CN110161047A - A kind of road and bridge Crack Detection and repair integrated robot - Google Patents
A kind of road and bridge Crack Detection and repair integrated robot Download PDFInfo
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- CN110161047A CN110161047A CN201910517472.7A CN201910517472A CN110161047A CN 110161047 A CN110161047 A CN 110161047A CN 201910517472 A CN201910517472 A CN 201910517472A CN 110161047 A CN110161047 A CN 110161047A
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- 238000001514 detection method Methods 0.000 title claims abstract description 40
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- 239000007788 liquid Substances 0.000 claims abstract description 8
- 239000000463 material Substances 0.000 claims description 47
- 238000002347 injection Methods 0.000 claims description 25
- 239000007924 injection Substances 0.000 claims description 25
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- 238000005067 remediation Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 7
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D22/00—Methods or apparatus for repairing or strengthening existing bridges ; Methods or apparatus for dismantling bridges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
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- Manipulator (AREA)
Abstract
The present invention discloses a kind of road and bridge crack and detects automatically and repair integrated robot, for automatic detection and repairs uneven road surface and deck crack.Wherein robot carrying image acquisition module carries out Crack Detection, and carries a dedicated crack in robot end and repair end effector, can repair to uneven road and bridge crack.The present invention replaces conventional artificial detection by the means of automation and repairs operation, improve remediation efficiency, reduce the security risk of operator, with independent navigation, automatic obstacle avoiding, autonomous detection crack and the function of repairing crack, carrying image acquisition module carries out Crack Detection, and distance measuring sensor module is carried on repairing end effector, ranging is carried out to uneven crack, it can adapt to the reparation in uneven road and bridge crack, and the observation of repairing effect and end reparation liquid ejection situation is carried out using image capture module, it repairs actuator and guarantees to obtain preferable repairing effect in the control of the case where by observing end.
Description
Technical field
The present invention relates to robot and its technical applications, more particularly, to a kind of road and bridge Crack Detection and repair
Integrated robot.
Background technique
Crack Detection and reparation refer to crack number and size to the infrastructure such as bridge, road, building surface
The method for being detected, while carrying out crack sealing using repair liquid is repaired.Currently, the frequency of the engineering accident as caused by crack
Hair, such as bridge snaps, house collapse, road collapsion, all causes serious casualties and property losses, therefore to this
The surface of a little infrastructure carries out real-time Crack Detection and reparation, to assuring the safety for life and property of the people and improve engineering structure
Efficiency of operation is extremely important.
Road and bridge Crack Detection is a very important task for road and bridge safeguard.Currently, on traditional approach, it is main
If carrying out Crack Detection by testing staff's human eye.And manual detection mode has the disadvantage in that (1) due to the subjectivity of people
And sentence with experience, it is easy to appear artificial erroneous judgement；(2) since the limitation of human vision causes detection accuracy not high；(3) no
It can ensure that the entire road surface of covering and bridge floor.In addition, although this detection mode can be used, this be also only for road surface,
Bridge floor be not it is very severe in the case where it is just feasible, while during traffic circulation, carrying out vision road and bridge Crack Detection is one
The work of danger close.
Being sealed reparation to road and bridge crack is the most commonly used one of the method for road and bridge preventative maintenance.Because effectively splitting
Seam sealing can help prevent water and other waste permeation pavements, to guarantee the integrality of road and bridge structure, extension carries out weight
The time repaired greatly.Operator is exposed in dangerous environment by traditional crack sealing operation, for example, atrocious weather and
In the vehicle driven over the speed limit.In addition, the seal operation of worker is also time-consuming inefficient.
With the continuous development of industrial automation, more and more industries use robot all to replace manually being engaged in
Time-consuming, cumbersome, dangerous work.With the development of science and technology, occurring some road surface repairing devices successively, but these equipment are general
The degree of automation is lower or volume is larger, is not suitable for modern accurately road surface and repairs demand.Robotics development in recent years
Rapidly, but the robot repaired of fracture is actually rare, especially can the robot repaired of full-automatic fracture
It is more rare.
Certainly, crack is repaired, is also required to even manually carrying out crack and repairing by some tools, such as crack sealing
Glue-injection machine, crack sprayer etc. carry out crack filling sealing to road, bridge surface.For crack repair robot, for splitting
The executor tail end that seam is repaired is indispensable important component.Common crack on road is rugged mostly, therefore
It develops a dedicated robot arm end effector for being suitable for uneven road surface or bridge surface crack reparation and automation is split
Seam detection with repair integrated robot system, industry and monitoring structural health conditions and maintenance area are repaired to deck crack
Development has great impetus.
Summary of the invention
The present invention provides a kind of road and bridge Crack Detection and repairs integrated robot, can be used for uneven crack on road, bridge
The autonomous detection of facial cleft seam, and carried out simultaneously from major fracture reparation.
In order to solve the above technical problems, technical scheme is as follows:
A kind of road and bridge Crack Detection and integrated robot is repaired, including robot body, control module, the first image are adopted
Collect module, the second image capture module, power supply module, gas supply module and repair materials storage tank, wherein robot body includes intelligence
End effector is repaired in energy mobile platform, mechanical arm and crack, and mechanical arm is mounted on intelligent family moving platform side, the control mould
Block is installed on the intelligent family moving platform of robot body；The first image acquisition module be set on intelligent family moving platform and
It is in the same side with mechanical arm installation site, second image capture module is set to crack and repairs on end effector；Institute
It states control module and the first image capture module, the second image capture module, gas supply module, intelligent family moving platform, mechanical arm, split
Seam repairs end effector and power supply module electrical connection；Power supply module is electrically connected with gas supply module, and power supply module passes through control
Module is the first image capture module, the second image capture module and robot body power supply；Control module and gas supply module phase
Connection, gas supply module are connected with repair materials storage tank, and repair materials storage tank repairs end with the crack for being set to mechanical arm tail end
Actuator is connected；The crack repair end effector can adjust automatically its at a distance from road and bridge crack.
In repair process, gas supply module is controlled by control module, it will under the action of supplying the air pressure that module provides
Repair materials in repair materials storage tank are transmitted to crack and repair end effector, and repair end by mechanical arm and crack and hold
The road and bridge crack that the first image capture module identifies is repaired in the cooperation of row device.
It preferably, further include four motorized wheels walking mechanism, the four motorized wheels walking mechanism includes pacifying respectively
It is described loaded on four damping devices on four angles of intelligent family moving platform and corresponding four driving wheels being connected with damping device
The connected upper end of four damping devices respectively includes a steering motor, and the steering motor is for controlling four driving wheels
Divertical motion.
Preferably, the intelligent family moving platform is equipped with a moisture-proof cabinet, for placing power supply module, supplying module and repairing
Multiple material storage tank and tracheae or circuit line for connecting each module.
Preferably, it is equipped with protection cap outside the steering motor, to prevent driving motor by external world's collision and misty rain day
The safety of outside work.
It preferably, further include two laser radars being installed on intelligent family moving platform.
Preferably, the first image acquisition module is stereoscopic camera, and the stereoscopic camera can not only capture crack
RGB image and depth information, and intelligent family moving platform ambient condition information can be acquired, in conjunction with being installed on intelligent family moving platform
Two laser radars realize self-navigation, automatic obstacle avoidance functions.
It preferably, further include remote control terminal, the remote control terminal passes through wireless communication mode and control module
Mutual trust is carried out, which has display function, can show the first image capture module and the second image capture module
Acquired image information.Such as tablet computer, laptop and other intelligent terminals with screen display function.This is long-range
Controlling terminal can receive the first image capture module and the second Image Acquisition mould through communication by control module
The image information of block, and pass through the movement of control module control robot body.
Preferably, second image capture module is camera module, for observing road and bridge crack repairing effect and splitting
Repair materials ejection situation is stitched, and remote control terminal is fed back to by control module, convenient for operator according to the second image
Acquisition module publication is corresponding to control to adjust instruction, the camera module pixel being ok more than or equal to 8,000,000.
Preferably, the mechanical arm is sixdegree-of-freedom simulation, and load is big, and movement is flexible, easy to operate, six freedom
The work for allowing the robot system to be applicable in multi-angle is spent, such as road and bridge face, the side guardrail of bridge etc..
Preferably, the gas supply module be air pump or air compressor, provide gas source for whole system, repair materials from
End effector is repaired by pneumatic conveying to crack in repair materials storage tank, and under the influence of air pressure squeezes out repair materials
Carry out crack reparation.
Preferably, repair materials are stored in the repair materials storage tank, the repair materials are the reparation liquid of liquid, packet
Include distress in concrete closing glue, epoxy resin grouting material, repairing concrete crack agent.
Preferably, it includes linear movement module that end effector is repaired in the crack, and range finder module, injection mold is repaired in crack
Block, linear motion module include bracket, driving motor, and shaft coupling, screw rod and moving slide block, the driving motor is set on the branch
The top of frame, and be connected by shaft coupling with screw rod, for controlling the rotation of screw rod；The screw rod is set to bracket upper and lower ends, uses
It is moved up and down in drive moving slide block；Second image capture module and range finder module are mounted on the crack and repair injection mold
On block, and the two sides that injection module is repaired in crack are symmetrically set in, second image capture module repairs effect for observing crack
The injection state of fruit and repair materials；The range finder module be used to measure crack repair between injection module and road and bridge crack away from
From；The crack Material injection module is installed on moving slide block by a cutting ferrule, can be moved up and down with moving slide block；It is described to split
Seam repairs end effector and is connected by a link block being installed on bracket with mechanical arm.Range finder module is a ultrasonic distance measurement
Sensor, or infrared distance measuring sensor.
Compared with prior art, the beneficial effect of technical solution of the present invention is:
1, the present invention replaces traditional artificial operation with the operation mode automated, high-efficient.
2, the present invention can realize independent navigation and avoidance using laser radar and stereoscopic camera, install on intelligent family moving platform
There is multi-degree-of-freemechanical mechanical arm, dedicated crack is installed on mechanical arm and repairs end effector, and the side remotely monitored can be passed through
Formula is controlled, can contexture by self repair area, realize detection and repair integration operation；
3, Crack Detection all standing may be implemented in Crack Detection proposed by the present invention and restorative procedure, and crack area is repaired complete
Covering, and confirmed using the second image capture module to situation is repaired, the accuracy of reparation is improved, and ensure that good
Repairing effect；
4, intelligent family moving platform uses four motorized wheels structure in the present invention, all-around mobile may be implemented, and have
Certain obstacle detouring and cushioning ability more can flexibly realize the track route of robot body, and then efficiently complete to split
Seam repairs operation；
5, crack repairs end effector and is equipped with range finder module in the present invention, it is ensured that when crack is repaired, repairs
Material injection module injection height changes, the injection of repair materials injection module with height fracture height variations different on road and bridge
Repair materials are consistent state, so that the robot system be made to adapt to the reparation of uneven road deck crack, ensure that simultaneously
Good repairing effect.The present invention realizes Crack Detection by the first image capture module, repairs end in conjunction with dedicated crack
Actuator is to realize Crack Detection and repair integration.
Detailed description of the invention
Fig. 1 is road and bridge Crack Detection of the invention and repairs integrated robot module connection diagram；
Fig. 2 is road and bridge Crack Detection of the invention and repairs integrated robot structural schematic diagram；
Fig. 3 is that end effector structures schematic diagram is repaired in crack of the invention；
1 is robot body, and 1.1 be intelligent family moving platform, and 1.2 be mechanical arm, and 1.3 repair end effector for crack,
It 1.3.1 is bracket, 1.3.2 is screw rod, and 1.3.3 is link block, and 1.3.4 is driving motor, and 1.3.5 is shaft coupling, and 1.3.6 is to survey
Away from module, 1.3.7 is moving slide block, and 1.3.8 is that injection module is repaired in crack, and 2 be control module, and 3 be power supply module, and 4 be confession
Gas module, 5 be repair materials storage tank, and 6 be the first image capture module, and 7 be the second image capture module, and 8 is whole for long-range control
End, 9 be driving wheel, and 10 be damping device, and 11 be steering motor, and 12 be laser radar, and 13 be cabinet.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；
In order to better illustrate this embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent actual product
Size；
To those skilled in the art, it is to be understood that certain known features and its explanation, which may be omitted, in attached drawing
's.
The following further describes the technical solution of the present invention with reference to the accompanying drawings and examples.
Embodiment 1
A kind of road and bridge Crack Detection and integrated robot is repaired, as depicted in figs. 1 and 2, including robot body 1, control
Molding block 2, the first image capture module 6, the second image capture module 7, power supply module 3, gas supply module 4 and repair materials storage tank
5, wherein robot body 1 includes that end effector 1.3, mechanical arm are repaired in intelligent family moving platform 1.1, mechanical arm 1.2 and crack
1.2 are mounted on 1.1 side of intelligent family moving platform, and the control module 2 is installed on the intelligent family moving platform 1.1 of robot body 1
On；The first image acquisition module 6 is set on intelligent family moving platform 1.1 and is in same with 1.2 installation site of mechanical arm
Side, second image capture module 7 are set to crack and repair on end effector 1.3；The control module 2 and the first image
End is repaired in acquisition module 6, the second image capture module 7, gas supply module 4, intelligent family moving platform 1.1, mechanical arm 1.2, crack
Actuator 1.3 and power supply module 3 are electrically connected；Power supply module 3 is electrically connected with gas supply module 4, and power supply module 3 passes through control module
2 be the first image capture module 6, the second image capture module 7 and robot body 1 are powered；Control module 2 and gas supply module 4
It is connected, gas supply module 4 is connected with repair materials storage tank 5, repair materials storage tank 5 and the crack for being set to 1.2 end of mechanical arm
End effector 1.3 is repaired to be connected；The crack repair end effector 1.3 can adjust automatically its at a distance from road and bridge crack.
In repair process, gas supply module 4 is controlled by control module 2, under the action of supplying the air pressure that module 4 provides
Repair materials in repair materials storage tank 5 are transmitted to crack and repair end effector 1.3, and pass through mechanical arm 1.2 and crack
Repairing end effector 1.3 cooperates the road and bridge crack identified to the first image capture module 6 to repair.
It further include four motorized wheels walking mechanism, the four motorized wheels walking mechanism includes being respectively arranged in intelligence
Four damping devices 10 and corresponding four driving wheel 9 connected with damping device 10 on 1.1 4 angles of mobile platform, it is described
The connected upper end of four damping devices 10 respectively includes a steering motor 11, and the steering motor 11 is for controlling four drives
The divertical motion of driving wheel 9.
The intelligent family moving platform 1.1 is equipped with a moisture-proof cabinet 13, for placing power supply module 3, supplying module 4 and repairing
Multiple material storage tank 5 and tracheae or circuit line for connecting each module.
It is equipped with protection cap outside the steering motor 11, to prevent driving motor 1.3.4 by external world's collision and misty rain day
The safety of outside work.
It further include two laser radars 12 being installed on intelligent family moving platform 1.1.
The first image acquisition module 6 is stereoscopic camera, and the stereoscopic camera can not only capture the RGB image in crack
And depth information, and 1.1 ambient condition information of intelligent family moving platform can be acquired, in conjunction with being installed on intelligent family moving platform 1.1
Two laser radars 12 realize self-navigation, automatic obstacle avoidance functions.
It further include remote control terminal 8, the remote control terminal 8 is carried out by wireless communication mode and control module 2
Mutual trust, the remote control terminal 8 have display function, can show that the first image capture module 6 and the second image capture module 7 are adopted
The image information collected.Such as tablet computer, laptop and other intelligent terminals with screen display function.This is remotely controlled
Terminal 8 processed can receive the first image capture module 6 and the second Image Acquisition mould through communication by control module 2
The image information of block 7, and pass through the movement of the control robot body 1 of control module 2.
Second image capture module 7 is camera module, is repaired for observing road and bridge crack repairing effect and crack
Material injection situation, and remote control terminal 8 is fed back to by control module 2, convenient for operator according to the second Image Acquisition
Module 7 is issued corresponding control to adjust and is instructed.The camera module pixel is more than or equal to 8,000,000, selects RER-
USB8MP02G。
The mechanical arm 1.2 is sixdegree-of-freedom simulation 1.2, and load is big, and movement is flexible, easy to operate, six freedom
The work for allowing the robot system to be applicable in multi-angle is spent, such as road and bridge face, the side guardrail of bridge etc..
The gas supply module 4 is air pump, provides gas source for whole system, and repair materials are led to from repair materials storage tank 5
It crosses pneumatic conveying and repairs end effector 1.3 to crack, and repair materials are squeezed out carry out crack reparation under the influence of air pressure.
Repair materials are stored in the repair materials storage tank 5, the repair materials are the reparation liquid of liquid, including coagulation
Native crack closure glue, epoxy resin grouting material, repairing concrete crack agent.
Such as Fig. 3, including linear movement module of end effector 1.3 is repaired in the crack, and range finder module 1.3.6, crack is repaired
Multiple injection module 1.3.8, linear motion module includes bracket 1.3.1, driving motor 1.3.4, shaft coupling 1.3.5, screw rod
1.3.2 with moving slide block 1.3.7, driving motor 1.3.4 be set to bracket 1.3.1 top, and by shaft coupling 1.3.5 with
Screw rod 1.3.2 is connected, for controlling the rotation of screw rod 1.3.2；Screw rod 1.3.2 is set to bracket 1.3.1 upper and lower ends, is used for band
Dynamic moving slide block 1.3.7 is moved up and down；Second image capture module 7 and range finder module 1.3.6 are mounted on the crack and repair
On multiple injection module 1.3.8, and it is symmetrically set in the two sides that injection module 1.3.8 is repaired in crack, second image capture module 7
For observing the injection state of crack repairing effect and repair materials；The range finder module 1.3.6 repairs note for measuring crack
Penetrate the distance between module 1.3.8 and road and bridge crack；The crack Material injection module is installed on moving slide block by a cutting ferrule
1.3.7 it on, can move up and down with moving slide block 1.3.7；It repairs end effector 1.3 and is installed on bracket by one in the crack
1.3.1 the link block 1.3.3 on is connected with mechanical arm 1.2.Range finder module 1.3.6 is a ultrasonic distance-measuring sensor.
In the specific implementation process, the present embodiment using four motorized wheels mode may be implemented straight trip, be easy angle it is oblique
Row, row such as rotate in place at the omnibearing movables.The walking structure is arranged using modular mode, and in maintenance and replaces wheel,
It is at low cost and larger weight can be carried.Shock-absorbing spring in the damping device 10 of setting has good damping capaicty, makes intelligence
Energy mobile platform 1.1 is more stable in motion process.The intelligent family moving platform 1.1 is within a certain period of time without response (in this implementation
Example in be 3 minutes) be not received by any instruction in the case where, braking state can be locked into certainly, four driving wheels 9 are presented respectively
45 °, 135 °, 225 ° and 315 °, to guarantee the safety of operation.
Robot carries out independent navigation scanning, the first Image Acquisition according to complete coverage path planning to a certain road and bridge face region
Module 6 obtains area map, and crack image is obtained after image procossing, and crack image is converted to the world by coordinate conversion and is sat
Global crack image under mark system；The coordinate that end effector is repaired by robot is converted under world coordinate system by coordinate
Coordinate.Crack is repaired end and is repaired according to global crack image, specifically: robot briefly returns to initial before Crack Detection
Position, control critical eigenvalue repair end effector 1.3 close to road and bridge surface to be repaired, crack are made to repair end effector 1.3 most
Lower end injection port is maintained at certain altitude h (such as 1cm) from surface, then carries out segmentation reparation, i.e., stops in intelligent family moving platform 1.1
When only, repairs in 1.3 working range of end effector and repaired in crack, in repair process, end effector is according to crack
Direction of growth movement repaired, and in repair process, range finder module 1.3.6 real-time detection crack and end effector it
Between distance, guarantee crack repair height h it is constant in the case where, crack repair end effector 1.3 according to range finder module 1.3.6
The range information of acquisition is adjusted, and guarantees good repairing effect, until this section of crack is repaired and finished.Intelligent family moving platform
1.1 move one section (repair the maximum of end effector 1.3 and repair distance in crack) according to crack growth direction, then repeat previous
The step of section crack is repaired, finishes until the crack of whole region is repaired.In the whole process, the second image capture module 7
The repair materials injection state of end effector 1.3 is repaired for observing crack repairing effect and crack, convenient for arriving according to the observation
Image information to end effector and gas supply module 4 parameter be adjusted, to guarantee good repairing effect.
Embodiment 2
The present embodiment provides a kind of road and bridge Crack Detection and integrated robot is repaired, by the gas supply module 4 in embodiment 1
It is changed to air compressor, range finder module 1.3.6 is infrared distance measuring sensor.
The same or similar label correspond to the same or similar components；
The terms describing the positional relationship in the drawings are only for illustration, should not be understood as the limitation to this patent；
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (10)
1. a kind of road and bridge Crack Detection and repair integrated robot, which is characterized in that including robot body, control module,
First image capture module, power supply module, supplies module and repair materials storage tank at the second image capture module, wherein robot
Ontology includes that end effector is repaired in intelligent family moving platform, mechanical arm and crack, and mechanical arm is mounted on intelligent family moving platform side,
The control module is installed on the intelligent family moving platform of robot body；The first image acquisition module is set to intelligent sliding
It is in the same side on moving platform and with mechanical arm installation site, second image capture module is set to crack reparation end and holds
On row device；The control module and the first image capture module, the second image capture module, gas supply module, intelligent family moving platform,
Mechanical arm, crack repair end effector and power supply module electrical connection；Power supply module is electrically connected with gas supply module, power supply module
It is the first image capture module, the second image capture module and robot body power supply by control module；Control module and confession
Gas module is connected, and gas supply module is connected with repair materials storage tank, repair materials storage tank and the crack for being set to mechanical arm tail end
End effector is repaired to be connected；The crack repair end effector can adjust automatically its at a distance from road and bridge crack.
2. road and bridge Crack Detection according to claim 1 and reparation integrated robot, which is characterized in that further include four-wheel
Independent driving walking mechanism, the four motorized wheels walking mechanism includes being respectively arranged on four angles of intelligent family moving platform
Four damping devices and corresponding four driving wheels being connected with damping device, the connected upper end of four damping devices are respectively wrapped
A steering motor is included, the steering motor is used to control the divertical motion of four driving wheels.
3. road and bridge Crack Detection according to claim 2 and reparation integrated robot, which is characterized in that the steering electricity
Protection cap is equipped with outside machine.
4. road and bridge Crack Detection according to claim 1 and reparation integrated robot, which is characterized in that further include installation
In two laser radars on intelligent family moving platform and the first image acquisition module is stereoscopic camera.
5. described in any item road and bridge Crack Detections and reparation integrated robot according to claim 1, which is characterized in that also wrap
Remote control terminal is included, the remote control terminal carries out mutual trust by wireless communication mode and control module.
6. road and bridge Crack Detection according to claim 5 and reparation integrated robot, which is characterized in that second figure
As acquisition module is camera module.
7. road and bridge Crack Detection according to claim 1 and reparation integrated robot, which is characterized in that the mechanical arm
For sixdegree-of-freedom simulation.
8. road and bridge Crack Detection according to claim 1 and reparation integrated robot, which is characterized in that the gas supply mould
Block is air pump or air compressor.
9. road and bridge Crack Detection according to claim 1 and reparation integrated robot, which is characterized in that the reparation material
Repair materials are stored in material storage tank, the repair materials are the reparation liquid of liquid, including distress in concrete closes glue, asphalt mixtures modified by epoxy resin
Rouge grouting material, repairing concrete crack agent.
10. road and bridge Crack Detection according to any one of claims 1 to 9 and reparation integrated robot, which is characterized in that
It includes linear movement module that end effector is repaired in the crack, and range finder module, injection module, linear motion are repaired in crack
Module includes bracket, driving motor, and shaft coupling, screw rod and moving slide block, which is set to the top of the bracket, and passes through
Shaft coupling is connected with screw rod, for controlling the rotation of screw rod；The screw rod is set to bracket upper and lower ends, for driving moving slide block
Lower movement；Second image capture module and range finder module are mounted on the crack and repair in injection module, and are symmetrically set in
The two sides of injection module are repaired in crack, and second image capture module is used to observe the note of crack repairing effect and repair materials
Penetrate state；The range finder module repairs the distance between injection module and road and bridge crack for measuring crack；The crack material
Injection module is installed on moving slide block by a cutting ferrule, can be moved up and down with moving slide block；It repairs end and executes in the crack
Device is connected by a link block being installed on bracket with mechanical arm.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113379717A (en) * | 2021-06-22 | 2021-09-10 | 山东高速工程检测有限公司 | Pattern recognition device and recognition method suitable for road repair |
| CN114737459A (en) * | 2022-05-06 | 2022-07-12 | 福建兴夷交通科技有限公司 | Automatic detection and restoration integrated robot for road and bridge cracks |
| CN114775457A (en) * | 2022-03-16 | 2022-07-22 | 浙江广厦建设职业技术大学 | Detection device for repairing ancient bridge and detection method thereof |
| CN114924573A (en) * | 2022-06-27 | 2022-08-19 | 国网陕西省电力有限公司电力科学研究院 | Mobile robot |
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