unit is arranged inside the multi-degree-of-freedom motion platform 203 through bolts. 4. And the data storage device is arranged in the multi-degree-of-freedom motion platform 203 through a bolt and is connected with the information processing unit through a USB3.0 interface.
In addition, in an optional implementation manner, the method for performing blind roadway area scanning based on the device for blind roadway area detection in the above embodiment includes the following steps:
the control device determines blind area related three-dimensional coordinates and path planning according to initial point cloud information and grid map information obtained by scanning a roadway wall in advance, and sends corresponding driving signals to the mobile device;
the mobile device moves to the blind area according to the driving signal;
the control device sends a pose instruction corresponding to the blind area to the multi-degree-of-freedom motion device;
the multi-degree-of-freedom motion device adjusts the pose according to the pose instruction;
the control device sends a scanning signal to the scanning device; the scanning device scans the blind area according to the scanning signal to obtain blind area scanning information, and feeds the blind area scanning information back to the control device.
In the embodiment, the control device determines the related three-dimensional coordinates and path planning of the blind area of the roadway, the mobile device moves to the blind area, and after the pose of the multi-degree-of-freedom motion device is adjusted, the scanning signal scans the blind area to obtain the scanning information of the blind area. Because the control device can find and determine the blind area related information of the roadway after scanning the roadway wall in advance and move the blind area to the blind area, the scanning device can scan the blind area after the pose of the multi-freedom-degree motion device connected with the scanning device is adjusted, and the blind area of the roadway is scanned.
Further, in an embodiment, the method further comprises:
the control device determines the related three-dimensional coordinates of the blind area and the path planning according to initial point cloud information and grid map information which are obtained by scanning the roadway wall in advance, and the method comprises the following steps:
the control device controls the mobile device to move according to a preset initial path and acquires real-time image data information sent by a depth camera in the navigation device;
the control device analyzes whether an obstacle exists in front of the mobile device according to the real-time image data information;
if so, the control device sends a pose transformation instruction to the multi-degree-of-freedom motion device; the multi-degree-of-freedom motion device is further used for adjusting the pose according to the pose transformation instruction so as to achieve a preset initial scanning pose; the control device analyzes and obtains an obstacle avoidance path, controls the mobile device to move continuously according to the obstacle avoidance path, and controls the scanning device to scan the roadway wall to obtain initial point cloud information and grid map information;
the control device carries out three-dimensional reconstruction on the initial point cloud information to obtain an initial roadway model, and constructs a roadway grid map according to the grid map information;
and the control device determines the blind area related three-dimensional coordinates of the tunnel according to the initial tunnel model and plans the blind area related path according to the tunnel grid map.
Specifically, when needs scan the tunnel, at first charge the battery through the charging wire, the charging wire plug inserts 220V commercial power and charges, and the battery is full of the back, removable charging wire. The method comprises the steps that a selection switch located on a mobile platform and a selection switch located on a multi-degree-of-freedom motion platform are pressed, a storage battery starts to supply power to a mobile control module and four servo speed reduction motors in the mobile platform, the multi-degree-of-freedom motion control module in the multi-degree-of-freedom motion platform and six-axis mechanical arms, the servo motors in a scanning equipment switching device are supplied with power to a depth camera in a navigation device, a three-dimensional laser scanning device, a high-precision CCD camera and an infrared thermal imager in the scanning device are supplied with power, and an information processing unit and a data storage unit in the control device are supplied with power.
The control device operates according to a designated program, image data information transmitted by a depth camera in the navigation device is obtained, the image data information is stored in a data storage unit, the control device analyzes and judges the transmitted image data information to determine whether an obstacle exists in the front of the navigation device, if no obstacle exists, the control device sends a driving signal to a movement control module, the movement control module drives four servo speed reduction motors to operate, so that the moving platform moves towards a designated and planned direction, if an obstacle exists, the control device analyzes to obtain an obstacle avoidance path and sends a driving signal to the movement control module, and the movement control module drives the four servo speed reduction motors to operate, so that the moving platform moves towards the designated direction; meanwhile, the control device sends a pose transformation instruction to the multi-degree-of-freedom motion control module, and the multi-degree-of-freedom motion control module drives the six-axis mechanical arm to realize pose transformation so as to achieve a preset scanning pose.
The control device sends a scanning signal to the three-dimensional laser scanning equipment, the three-dimensional laser scanning equipment starts to scan the roadway wall and sends point cloud information to the control device, and the control device stores the point cloud information in the data storage unit.
And repeating the steps to realize the rough scanning of the tunnel and the information acquisition of the grid map of the tunnel engineering.
And the control device reads the point cloud information in the data storage unit through the information processing unit, completes the construction of the tunnel model through three-dimensional reconstruction, and also reads the tunnel grid map information in the data storage unit to complete the construction of the tunnel grid map. And then, the information processing unit finds out the blind areas including the scanning blind area, the disease area and the like of the current coarse scanning model through analyzing the roadway model to obtain the three-dimensional coordinate information of the scanning blind area and the disease area.
And the control device finishes path planning to the blind area and the disease area according to the analysis grid map, sends a control signal to the mobile control module, and drives the mobile platform to move to the appointed blind area and the disease position to reach the target area.
Further, the blind area includes scanning blind area, hole disease area, infiltration disease area, pipeline crack disease area, and the scanning step to different grade type area is as follows:
aiming at scanning of a scanning blind area, the control device sends a corresponding pose instruction to the multi-degree-of-freedom motion control module, the multi-degree-of-freedom motion control module sends a corresponding control signal to the six-axis mechanical arm to avoid the blind area shielded by an obstacle, the control device sends a scanning signal to three-dimensional laser scanning equipment in the scanning device, point cloud information of the blind area obtained by the scanning device is sent to the control device, the control device stores the point cloud information of the blind area into a data storage unit, and then the point cloud information data of the blind area is analyzed to complete the completion of a roadway model.
Aiming at scanning of roadway wall cracks and hole disease areas, the control device sends corresponding pose instructions to the multi-degree-of-freedom motion control module, the multi-degree-of-freedom motion control module sends corresponding control signals to the six-axis mechanical arm to reach positions of the roadway wall cracks and hole disease areas, the control device sends scanning signals to three-dimensional laser scanning equipment in the scanning device, point cloud information of the roadway wall cracks and hole disease areas obtained by the scanning device is sent to the control device, the control device stores the obtained point cloud information into a data storage unit, and then point cloud information data of the roadway wall cracks and hole disease areas are analyzed, and detailed disease information of the roadway wall cracks and hole diseases is obtained.
Aiming at the scanning of the water seepage damage area, the control device sends a corresponding pose instruction to the multi-degree-of-freedom motion control module, the multi-degree-of-freedom motion control module sends a corresponding control signal to the six-axis mechanical arm to reach the position of the water seepage damage area, the control device sends a control signal to the scanning device switching device, the scanning device switching device drives a motor to run, the switching from the three-dimensional laser scanning device to the infrared thermal imager is achieved, the control device sends a scanning signal to the infrared thermal imager in the scanning device, image information of the water seepage damage area obtained by the scanning device is sent to the control device, the control device stores the obtained image information into a data storage unit, and then image information data of the water seepage damage area are analyzed to obtain detailed damage information of the water seepage damage area.
Aiming at the scanning of the crack and the broken disease area of the pipeline, the control device sends a corresponding pose instruction to the multi-degree-of-freedom motion control module, the multi-degree-of-freedom motion control module sends a corresponding control signal to the six-axis mechanical arm to reach the position of the crack and the broken disease area of the pipeline, the control device sends a control signal to the scanning equipment switching device, the scanning equipment switching device drives a motor to operate to realize the switching from the three-dimensional laser scanning equipment to the high-precision CCD camera, the control device sends a scanning signal to the high-precision CCD camera in the scanning device to send the image information of the crack and the broken disease area of the pipeline obtained by the scanning device to the control device, the control device stores the obtained image information into a data storage unit, and analyzing the image information data of the pipeline crack and the broken disease area to obtain detailed disease information of the pipeline crack and the broken disease.
The embodiment can realize autonomous roadway path planning, complete the construction of a roadway three-dimensional model and a grid map, complete the identification of roadway disease areas and the acquisition of blind area point cloud information on the basis, and realize the completion of the roadway three-dimensional model and the detailed detection and scanning of the disease areas.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not constitute any limitation to the implementation process of the embodiments of the present application.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above.
Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application.
Claims (9)
1. The utility model provides an equipment for tunnel blind area detects which characterized in that, includes mobile device, multi freedom telecontrol equipment, controlling means and scanning device, wherein:
one end of the multi-degree-of-freedom motion device is fixedly arranged on the moving device, the other end of the multi-degree-of-freedom motion device is connected with the scanning device, and the control device is fixedly connected with the moving device, the multi-degree-of-freedom motion device and the scanning device;
the control device is used for driving the mobile device to move to the blind area;
the multi-degree-of-freedom motion device is used for adjusting the pose scanned aiming at the blind area;
the scanning device is used for scanning the blind area to obtain blind area scanning information; the equipment for detecting blind areas of the roadway further comprises:
the navigation device is arranged at the front end of the mobile device, and a depth camera is installed in the navigation device; the navigation device is connected with the control device and used for acquiring real-time image data information through the depth camera in the moving process of the mobile device.
2. The equipment for detecting blind roadway areas according to claim 1, wherein the moving device includes a moving platform, a servo deceleration motor and a movement control module, the servo deceleration motor and the movement control module are fixedly installed in the moving platform, the movement control module is connected with the control device, the servo deceleration motor is used for providing power for the moving device, the movement control module includes a servo deceleration motor driving unit and a first embedded processing unit, and the first embedded processing unit is used for receiving a driving signal and controlling the servo deceleration motor driving unit to drive the servo deceleration motor to work so as to move the moving device.
3. The apparatus for blind spot roadway detection according to claim 2, wherein the moving platform is provided with Mecanum wheels around, and the Mecanum wheels are fixedly arranged at the tail end of the servo deceleration motor.
4. The equipment for detecting blind areas of roadways according to claim 2, wherein the multi-degree-of-freedom motion device comprises a multi-degree-of-freedom motion platform, a multi-degree-of-freedom mechanical arm and a multi-degree-of-freedom motion control module, the multi-degree-of-freedom motion platform is fixed at the top of the moving platform, the multi-degree-of-freedom motion control module and the control device are fixedly installed in the multi-degree-of-freedom motion platform, one end of the multi-degree-of-freedom mechanical arm is arranged in the multi-degree-of-freedom motion platform, and the other end of the multi-degree-of-freedom mechanical arm is connected with the scanning device; the multi-degree-of-freedom motion control module is respectively connected with the control device and the multi-degree-of-freedom mechanical arm; the multi-degree-of-freedom motion control module comprises a second embedded processing unit, and the second embedded processing unit is used for controlling the multi-degree-of-freedom mechanical arm to adjust the pose of the multi-degree-of-freedom mechanical arm for the blind area scanning.
5. The apparatus for blind spot roadway detection of claim 4, wherein the multi-degree-of-freedom robot is a six-axis robot.
6. The apparatus for blind roadway area detection according to claim 1, further comprising:
the scanning equipment switching device is arranged between the multi-degree-of-freedom movement device and the scanning device, is also connected with the control device, and is fixedly provided with a servo motor;
the scanning device comprises a three-dimensional laser scanner, a CCD camera and an infrared thermal imager, the three-dimensional laser scanner, the CCD camera and the infrared thermal imager are respectively and fixedly installed at the tail end of the scanning equipment switching device, and the three-dimensional laser scanner, the CCD camera and the infrared thermal imager are respectively connected with the control device;
the scanning equipment switching device is also used for driving the servo motor to operate so as to switch the three-dimensional laser scanner, the CCD camera and the infrared thermal imager in the scanning device.
7. The apparatus for blind roadway area detection according to claim 6, wherein the blind area comprises a scanning blind area or a hole defect area, and the three-dimensional laser scanner in the scanning device is used for scanning the scanning blind area or the hole defect area.
8. The equipment for detecting blind roadway areas according to claim 7, wherein the blind roadway areas further comprise water seepage damaged areas, and an infrared thermal imager in the scanning device is used for scanning the water seepage damaged areas.
9. The apparatus for blind roadway area detection according to claim 7, wherein the blind area further comprises a pipeline crack damaged area, and a CCD camera in the scanning device is used for scanning the pipeline crack damaged area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122368564.9U CN216696092U (en) | 2021-09-28 | 2021-09-28 | Equipment for detecting blind areas of roadway |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122368564.9U CN216696092U (en) | 2021-09-28 | 2021-09-28 | Equipment for detecting blind areas of roadway |
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| CN216696092U true CN216696092U (en) | 2022-06-07 |
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| CN202122368564.9U Active CN216696092U (en) | 2021-09-28 | 2021-09-28 | Equipment for detecting blind areas of roadway |
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2021
- 2021-09-28 CN CN202122368564.9U patent/CN216696092U/en active Active
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