CN206477237U - A kind of Athey wheel road face repair robot system - Google Patents
A kind of Athey wheel road face repair robot system Download PDFInfo
- Publication number
- CN206477237U CN206477237U CN201621473934.8U CN201621473934U CN206477237U CN 206477237 U CN206477237 U CN 206477237U CN 201621473934 U CN201621473934 U CN 201621473934U CN 206477237 U CN206477237 U CN 206477237U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- robot
- robot body
- connecting rod
- repair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of Athey wheel road face repair robot system, including the robot body with dynamical system, it is provided with robot body on mechanical arm, mechanical arm and road surface prosthetic device is installed;The control system for control machinery arm is additionally provided with robot body, control system has wireless signal receiver, control system and mechanical arm electrical connection.Specifically, the road surface prosthetic device includes provisions for grouting and/or drill hammer and/or slotting device.Intelligent reparation can be realized using robot system of the present utility model, due to only needing to artificial remote intervention, therefore, security during reparation is improved to a certain extent;Modular mechanical arm is integrated with, dismounting combination can be carried out according to actual conditions, and changes end fix tool, the service efficiency of modular mechanical arm is improved.
Description
Technical field
The utility model is related to a kind of Athey wheel road face repair robot system, belongs to road rehabilitation technical field.
Background technology
After highway is built up, in order to ensure current security and efficiency, it is necessary to which periodic inspection is conserved.With Chinese high
The rapid growth of fast mileage in highway open to traffic, the increase of the road service time limit, highway have been enter into build with maintenance lay equal stress on when
Phase, more than the 10000 kilometers of highway built up before 2000 is comprehensively into overhaul time, more than 50,000 built up before the end of the year 2008
The normal maintenance curing period that kilometer highway also generally enters after defects liability period, the overall staff size of maintenance industry increases fast
Speed.Highway Maintenance include roadbed maintenance, maintenance of surface, bridges and culverts maintenance, passage maintenance, tunnel maintenance, identifier marking conserve,
House maintenance, electromechanical facility maintenance etc., wherein maintenance of surface is the important content of Highway Maintenance.The premise of maintenance of surface
It is the detection and assessment of road pavement situation.
At present, pavement behavior detection is with repairing the main mode manually coordinated with equipment, still, and which is imitated in work
There is certain defect in terms of rate, personal safety, reparation speed.With the development of science and technology, occurring in that some road surfaces are repaired successively
Equipment, but the general automaticity of the said equipment is relatively low, or volume is larger, demand is repaired on unsuitable modern accurately road surface,
Moreover, also easily causing the unnecessary loss of manpower and materials.
Utility model content
The purpose of this utility model is there is provided a kind of Athey wheel road face repair robot system, using automation formula
Design concept, can effectively improve reparation speed and remediation efficiency.
In order to solve the above technical problems, the utility model is adopted the following technical scheme that:
A kind of Athey wheel road face repair robot system, including the robot body with dynamical system, robot body
On be provided with mechanical arm, mechanical arm and road surface prosthetic device is installed forms a set of Dao Mian robots repair system;Robot sheet
The control system for control machinery arm is additionally provided with body, control system has wireless signal receiver, control system and machine
Tool arm is electrically connected.Specifically, the road surface prosthetic device includes provisions for grouting and/or drill hammer and/or slotting device.Machinery
Arm can select electrically driven (operated), and motor machine arm is mainly made up of in terms of driving motor, decelerator, driver etc., and motor exists
Start under the control of driver or stop, by the startup of controlled motor, stop reacting the machinery in mechanical arm through decelerator
In activity.Mechanical arm can also select hydraulic/pneumatic formula mechanical arm, and hydraulic/pneumatic formula mechanical arm is main by liquid in terms of driving
Pressure/pulsometer, hydraulic/pneumatic cylinder, overflow valve, choke valve, reversal valve, sequence valve etc. are constituted, so as to drive manipulator motion.
As one of which embodiment, the mechanical arm is made up of some connecting rods being hinged successively, adjacent
It is connected between connecting rod by drive mechanism;The quantity of the drive mechanism is more than or equal to 4, and less than or equal to 7,
The drive mechanism completes the repair of a series of road face, it is necessary to machinery using hydraulic pressure, air pressure or electronic as drive form
Arm has at least four free degree, and the free degree of mechanical arm is realized by drive mechanism, for example:Drive mechanism uses motor, then
Rotated by motor drivening rod, a drive mechanism can increase one degree of freedom, so the quantity of drive mechanism is extremely
It is 4 less.It is worth noting that, under non-working condition, modular mechanical arm is in dead-center position, modular mechanical arm is received
Contracting, so as to reduce robot center of gravity so that operation is more steady, also reduces overall space-consuming, it is to avoid may go out
Existing brought damage of colliding with;Modular mechanical arm deploys in a state of use, passes through the work carried on modular mechanical arm
The auxiliary equipments such as industry camera are positioned to area to be repaired, restoring area are carried out followed by the drill hammer of end clear
Reason, after the completion of cleaning, using grouting equipment to the regional perfusion concrete, after condensation, is imitated using pavement detection equipment to repairing
Fruit is tested.
As a kind of type of drive of robot body, the dynamical system of the robot body includes Athey wheel, slowed down
Mechanism, actuating unit and supply unit, supply unit and actuating unit electrical connection, actuating unit are connected with reducing gear, slowed down
Mechanism is connected with Athey wheel.Robot body is driven using Athey wheel so that robot body possesses all-around mobile and one
Fixed obstacle climbing ability.
In a kind of foregoing Athey wheel road face repair robot system, the control system includes global positioning system, top
Spiral shell instrument, encoder and avoidance laser radar, the system also include auxiliary for the remote monitoring of robot body described in remote control
Auxiliary system, remote monitoring accessory system and robot body wireless telecommunications connection.Remote monitoring accessory system is used for control machine
The movement of human body, and on robot body detection device, prosthetic device and mechanical arm operation.The navigation of robot body
It is real using the navigation scheme based on global positioning system, gyroscope, encoder and avoidance laser radar Multi-Sensor Data Fusion
The high accuracy navigation of outdoor Centimeter Level and the location position of detection data are showed;In modular mechanical arm control aspect, employ
Modular mechanical arm calibration method based on spinor theory, this method can preferably make up DH parametric techniques because model error is led
The precision problem of cause.
In a kind of foregoing Athey wheel road face repair robot system, the dynamical system includes two groups of universal wheels and one group
Driving wheel, driving wheel is located between two groups of universal wheels, and each driving wheel is respectively provided with independent drive device.Such a type of drive phase
It is more succinct than Athey wheel and Mecanum wheel structure type, it is easy to later maintenance work, and cost is told somebody what one's real intentions are relatively, and energy
Enough bear larger weight.
In a kind of foregoing Athey wheel road face repair robot system, the dynamical system includes four driving wheels, each
Driving wheel is respectively provided with independent drive device.The mobility of robot body is improved using four motorized wheels, phase is improved
Speed is answered, meanwhile, compared to two wheel guide robot mode, reduce radius of turn during low speed so that control is more light;Also,
Using four In-wheel motor drivings and combine and have electronic, electrification feedback and the multi-functional wheel hub motor technology of electromagnetic braking concurrently, can be with
Robot body is set to realize the recovery to kinetic energy energy under the road conditions such as descending, to save and improve endurance.Robot sheet
Body can also use Mecanum wheel, and Mecanum wheel is more a little, and straight trip, 45 degree of diagonals, row, pivot studs can be achieved
Deng omnibearing movable, system flexibility is substantially improved, also, with more preferable lifting capacity.
It is described as the another embodiment of mechanical arm in a kind of foregoing Athey wheel road face repair robot system
Mechanical arm includes mounting seat, is fixed with support frame, support frame in mounting seat and is hinged with first connecting rod, support frame connection the
The middle part of one connecting rod, the end of first connecting rod and second connecting rod are hinged;Also include the first retractor device and the second retractor device, the
One retractor device one end connects support frame, other end connection first connecting rod;Second retractor device one end connects the support frame other end
Second connecting rod is connected, the end of second connecting rod is provided with the instrument installation position for being used for installing road surface prosthetic device.The machine of such a form
Tool arm configuration is compacter, and cost is lower.
In a kind of foregoing Athey wheel road face repair robot system, binocular camera is installed on the robot body,
Binocular camera and control system electrical connection;Binocular camera is used to collect pavement image information and be transferred to control system, controls
The pavement image information that system docking processed is received is filtered, edge detection process, crack image binaryzation, classification of rifts, shape
State method measurement flaw size, restoring area are demarcated and map match, optimal route selection, then control system control machinery
Arm and road surface prosthetic device road pavement carry out repair.
The invention also discloses a kind of road surface repair method, including following methods:Control machine human body is moved to
The position that road face is specified;The artificial crucial point coordinates for determining area to be repaired;The restoring area in artificial setting road face and reparation
Method, robot body detects path according to area to be repaired position planning road face;Control machine human body examines along the road face
Survey path and be moved to area to be repaired, drill hammer or provisions for grouting or slotting device are navigated to by specific bit by mechanical arm
Put, road face is drilled and/or is in the milk and/or cracked according to the road surface repair method manually set;Road after collection reparation
Face information data, real-time monitoring analysis is carried out to road face information data or analysis is delayed, repairing effect is determined.Mechanical arm passes through pre-
The coordinate information first inputted determines the position of maintenance, carries out bore operation to area to be repaired using drill hammer, then uses
Grouting equipment is by the mixture injection hole such as concrete region.
In foregoing road surface repair method, the loose pavement disease of road pavement basic unit is drilled, reparation of being in the milk;It is described to bore
Hole, grouting reparation include following methods:In road surface to be repaired drilling, so as to obtain grout hole, then by oxidized asphalt or
Cement mortar injects grout hole with space under fill concrete plate, rebuilds the uniform bulk strength of road deck.Adopt this method and repair
The loose road surface of complex radical layer, it is possible to increase the quality on road surface, improves its bearing capacity, the problems such as preventing deformation, collapse.
In foregoing road surface repair method, the crack disease on road surface is repaired by cracking, being in the milk;It is described to crack, be in the milk and repair
Include following methods again:Crack, according to the fluting size of design, be pre-adjusted groove depth, then carry out fluting operation;Clearly
Seam:The dust in the range of the disintegrating slag in groove and crack both sides at least 10cm is cleaned up with blowing apparatus;The cementation of fissures:Set with grouting
It is standby equably to pour into fluid sealant in groove.
Compared with prior art, 1, road face robot for overhauling system of the present utility model, employs high-precision outdoor and leads
Boat system, modular mechanical arm system and detachable tool head, it is possible to achieve the autonomous reparation of road pavement, remediation efficiency,
Economical and security is increased dramatically, and overall system performance is preferable;
2nd, the utility model, can contexture by self arrival using the control mode of " macroscopical remote control, microcosmic autonomous, remote monitoring "
Area path to be repaired, implementation repair;Robot body is moved to after specified location, utilizes the industrial phase of modular mechanical arm
The equipment such as machine, are positioned to restoring area, and complete reparation to ground using instruments such as drill hammer, grouting equipments, can be led to
Cross automatic, semiautomatic fashion to switch over fix tool, intelligent reparation is realized, due to less need for manual intervention, carrying
The high security of repair process;
3rd, the utility model uses the navigation based on GPS, gyroscope, encoder and laser radar Multi-Sensor Data Fusion
Scheme, realizes the high accuracy navigation of outdoor Centimeter Level, drastically increases the accuracy of positioning;
4th, the utility model integrated modular mechanical arm, it is different freely that the modular mechanical arm can enter line translation as needed
Degree, and end-equipment is replaced by the instruments such as drill hammer, grouting equipment, it is thereby achieved that an arm is multi-purpose, improves mould
The utilization ratio of block mechanical arm;
5th, reparation position of the present utility model and method can be by artificially formulating, and use industrial camera to repairing feelings
Condition is confirmed, improves the accuracy of reparation, and ensures repairing effect;
6th, the utility model mobile platform is used as travel mechanism using Athey wheel, it is possible to achieve all-around mobile, also, tool
Standby certain obstacle climbing ability, can more flexibly set the track route of robot body, and then be more efficiently completed reparation
Operation.
7th, Athey wheel road described in the utility model face repair robot system can also be cooperateed with multiple similar humanoid robots
Mode of operation, can further lift remediation efficiency.
Brief description of the drawings
Fig. 1 is a kind of running status structural representation of embodiment of robot body;
Fig. 2 is a kind of structural representation of embodiment of mechanical arm;
Fig. 3 is the embodiment schematic diagram that modular mechanical arm uses drill hammer;
Fig. 4 is the partial electric annexation schematic diagram of dynamical system;
Fig. 5 is a kind of structural representation of embodiment of dynamical system;
Fig. 6 is the structural representation of another embodiment of mechanical arm;
Fig. 7 is the structural representation of robot body non-operating state;
Fig. 8 is the embodiment schematic diagram that modular mechanical arm uses slotting device;
Fig. 9 is the embodiment schematic diagram that robot body uses Mecanum wheel;
Figure 10 is the embodiment schematic diagram that robot body uses four-wheel drive;
Figure 11 is the robot system overall schematic of the configuration diagram of accessory system containing remote monitoring;
Figure 12 is robot body mode of operation schematic diagram.
Reference:1- dynamical systems, 2- robot bodies, 3- mechanical arms, 4- road surfaces prosthetic device, 5- connecting rods, 6- drives
Motivation structure, 7- Athey wheels, 8- reducing gears, 9- actuating units, 10- supply units, 11- driving wheels, 12- drive devices, 13- ten thousand
To wheel, 14- support frames, the retractor devices of 15- first, 16- first connecting rods, the retractor devices of 17- second, 18- installation positions, 19- second
Connecting rod, 20- mounting seats, 21- operating desks, 22- monitoring screens, 23- refitted cars, 24- supply units, 25- control racks.
The utility model is further described with reference to the accompanying drawings and detailed description.
Embodiment
Embodiment 1 of the present utility model:A kind of Athey wheel road face repair robot system, including with dynamical system 1
It is provided with robot body 2, robot body 2 and road surface prosthetic device 4 is installed on mechanical arm 3, mechanical arm 3 forms a set of road
Face robot repair system;The control system for control machinery arm 3 is additionally provided with robot body 2, control system has nothing
Line signal receiving device, control system and mechanical arm 3 are electrically connected.Specifically, the road surface prosthetic device 4 includes provisions for grouting.
Provisions for grouting is made up of mounting seat, connector, flexible pipe, cylinder etc., and crack is injected the mixture into by forms such as air pressure, hydraulic pressure
Or repairing area.In the present embodiment, the mechanical arm 3 is made up of some connecting rods 5 being hinged successively, adjacent connecting rod 5 it
Between by drive mechanism 6 be connected;The drive mechanism 6 is equal to 6, and the drive mechanism 6 is using hydraulic pressure, air pressure or electronic conduct
Drive form, more low degree-of-freedom mechanical arm system is assembled into according to user's request, and its end can install drill hammer, grouting dress additional
Put, slotting device etc..
The dynamical system 1 of the robot body 2 includes Athey wheel 7, reducing gear 8, actuating unit 9 and supply unit
10, supply unit 10 and actuating unit 9 are electrically connected, and actuating unit 9 is connected with reducing gear 8, reducing gear 8 and the phase of Athey wheel 7
Even.The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes being used for
The remote monitoring accessory system of robot body 2 described in remote control, remote monitoring accessory system and the channel radio of robot body 2
News connection.Remote monitoring accessory system includes operating desk 21, monitoring screen 22 and control rack 25, operating desk 21 and monitoring screen
22 electrically connect with control rack 25;Pass through wireless telecommunications side between robot body 1, mechanical arm 3 and remote monitoring accessory system
Formula is received and sent messages.
Binocular camera, binocular camera and control system electrical connection are installed on the robot body 2;Binocular camera
For collecting pavement image information and being transferred to control system, control system is filtered to the pavement image information received,
Edge detection process, crack image binaryzation, classification of rifts, morphological method measurement flaw size, restoring area demarcation and ground
Figure matching, optimal route selection, then control system control machinery arm 3 and the road pavement of road surface prosthetic device 4 carry out repair.
Embodiment 2:A kind of Athey wheel road face repair robot system, including the robot body 2 with dynamical system 1,
It is provided with robot body 2 on mechanical arm 3, mechanical arm 3 and road surface prosthetic device 4 is installed forms the reparation of a set of Dao Mian robots
System;The control system for control machinery arm 3 is additionally provided with robot body 2, control system has reception of wireless signals dress
Put, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 includes drill hammer.Drill hammer is main by high-power
Motor, radiator fan, top-type impact module, drilling attachment and drill bit composition, and be impact drill by way of electrical connection
Head provides the energy.
The mechanical arm 3 is made up of some connecting rods 5 being hinged successively, and drive mechanism 6 is passed through between adjacent connecting rod 5
It is connected;In the present embodiment, the drive mechanism 6 is equal to 4, and the drive mechanism 6 is driven using hydraulic pressure, air pressure or electronic be used as
Form.The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes using
In the remote monitoring accessory system of robot body described in remote control 2, remote monitoring accessory system and robot body 2 are wireless
Communication connection.Robot body 1 gathers the geological information below road face and road surface, is then sent to the information collected far
Range monitoring accessory system, remote monitoring accessory system can be the form (as shown in figure 11) of refitted car, be provided with refitted car
Supply unit 24, control rack 25, operating desk 14 and monitoring screen 22, monitoring screen 22 are Multi-screen display system, supply unit
24 be that remote monitoring accessory system is powered, and the geological information detected is first sent to control rack 25, then passes through monitoring
Screen 22 is shown, can handle the geological information collected by operating desk 21;Remote monitoring accessory system can also be used simultaneously
In the working condition of control machine human body 1, long-distance transport and the storing unit of robot body are also used as.The power
System 1 includes two groups of universal wheels 13 and one group of driving wheel 11, and driving wheel 11 is located between two groups of universal wheels 13, each driving wheel 11
It is respectively provided with independent drive device 12.
Binocular camera, binocular camera and control system electrical connection are installed on the robot body 2;Binocular camera
For collecting pavement image information and being transferred to control system, control system is filtered to the pavement image information received,
Edge detection process, crack image binaryzation, classification of rifts, morphological method measurement flaw size, restoring area demarcation and ground
Figure matching, optimal route selection, then control system control machinery arm 3 and the road pavement of road surface prosthetic device 4 carry out repair.
Embodiment 3:A kind of Athey wheel road face repair robot system, including the robot body 2 with dynamical system 1,
It is provided with robot body 2 on mechanical arm 3, mechanical arm 3 and road surface prosthetic device 4 is installed forms the reparation of a set of Dao Mian robots
System;The control system for control machinery arm 3 is additionally provided with robot body 2, control system has reception of wireless signals dress
Put, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 includes slotting device.
The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes
For the remote monitoring accessory system of robot body described in remote control 2, remote monitoring accessory system and the nothing of robot body 2
Line communication connection.The dynamical system 1 includes four driving wheels 11, and each driving wheel 11 is respectively provided with independent drive device 12.
The mechanical arm 3, which includes being fixed with support frame 14, support frame 14 in mounting seat 20, mounting seat 20, is hinged with first connecting rod
16, support frame 14 connects the middle part of first connecting rod 16, and the end of first connecting rod 16 and second connecting rod 19 are hinged;Also stretched including first
The retractor device 17 of compression apparatus 15 and second, the one end of the first retractor device 15 connection support frame 14, other end connection first connecting rod 16;
The one end of second retractor device 17 connection support frame 14 other end connection second connecting rod 19, the end of second connecting rod 19, which is provided with, to be used to pacify
Fill the instrument installation position 18 of road surface prosthetic device 4.
Embodiment 4:A kind of Athey wheel road face repair robot system, including the robot body 2 with dynamical system 1,
It is provided with robot body 2 on mechanical arm 3, mechanical arm 3 and road surface prosthetic device 4 is installed forms the reparation of a set of Dao Mian robots
System;The control system for control machinery arm 3 is additionally provided with robot body 2, control system has reception of wireless signals dress
Put, control system and mechanical arm 3 are electrically connected.The road surface prosthetic device 4 includes provisions for grouting and/or drill hammer and/or opened
Stitch device.
The dynamical system 1 of the robot body 2 includes Athey wheel 7, reducing gear 8, actuating unit 9 and supply unit
10, supply unit 10 and actuating unit 9 are electrically connected, and actuating unit 9 is connected with reducing gear 8, reducing gear 8 and the phase of Athey wheel 7
Even.The control system includes global positioning system, gyroscope, encoder and avoidance laser radar, and the system also includes being used for
The remote monitoring accessory system of robot body 2 described in remote control, remote monitoring accessory system and the channel radio of robot body 2
News connection.
The mechanical arm 3, which includes being fixed with support frame 14, support frame 14 in mounting seat 20, mounting seat 20, to be hinged with
First connecting rod 16, support frame 14 connects the middle part of first connecting rod 16, and the end of first connecting rod 16 and second connecting rod 19 are hinged;Also wrap
Include the first retractor device 15 and the second retractor device 17, the one end of the first retractor device 15 connection support frame 14, other end connection the
One connecting rod 16;The one end of second retractor device 17 connection support frame 14 other end connection second connecting rod 19, the end of second connecting rod 19
Provided with the instrument installation position 18 for installing road surface prosthetic device 4.
The utility model additionally provides a kind of road surface repair method, is repaired by the Athey wheel road face described in above example
Robot system repairs road face, specifically includes following methods:Control machine human body 2 is moved to the position that face is specified;Manually
Determine the crucial point coordinates of area to be repaired;The restoring area and restorative procedure in artificial setting road face, the basis of robot body 2
Detect path in planning road face in area to be repaired position;Control machine human body 2 is moved to be repaired along road face detection path
Region, navigates to specified location, according to the road manually set by mechanical arm 3 by drill hammer or provisions for grouting or slotting device
Surface repair method is drilled and/or is in the milk and/or cracked to road face;Road face information data after collection reparation, believes road face
Breath data carry out real-time monitoring analysis or delay analysis, determine repairing effect;Mechanical arm 3 is true by the coordinate information pre-entered
The position that regular inspection is repaiied, carries out bore operation, then using grouting equipment by concrete etc. using drill hammer to area to be repaired
Mixture injection hole region.
In foregoing road surface repair method, the loose pavement disease of road pavement basic unit is drilled, reparation of being in the milk;It is described to bore
Hole, grouting reparation include following methods:In road surface to be repaired drilling, so as to obtain grout hole, then by oxidized asphalt or
Cement mortar injects grout hole with space under fill concrete plate, rebuilds the uniform bulk strength of road deck.Adopt this method and repair
The loose road surface of complex radical layer, it is possible to increase the quality on road surface, improves its bearing capacity, the problems such as preventing deformation, collapse.
Method for repairing road surface in the alternatively restorative procedure on road surface, the present embodiment is applied to the crack disease on road surface
Evil;It is described crack, be in the milk reparation include following methods:Crack, according to the fluting size of design, be pre-adjusted groove depth,
Then fluting operation is carried out;Raked joint:It is with blowing apparatus that the dust in the range of the disintegrating slag in groove and crack both sides at least 10cm is clear
Sweep clean;The cementation of fissures:Fluid sealant is equably poured into groove with grouting equipment.Other methods of method for repairing road surface, step are with before
State embodiment identical, therefore not to repeat here.
Robot body 1 is first by manual remote control to detection operation initial point position, then according to the maintenance manually set
Region, maintenance point and repair method, robot autonomous planning repair path simultaneously are implemented to repair, and after the completion of reparation, are set by detection
It is standby that repairing effect is weighed.The control system of robot body 1 and mechanical arm 3 is used as master control system using built-in PC
System;Remote monitoring accessory system possesses the work such as reparation confirmation, and operation is evaluated by view data etc..
Robot body 1 operationally, will carry robot body 1, mechanical arm 3 by remote monitoring accessory system first,
Drill hammer, grouting equipment etc. is transported to operation field, and then robot body 1 moves to detection starting point, sets manually
Relevant parameter information.After job initiation is repaired, robot body is moved near restoring area according to presetting, and root
According to technological requirement, using mechanical arm 3 and prosthetic appliance, repair is carried out to neighboring area, whole process can be by artificial real
When supervisory-controlled robot body working condition, as necessary by remote monitoring auxiliary control system its operation.
The invention also discloses a kind of method for repairing road surface of view-based access control model, road surface defect position is determined by vision
Put, contexture by self repair path specifically includes following methods:
Pavement behavior investigation is a regular content of highway maintenance work, and conventional investigation method is substantially manual measurement
Based on, the degree of accuracy, operability, implementation complexity are affected, also, because highway wagon flow is larger, there is one during measurement
Fixed danger.This method employs the visual intelligent measuring method of view-based access control model, in implementation process, collection image
Camera is installed on mechanical arm tail end, by remote monitoring accessory system the image collected is analyzed and processed, so that
Obtain the information such as length, the areas of pavement disease such as crack.
Road surface robot for overhauling can be demarcated according to testing result to each maintenance position, and for map with treating
The relation pair repair path of restoring area is planned, obtains optimal motion path.
Robot for overhauling progress IMAQ, path planning and the flow of road surface reparation are:Pavement image collection → image
Filtering, edge detection process → crack image binaryzation → classification of rifts → morphological method measurement crack (flaw size calculating)
→ restoring area is demarcated to be completed with map match → optimal route selection → road surface repair → reparation detection → construction.
Next the method for repairing road surface of foregoing view-based access control model is illustrated by embodiment of binocular vision detection method:
Binocular vision crack detection method be by binocular camera gather crack picture, to after image procossing with binocular vision
Feel the theoretical method for carrying out flaw size calculating.The collection core of this method is binocular camera, and binocular camera is placed in pavement detection
The end of robot arm, the image collected is handled by methods such as noise reduction, enhancing, rim detection, binaryzations, and
Above-mentioned image is matched and calculated using camera calibration, images match, Coordinate calculation method, so that flaw size is obtained,
Road surface robot for overhauling is by the way that restoring area is demarcated on the map of structure, so that optimal repair path is obtained, and root
Restorative procedure is independently determined according to surface conditions.
Claims (5)
1. a kind of Athey wheel road face repair robot system, it is characterised in that including the robot body with dynamical system (1)
(2), it is provided with robot body (2) on mechanical arm (3), mechanical arm (3) and a set of road of road surface prosthetic device (4) formation is installed
Face robot repair system;The control system for control machinery arm (3), control system tool are additionally provided with robot body (2)
There are wireless signal receiver, control system and mechanical arm (3) electrical connection;Dynamical system (1) bag of the robot body (2)
Include Athey wheel (7), reducing gear (8), actuating unit (9) and supply unit (10), supply unit (10) and actuating unit (9) electricity
Connection, actuating unit (9) is connected with reducing gear (8), and reducing gear (8) is connected with Athey wheel (7).
2. a kind of Athey wheel road face according to claim 1 repair robot system, it is characterised in that repair on the road surface
Device (4) includes provisions for grouting and/or drill hammer and/or slotting device.
3. a kind of Athey wheel road face according to claim 1 repair robot system, it is characterised in that the mechanical arm
(3) it is made up of, is connected between adjacent connecting rod (5) by drive mechanism (6) some connecting rods (5) being hinged successively;It is described
The quantity of drive mechanism (6) is more than or equal to 4, and less than or equal to 7, the drive mechanism (6) is using hydraulic pressure, gas
Pressure electronic is used as drive form.
4. a kind of Athey wheel road face according to claim 1 repair robot system, it is characterised in that the control system
Including global positioning system, gyroscope, encoder and avoidance laser radar, the system also includes being used for machine described in remote control
The remote monitoring accessory system of human body (2), remote monitoring accessory system and robot body (2) wireless telecommunications connection.
5. a kind of Athey wheel road face according to claim 1 repair robot system, it is characterised in that the mechanical arm
(3) include being fixed with support frame (14) in mounting seat (20), mounting seat (20), support frame is hinged with first connecting rod on (14)
(16), the middle part of support frame (14) connection first connecting rod (16), the end of first connecting rod (16) and second connecting rod (19) are hinged;Also
Including the first retractor device (15) and the second retractor device (17), the first retractor device (15) one end connects support frame (14), separately
One end connection first connecting rod (16);Second retractor device (17) one end connection support frame (14) other end connection second connecting rod
(19), the end of second connecting rod (19) is provided with the instrument installation position (18) for being used for installing road surface prosthetic device (4).
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201621473934.8U CN206477237U (en) | 2016-12-30 | 2016-12-30 | A kind of Athey wheel road face repair robot system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201621473934.8U CN206477237U (en) | 2016-12-30 | 2016-12-30 | A kind of Athey wheel road face repair robot system |
Publications (1)
Publication Number | Publication Date |
---|---|
CN206477237U true CN206477237U (en) | 2017-09-08 |
Family
ID=59750893
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201621473934.8U Active CN206477237U (en) | 2016-12-30 | 2016-12-30 | A kind of Athey wheel road face repair robot system |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN206477237U (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106498834A (en) * | 2016-12-30 | 2017-03-15 | 成都圭目机器人有限公司 | A kind of Athey wheel road face repair robot system and road surface repair method |
CN111923005A (en) * | 2019-04-26 | 2020-11-13 | 发那科株式会社 | Unmanned transfer robot system |
-
2016
- 2016-12-30 CN CN201621473934.8U patent/CN206477237U/en active Active
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106498834A (en) * | 2016-12-30 | 2017-03-15 | 成都圭目机器人有限公司 | A kind of Athey wheel road face repair robot system and road surface repair method |
CN111923005A (en) * | 2019-04-26 | 2020-11-13 | 发那科株式会社 | Unmanned transfer robot system |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106498834A (en) | A kind of Athey wheel road face repair robot system and road surface repair method | |
CN106514607A (en) | Four-wheel drive road face repairing robot system and road face repairing method | |
CN106758719A (en) | A kind of Two-wheeled road face repair robot system and road surface repair method | |
WO2017202284A1 (en) | Pavement autonomous detection intelligent apparatus, robot system and detection method | |
CN105951569B (en) | Independently detect robot system and detection method in crawler type road face | |
CN206477235U (en) | A kind of Two-wheeled road face repair robot system | |
CN105937199B (en) | Independently detect intelligent apparatus in hub-type road face | |
CN106049243B (en) | Independently detect intelligent apparatus in road face | |
CN100558475C (en) | Oil product storage tank cleaning hydraulic type self-controlled robot | |
CN107584501B (en) | Live cleaning robot for substation equipment and control method thereof | |
CN110510025A (en) | A kind of vcehicular tunnel recessiveness disease climbs wall detection robot | |
CN105013733B (en) | Transformer substation live washing auxiliary washing robot and method | |
CN113190002B (en) | Method for realizing automatic inspection by high-speed rail box girder inspection robot | |
CN106080626A (en) | A kind of Portable type full-automatic track, tunnel moving detection vehicle | |
CN206477237U (en) | A kind of Athey wheel road face repair robot system | |
CN108528400A (en) | The servicing work method of rolling stock roof | |
CN102841604B (en) | Towards rail system and the method for testing of tunnel cable crusing robot | |
AU2018101830A4 (en) | Pavement autonomous detection intelligent apparatus, robot system and detection method | |
CN210514100U (en) | Road and bridge crack detection and restoration integrated robot | |
CN104631239A (en) | Full-automatic railway track detection vehicle capable of avoiding trains | |
CN206510018U (en) | A kind of four-wheel drive road face repair robot system | |
CN204530352U (en) | The full-automatic rail track detection vehicle of train can be dodged | |
CN204035106U (en) | Living water washing Fu Chong robot of transformer station | |
CN103604418A (en) | Auxiliary bridge appearance detection device | |
CN112819766A (en) | Bridge defect overhauling method, device, system and storage medium |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20200807 Address after: 237000, 1st floor, 2nd floor, building 14, intelligent terminal Industrial Park, sansansanpu Town, Jin'an District, Lu'an City, Anhui Province Patentee after: Anhui Guimu robot Co., Ltd Address before: 610101 Sichuan City, Longquanyi province Jackie Chan Road, No. two, No. 50, building 2, floor 1, No. 888 Patentee before: CHENGDU GUIMU ROBOT Co.,Ltd. |