CN207516258U - The multifunctional examining measuring car of narrow space - Google Patents
The multifunctional examining measuring car of narrow space Download PDFInfo
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- CN207516258U CN207516258U CN201720179296.7U CN201720179296U CN207516258U CN 207516258 U CN207516258 U CN 207516258U CN 201720179296 U CN201720179296 U CN 201720179296U CN 207516258 U CN207516258 U CN 207516258U
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Abstract
The utility model discloses a kind of multifunctional examining measuring car of narrow space, including mobile chassis, an at least telescopic rod, at least a high-definition camera, at least one repair mechanical arm, cement tub, tablet computer, light source, magnetic conductance tracing sensor, IR evading obstacle sensors, laser sensor and radio frequency identification module；The high-definition camera is mounted on corresponding telescopic rod, and telescopic rod is set on mobile chassis；High-definition camera, servicing machine arm, magnetic conductance tracing sensor, IR evading obstacle sensors, laser sensor and radio frequency identification module communicate respectively with tablet computer.The utility model has a variety of detection patterns and maintenance mode, has both controllability and automatic detecting ability, crawler type trolley can climb light grade, and the function-stable of magnetic navigation is at low cost, can be laid with over long distances.It detects vehicle and carries enough power supplys, be able to carry out the patrol task of long range, position positioning and obstacle avoidance are carried out with reference to image analysis technology and sensor technology.
Description
Technical field
The utility model belongs to intelligent patrol detection engineering device technique field, is related to a kind of multifunctional examining measuring car more particularly to one kind
The multifunctional examining measuring car of narrow space, including detection bassinet structure and detection vehicle control.
Background technology
With the fast development of China's infrastructure, the quantity of the long ranges narrow space such as tunnel increases rapidly in the past 30 years
Add.The gradual growth of service time, tunnel structure gradually exposes the different disease of degree, including crack, leakage, defect, mistake
Platform, seam opening and corrosion etc..These diseases constitute tunnel serious threat.Tunnel is likely to occur in order to cope with
Disease data, monitoring disease hair are collected there is an urgent need for periodically carrying out inspection to tunnel by substantial risk, tunnel operation maintenance and administrative department
Exhibition situation, to make maintenance measures.
The country relies on the inspection in tunnel artificial visual, conjunction measuring tool substantially at present, and hand dipping is recorded and adjusted in person
Information is looked into, but manual inspection is inefficient and measurement accuracy is limited.With information-based universal with automation, unmanned inspection
System is gradually applied to communal facility inspection field.Due to the particularity of tunnel structure, inspection device needs to overcome following difficulty：
(1) tunnel structure belongs to long range narrow space, can not accommodate large-scale inspection device, also has to small-sized inspection device
Requirement in terms of continuation of the journey.The guiding facilities of self-navigation want stability and durability, and unit cost is sufficiently low, to avoid over long distances
The cost overrun of laying.In addition, small-sized inspection device will be able to detect that all positions of tunnel top and both sides, it is impossible to lose
Leakage.
(2) major part structure in tunnel is in null zones, can not be positioned and be navigated using Wi-Fi and GPS.Inspection
Equipment needs to position and navigate using other modes.
(3) although there is fixed light source, still brightness is bad in tunnel, and general picture pick-up device can not normal photographing.It patrols
Inspection equipment needs to carry light source, the photosensitive property for detecting camera is required high.
(4) disease in tunnel can have an impact inspection device, wherein most importantly seeping water, usually occur in tunnel
Moisture conditions.Inspection device and navigational facility will have certain waterproof and dampproof ability.
(5) tunnel segment is complicated, can be there are slight slope and obstacle, and inspection device needs have the energy that must climb
Power, stabilization ability, avoidance ability either avoidance mechanism.
It, can be quickly and accurate using the equipment therefore, it is necessary to develop a kind of inspection device of self-navigation
Image information is collected in inspection tunnel.Coordinate image processing techniques, can efficiently defect information be quantified and be recorded.
Utility model content
Technical problem to be solved in the utility model is：A kind of multifunctional examining measuring car of narrow space is provided, by
Installation navigation obstacle avoidance apparatus and inspection device on inspection device, can efficiently, accurate, economy completion patrol task；Automatically it patrols
Phase-detecting saves manpower than manual inspection, and more comprehensively, accurately, also safer.
In order to solve the above technical problems, the utility model adopts the following technical solution：
A kind of multifunctional examining measuring car of narrow space, the multifunctional examining measuring car include：Mobile chassis, at least one stretch
Bar, at least a high-definition camera, at least a gyroscope holder, servicing machine arm, cement tub, tablet computer, light source, magnetic conductance track
Sensor, IR evading obstacle sensors, laser sensor and radio frequency identification module；
The telescopic rod is set on mobile chassis；High-definition camera, magnetic conductance tracing sensor, IR evading obstacle sensors,
Laser sensor and radio frequency identification module communicate respectively with tablet computer；
The mobile chassis is the crawler type that has in narrow space automatic obstacle-avoiding performance and can climb slight slope
Magnetic conductance dolly chassis at least meets the inspection work of two hours equipped with electricity；Chassis width is no more than 50cm, and navigation mode is soft
Magnetic stripe guides, and magnetic stripe is 50mm wide, and 1.2mm is thick, need to separately be equipped with and add magnetic machine, to ensure magnetic stabilization；
The multifunctional examining measuring car includes three high-definition cameras, and every is separately mounted on a gyroscope holder, top
Spiral shell instrument holder is mounted on telescopic rod；
Wherein, for the first video camera (3.1) at the top of the first telescopic rod (2.1), shooting direction is top；Second camera shooting
For machine (3.2) at the top of the second telescopic rod (2.2), shooting direction is right side；Third video camera (3.3) stretches mounted on third
At the top of bar (2.3), shooting direction is left side；
First telescopic rod (2.1) position among detection vehicle, the second telescopic rod (2.2) is mounted on the first telescopic rod
(2.1) right side, third telescopic rod (2.3) is on the left of the first telescopic rod (2.1)；
Every high-definition camera is equipped at least 128G storage cards；
The multifunctional examining measuring car includes at least one repair mechanical arm, the replaceable portion as mechanical arm high-definition camera
Part is positioned on telescopic rod；Cement tub is positioned over before telescopic rod, and on the right side of light source, on chassis, it is defeated that cement tub is equipped with cement
Pump is sent, it will be on cement transportation to mechanical arm by sebific duct；Servicing machine arm is three axle robert arm, and putty knife is housed at arm,
For smearing cement；
The mobile chassis is equipped with driving mechanism, and tablet computer is communicated with the driving mechanism, controls its action；Tablet electricity
Brain is positioned over behind telescopic rod, is stably mounted on domain, equipped with protective cover, prevents water and dust from damaging tablet computer；
The telescopic rod is equipped with telescopic rod driving mechanism, and telescopic rod driving mechanism is communicated with tablet computer；Three telescopic rods
It is mounted side by side on detection chassis, positioned at trolley centre position；
The multifunctional examining measuring car includes 4 infrared diffusing reflection avoidance sensor；First IR evading obstacle sensors are mounted on
The forepart of vehicle bottom；Second IR evading obstacle sensors are mounted on the tail portion of vehicle bottom；Third IR evading obstacle sensors are installed
On the left of car body, the 4th IR evading obstacle sensors are mounted on the right side of car body, are respectively positioned on inside crawler belt, are detected at axletree, but not
Wheel shaft running can be interfered with；
IR evading obstacle sensors have shell protection, water proof and dust proof；
The multifunctional examining measuring car includes 2 magnetic conductance tracing sensors；First magnetic conductance tracing sensor is mounted on institute downward
The forepart of vehicle bottom, the bottom of the first IR evading obstacle sensors are stated, but without departing from the first IR evading obstacle sensors；Second magnetic conductance
Tracing sensor is downward mounted on the tail portion of the vehicle bottom, the bottom of the second IR evading obstacle sensors, but without departing from first
IR evading obstacle sensors；
The radio frequency identification module is mounted on downwards the forepart of detection car bottom, positioned at the left side of the first tracing sensor,
RFID label is pasted on according to the distance between radio frequency identification module and the first tracing sensor on the left of magnetic navigation track；In addition,
Radio frequency identification module also applies radio frequency identification module, communicates wirelessly；
The laser sensor is on detection Chinese herbaceous peony portion, chassis；The laser sensor is used for narrow space
Anchor ring is continuously scanned；
With reference to radio frequency identification module and infrared sensor, detection vehicle has the function of automatically by specific automatically-controlled door；It is described
Automatically-controlled door is equipped with rfid device and switch accelerator control system.
A kind of multifunctional examining measuring car of narrow space, the multifunctional examining measuring car include：Mobile chassis, at least one stretch
Bar, at least a high-definition camera, at least a gyroscope holder, tablet computer, light source, magnetic conductance tracing sensor, infrared obstacle avoidance pass
Sensor, laser sensor and radio frequency identification module；
Telescopic rod is set on mobile chassis；High-definition camera, magnetic conductance tracing sensor, IR evading obstacle sensors, laser
Sensor and radio frequency identification module communicate respectively with tablet computer.
As a kind of preferred embodiment of the utility model, the mobile chassis is that have in narrow space automatic obstacle-avoiding
The crawler type magnetic conductance dolly chassis of slight slope can and can be climbed.
As a kind of preferred embodiment of the utility model, the multifunctional examining measuring car include three high-definition cameras, every
It is separately mounted on a gyroscope holder, each gyroscope holder is pinned on a telescopic rod；Wherein high-definition camera
Machine can use servicing machine arm to substitute, and be directly installed on telescopic rod.
Wherein, the first video camera is mounted at the top of the first telescopic rod, and shooting direction is top；Second video camera is mounted on the
At the top of two telescopic rods, shooting direction is right side；Third video camera is mounted at the top of third telescopic rod, and shooting direction is left side；Water
Mud groove is positioned over before telescopic rod, on the right side of light source.
First telescopic rod is mounted on position among detection vehicle, and the second telescopic rod is mounted on the right side of the first telescopic rod, and third is stretched
Contracting bar is mounted on the left of the first telescopic rod.
As a kind of preferred embodiment of the utility model, the mobile chassis is equipped with driving mechanism, tablet computer with it is described
Driving mechanism communicates, and controls its action.
As a kind of preferred embodiment of the utility model, the telescopic rod is equipped with telescopic rod driving mechanism, telescopic rod driving
Mechanism is communicated with tablet computer.
As a kind of preferred embodiment of the utility model, the tablet computer is connect with high-definition camera by Wi-fi, is read
Take video stream data.
As a kind of preferred embodiment of the utility model, the multifunctional examining measuring car includes 4 IR evading obstacle sensors；The
One IR evading obstacle sensors are mounted on the forepart of vehicle bottom；Second IR evading obstacle sensors are mounted on the tail portion of vehicle bottom；
Third IR evading obstacle sensors are mounted on the left of car body, and the 4th IR evading obstacle sensors are mounted on the right side of car body, are respectively positioned on crawler belt
Inside is detected at axletree, but not interferes with wheel shaft running.
As a kind of preferred embodiment of the utility model, the multifunctional examining measuring car includes 2 magnetic conductance tracing sensors；The
One magnetic conductance tracing sensor is downward mounted on the forepart of the vehicle bottom, the bottom of the first IR evading obstacle sensors, but do not surpass
Go out the first IR evading obstacle sensors；Second magnetic conductance tracing sensor is downward mounted on the tail portion of the vehicle bottom, second infrared
The bottom of avoidance sensor, but without departing from the first IR evading obstacle sensors.
As a kind of preferred embodiment of the utility model, before the radio frequency identification module is mounted on downwards detection car bottom
Portion, positioned at the left side of the first tracing sensor, RFID label according between radio frequency identification module and the first tracing sensor away from
From being pasted on the left of magnetic navigation track.
Detection vehicle described in the utility model is gathered around there are three types of patrol mode and maintenance mode, and patrol mode includes：Automatically
Pattern, semi-automatic artificial auxiliary mode and manual control pattern.Fully automatic mode is automatically according to the magnetic being laid with by detection vehicle
Sense carries out inspection, in the process without manual operation, take it is long, without network and operating process it is simple, traveling road conditions are steady
It is fixed.Semi-automatic artificial auxiliary mode is also, be the patrol mode supplemented by manual operation by based on detection vehicle automatically traveling inspection.It patrols
The support of network is needed during inspection, needs to perform the action other than full-automatic inspection, it is flexible including shooting photo, adjustment
Bar.Manual control pattern completely by manual control detect Chinese herbaceous peony into and perform operation, it is complicated suitable for road conditions, apart from short, need
Perform the narrow space operated outside more fully automatic mode.Maintenance mode is used for the simplified overhauling for disease.
The primary operational flow that detection vehicle is under fully automatic mode includes：Detect garage into recorded video, use image
Processing system handles institute's recorded video, obtains defect information later by manually carrying out reinspection verification, to determine that disease is believed
Breath.In the repair stage, by detection vehicle with maintenance mode, by operating servicing machine arm, carry out simplified overhauling to disease, it is dangerous and
Complicated disease generally requires artificial and detection vehicle cooperation and repairs.
The operating process of wherein image processing program is：Video flowing is obtained, using frame difference method, setting certain intervals acquisition regards
Frequency suitable frame picture in flowing, complete anchor ring is shown.Then straight line is captured using improved edge canny algorithms
Edge pixel filters random noise so that obtained each border width is single pixel, by calculating border area pixels
Variance and average dispersion degree of the Grad of point relative to maximum value, the corresponding pixel in removal strong edge region are remaining
Weak fringe region determines Low threshold, significantly detects edge contour.Position coordinates system is set up, finally by clustering out disease
Feature point set, carries out the fuzzy model inquiry of 6 kinds of Damage Types, and wherein fuzzy model inquiry is included based on cluster feature point set
Textural characteristics, shape feature and spatial relationship finally determine type by the defined similarity measurement factor.Carry out sweeping for disease
Retouch with match after, identify the disease on anchor ring, and record the anchor ring residing for disease and position.
Used pattern when maintenance mode performs maintenance operation for detection vehicle, maintenance mode need to be suitable for semi-automatic patrol
The condition of inspection pattern.When detection vehicle is in maintenance mode, detection vehicle can be preset and go out to stop in the disease for needing to repair, then
By staff's remote operation, picture synchronization transmission is carried out using high-definition camera.Operating robotic arm and telescopic rod are to suitably
Position and posture start cement pump, by cement transportation to mechanical arm, are uniformly applied on grey trowel.Then repairing journey is performed
Sequence, the smearing in region is carried out according to preset size, and area size is set in advance according to narrow space situation.Finally shooting repairing
Photo afterwards performs image processing program, calculates and examines whether repairing achieves the desired results, if not having, repairs again, until
It meets the requirements.
Detection vehicle described in the utility model has the characteristics that automatic identification ring number.It is high while detection vehicle is shot with video-corder in real time
Video data is transmitted in tablet computer by clear camera.Tablet computer handles video data in real time, is obtained first using frame difference method
Suitable anchor ring figure.Defined inspection detection speed is 0.4m/s, and if only if the mileage number of detection vehicle traveling and the ratio of speed
It is worth for when anchor ring is long under tunnel, this ratio is taken as frame difference, and a frame image is taken to be located in advance every a frame difference
Reason.Then using improved edge canny algorithms, linear edge pixel is captured, filters random noise so that each edge is wide
Degree is all single pixel, by calculating the Grad of border area pixels point relative to the variance of maximum value and average discrete journey
Degree, removal strong edge region corresponding pixel, remaining weak fringe region determine lowest threshold, you can significantly detect
Edge contour.Every ring frame, and the anchor ring number travelled through as statistics are identified with this.In order to reduce error, by whole tunnel
Road is cut with fire resistant doorsets or automatically-controlled door, works as ring number residing for front door as basic numerical value by being obtained when each door, at two
Using anchor ring frame counting method between door, it is accumulated in substantially numerically, it is possible to which ring number is calculated with smaller error automatically.
Detection vehicle described in the utility model has the characteristics that identification ring facial disfigurement.The laser sensor that detection vehicle is equipped
Persistently anchor ring can be scanned during advancing, obtained section point cloud data is sent in tablet computer and is stored.If
Detection vehicle is in full-automatic patrol mode, then saves data, and inspection by image processing platform calculates data after terminating.
If detection vehicle is in semi-automatic patrol mode, data are handled in real time by transmission of network to image processing platform.Point cloud number
It is as follows according to the method for processing：
1) point cloud data is converted and imported into matlab, carry out nurbs curve fitting.First use uniformity parameter
Method carries out the parametrization of data point, and controlling polygon is regarded as to the circumscribed polygon of spline curve, makes the segmentation tie point of curve
It is corresponding with controlling polygon vertex or side, it finally spreads out and is in line, standardize, obtain the calculating of knot vector
Argument sequence.Knot vector computational methods are：
2) nurbs curve equation matrix coefficient, tangent vector are calculated.Nurbs curve equation is expressed as matrix form.With control
Make point diWith weight factor wiForm cum rights control point matrix Di, coefficient matrix K.Each node interval [u will be defined oni,ui+1] on
Ni,2(u) the parameter u in is according to u (t)=(1-t) ui+tui+1(0≤t≤1) does parameter transformation.So i-th section of corresponding song
Wire matrix expression formula is：
Wherein：
3) nurbs curve equation is expressed as matrix form, calculates nurbs curve equation matrix coefficient, tangent vector.Then
When being fitted using nurbs curve using data point to control point carry out inverse.The boundary condition used is takes first and last endpoint
Arrow condition is cut as two known boundaries condition attachment equations, corresponding boundary condition equation is：
Wherein, arrow is cut for first and last data point.The linear equation matrix form at the unknown control point of curve is at this time：
Open curve control vertex can be acquired by solving the system of linear equations.
4) according to the control point acquired, nurbs curve is established in segmentation, is fitted tunnel cross-section.The tunnel cross-section that will be fitted
It is compared with standard section, can detect whether there is apparent deformation, it is fixed in the ring number numerical ability plus detection vehicle
Position deformation disease.
Detection vehicle described in the utility model has the characteristics that automatically by specific automatically-controlled door.Automatically-controlled door uses less radio-frequency
Identification technology can continue to emit specific high frequency identification signal.Judged by infrared sensor, detection garage enters identification range
Interior, detecting the radio frequency identification module of vehicle can continue to receive the high-frequency signal that transmission gate is sent, if identifying signal, detection vehicle is sent out
Enabling signal, retraction telescopic rod simultaneously close automatically-controlled door and detect signal.Automatically-controlled door starts open door procedure, and detection vehicle is allowed to pass through.Inspection
After measuring car is by automatically-controlled door, if marching to except infrared sensor induction range, radio frequency identification module is opened, is recognized automatic
After the signal that door is sent out, telescopic rod is stretched, door signal is sent out and closes radio frequency identification module.Automatically-controlled door opens after receiving signal
Dynamic close door procedure.
The beneficial effects of the utility model are：The utility model proposes narrow space multifunctional examining measuring car, have both
Controllability and automatic detecting ability, crawler type trolley can climb light grade, and the function-stable of magnetic navigation is at low cost, can be with
It is laid with over long distances.It detects vehicle and carries enough power supplys, be able to carry out the patrol task of long range.
The utility model carries light source and the video camera for having used photosensitive property powerful, and it is more dark to can adapt to tunnel
Environment.Using the structure assembled carriage of waterproof antirust, inspection device also has water resistance and water-tight device, and wet environment is not
Influence whether inspection process.The startup of routinely avoidance is carried out with reference to RF tag.All there is avoidance ability after detecting Chinese herbaceous peony, it can
To adapt to tunnel structure complex environment and emergency case.Automatic detecting saves manpower compared to manual inspection, and more complete
It is face, accurate, it is also safer.
Description of the drawings
Fig. 1 is the structure diagram of the multifunctional examining measuring car of the utility model narrow space.
Fig. 2 is radio frequency identification module and telescopic rod linkage flow chart.
Fig. 3 is image processing system flow chart.
Fig. 4 is automatic identification ring number system flow chart.
Specific embodiment
The preferred embodiment of the utility model is described in detail below in conjunction with the accompanying drawings.
Embodiment one
Referring to Fig. 1, the utility model discloses a kind of multifunctional examining measuring car of narrow space, including：Mobile chassis 1,
Telescopic rod 2.1,2.2,2.3, high-definition camera 3.1,3.2,3.3, tablet computer 4, light source 5, magnetic conductance tracing sensor 6.16.2,
IR evading obstacle sensors 7.1,7.2,7.3,7.4, laser sensor 8 and radio frequency identification module 9.
The mobile chassis 1 is the crawler belt that has in narrow space automatic obstacle-avoiding performance and can climb slight slope
Formula magnetic conductance dolly chassis.
The high-definition camera shares three 3.1,3.2,3.3, and every is separately mounted on a telescopic rod.Wherein take the photograph
Camera 3.1 is mounted on 2.1 top of telescopic rod, and shooting direction is top；Video camera 3.2 is mounted on 2.2 top of telescopic rod, shooting
Direction is right side；Video camera 3.3 is mounted on 2.3 top of telescopic rod, and shooting direction is left side.Telescopic rod 2.1 is mounted on detection vehicle
Intermediate position, telescopic rod 2.2 are mounted on 2.1 right side of telescopic rod, and telescopic rod 2.3 is mounted on 2.1 left side of telescopic rod.Wherein high definition is taken the photograph
Camera can use servicing machine arm to substitute, and on telescopic rod, position is identical.If equipping mechanical arm, on the right side of light source, stretch
Place cement tub in 3.2 front of contracting bar.
The tablet computer 4 can be with the direction of manual control trolley：Advance, stop, returning, control telescopic rod 2.1,
2.2nd, 2.3 gait of march gear that is flexible and changing trolley.Under semiautomatic-mode, tablet computer 4 can be with height
Clear video camera 3.1,3.2,3.3 reads video stream data, defect information is calculated by image processing program by Wi-Fi connection.
The IR evading obstacle sensors 7.1 are mounted on the forepart of vehicle bottom；IR evading obstacle sensors 7.2 are mounted on vehicle
The tail portion of body bottom；IR evading obstacle sensors 7.3 are mounted on the left of car body, and IR evading obstacle sensors 7.4 are mounted on the right side of car body,
It is respectively positioned on inside crawler belt, detects at axletree, but not interfere with wheel shaft running.IR evading obstacle sensors 7.1,7.2,7.3,
7.4 using diffusing reflection carrier system to carry out effective avoidance.
The magnetic conductance tracing sensor 6.1 is mounted on the forepart of the vehicle bottom, IR evading obstacle sensors 7.1 downward
Bottom, but without departing from IR evading obstacle sensors 7.1；Magnetic conductance tracing sensor 6.2 is mounted on the tail portion of the vehicle bottom downward,
7.2 bottom of IR evading obstacle sensors, but without departing from IR evading obstacle sensors 7.1.
The laser sensor 8 is mounted on detection Chinese herbaceous peony portion, is positioned over before telescopic rod 2.1, bottom is raised and fixed.Swash
8 front of optical sensor cannot place any shelter, raise height and depend on narrow space size, but must not be higher than telescopic rod,
Preferred embodiment is increases 20cm.
The radio frequency identification module 9 is mounted on downwards the intermediate position of detection car bottom, and RFID label is known according to radio frequency
Other module 9 is pasted on magnetic navigation track, with magnetic navigation Orbital Overlap.It, will if radio frequency identification module 9 recognizes RFID label
Preset action can be performed.Included by the combination of actions of fire resistant doorsets：Detect vehicle stop movement, telescopic rod 2.1,2.2,
2.3 automatic 35 centimetres of declines simultaneously.After 35 seconds, detection vehicle starts.After fire resistant doorsets, telescopic rod rises to original position
It puts.
As shown in table 1, the detection vehicle is gathered around there are three types of patrol mode, including：Automatic mode, semi-automatic artificial auxiliary mode
With manual control pattern.Fully automatic mode is to carry out inspection automatically according to the magnetic induction track being laid with by detection vehicle, in the process
Without manual operation, take it is long, without network and operating process it is simple, traveling road conditions are stablized.Semi-automatic artificial auxiliary mode is
Based on detection vehicle automatically traveling inspection, the patrol mode supplemented by manual operation.The support of network is needed during inspection, is needed
The action other than full-automatic inspection is performed, including shooting photo, adjustment telescopic rod.Manual control pattern is completely by manual control
Detection Chinese herbaceous peony into and performs operation, suitable for road conditions complexity, apart from short, need to perform the narrow of more fully automatic mode operation outside
Narrow space.It is automatic mode described in the present embodiment.
As shown in Fig. 2, not causing to collide to pass through fire resistant doorsets, radio frequency identification module 21 and telescopic rod 23 are needed
It is dynamic.When laying magnetic navigation track, RFID label tag is placed at 1 meter before fire resistant doorsets, on magnetic navigation track, and is identified
Come, artificially to calibrate.When formal detection, radio frequency identification module 21 can continue to read RFID label tag, if identification outgoing label, leads to
Control system is crossed, control power supply 22 is powered.Detection vehicle motor 24 is out of service, and three telescopic rods 33 simultaneously decline default height
Degree starts motor 24 and moves on.After 15 seconds, detection vehicle starts to extend the position before telescopic rod 23 arrives by safety door
It puts.Radio frequency identification module 21 continues to start to read RFID label, according to this flow repeatedly.
As shown in figure 3, high definition video camera 31 can continue recorded video, tablet computer 32 is taken the photograph by Wi-Fi with high definition always
Record machine is connected, and reads real-time video flowing.32 operation image processing routine of tablet computer, to every frame image procossing, and judges
With the presence or absence of disease.If there are disease, high-definition camera 21 is controlled to shoot disease photo, tablet computer 32 calculates disease classification
And supplemental characteristic, and data and photographic intelligence are preserved.Detection is repeated according to this flow.
As shown in figure 4, high definition camera 41 can continue recorded video, tablet computer 42 is shot with video-corder by Wi-Fi with high definition always
Machine is connected, and reads real-time video flowing.Tablet computer 41 detects the fire resistant doorsets occurred in video flowing and every ring anchor ring side in real time
Frame.Detect fire resistant doorsets, the position constant according to fire resistant doorsets, will identification until identifying next fire resistant doorsets as basic point
To anchor ring frame number add up.Identification of the calibration for ring number, can calculate the accuracy of identification while identifying fire resistant doorsets.Meter
Timing node in the ring number of calculating and residing video flowing will be saved in database.
In conclusion the utility model proposes narrow space multifunctional examining measuring car, have both and controllability and patrol automatically
Inspection ability, crawler type trolley can climb light grade, and the function-stable of magnetic navigation is at low cost, can be laid with over long distances.Detect vehicle
Enough power supplys are carried, are able to carry out the patrol task of long range.
The utility model carries light source and the video camera for having used photosensitive property powerful, and it is more dark to can adapt to tunnel
Environment.Using the structure assembled carriage of waterproof antirust, inspection device also has water resistance and water-tight device, and wet environment is not
Influence whether inspection process.The startup of routinely avoidance is carried out with reference to RF tag.All there is avoidance ability after detecting Chinese herbaceous peony, it can
To adapt to tunnel structure complex environment and emergency case.Automatic detecting saves manpower compared to manual inspection, and more complete
It is face, accurate, it is also safer.
Here the utility model description and application be illustrative, be not wishing to the scope of the utility model being limited in
It states in embodiment.The deformation and change of embodiments disclosed herein are possible, for the ordinary skill people of those this fields
The replacement of embodiment and equivalent various parts are well known for member.It should be appreciated by the person skilled in the art that not taking off
In the case of spirit or essential characteristics from the utility model, the utility model can in other forms, structure, arrangement, ratio,
And it is realized with other components, material and component.It, can be to this in the case where not departing from the scope of the utility model and spirit
In disclosed embodiment carry out other deformations and change.
Claims (9)
1. the multifunctional examining measuring car of a kind of narrow space, which is characterized in that the multifunctional examining measuring car includes：Mobile chassis, extremely
A few telescopic rod, an at least high-definition camera, an at least gyroscope holder, servicing machine arm, cement tub, tablet computer, light source,
Magnetic conductance tracing sensor, IR evading obstacle sensors, laser sensor and radio frequency identification module；
The telescopic rod is set on mobile chassis；High-definition camera, magnetic conductance tracing sensor, IR evading obstacle sensors, laser
Sensor and radio frequency identification module communicate respectively with tablet computer；
The mobile chassis is the crawler type magnetic conductance that has in narrow space automatic obstacle-avoiding performance and can climb slight slope
Dolly chassis at least meets the inspection work of two hours equipped with electricity；Chassis width is no more than 50cm, and navigation mode is soft magnetic stripe
Guiding, magnetic stripe are 50mm wide, and 1.2mm is thick, need to separately be equipped with and add magnetic machine, to ensure magnetic stabilization；
The multifunctional examining measuring car includes three high-definition cameras, and every is separately mounted on a gyroscope holder, gyroscope
Holder is mounted on telescopic rod；
Wherein, for the first video camera (3.1) at the top of the first telescopic rod (2.1), shooting direction is top；Second video camera
(3.2) at the top of the second telescopic rod (2.2), shooting direction is right side；Third video camera (3.3) is mounted on third telescopic rod
(2.3) top, shooting direction is left side；
First telescopic rod (2.1) position among detection vehicle, the second telescopic rod (2.2) is mounted on the first telescopic rod (2.1)
Right side, third telescopic rod (2.3) is on the left of the first telescopic rod (2.1)；
Every high-definition camera is equipped at least 128G storage cards；
The multifunctional examining measuring car includes at least one repair mechanical arm, as the plug-in package of mechanical arm high-definition camera, puts
It is placed on telescopic rod；Cement tub is positioned over before telescopic rod, and on the right side of light source, on chassis, cement tub is equipped with cement pump,
It will be on cement transportation to mechanical arm by sebific duct；Servicing machine arm is three axle robert arm, putty knife is housed at arm, for applying
Smear cement；
The mobile chassis is equipped with driving mechanism, and tablet computer is communicated with the driving mechanism, controls its action；Tablet computer is put
It is placed in behind telescopic rod, is stably mounted on domain, equipped with protective cover, prevent water and dust from damaging tablet computer；
The telescopic rod is equipped with telescopic rod driving mechanism, and telescopic rod driving mechanism is communicated with tablet computer；Three telescopic rods are side by side
On detection chassis, positioned at trolley centre position；
The multifunctional examining measuring car includes 4 infrared diffusing reflection avoidance sensor；First IR evading obstacle sensors are mounted on car body
The forepart of bottom；Second IR evading obstacle sensors are mounted on the tail portion of vehicle bottom；Third IR evading obstacle sensors are mounted on vehicle
On the left of body, the 4th IR evading obstacle sensors are mounted on the right side of car body, are respectively positioned on inside crawler belt, are detected at axletree, but not dry
Disturb wheel shaft running；
IR evading obstacle sensors have shell protection, water proof and dust proof；
The multifunctional examining measuring car includes 2 magnetic conductance tracing sensors；First magnetic conductance tracing sensor is mounted on the vehicle downward
The forepart of body bottom, the bottom of the first IR evading obstacle sensors, but without departing from the first IR evading obstacle sensors；Second magnetic conductance tracks
Sensor is but infrared without departing from first downward mounted on the tail portion of the vehicle bottom, the bottom of the second IR evading obstacle sensors
Avoidance sensor；
The radio frequency identification module is mounted on downwards the forepart of detection car bottom, positioned at the left side of the first tracing sensor, RFID
Mark is pasted on according to the distance between radio frequency identification module and the first tracing sensor on the left of magnetic navigation track；In addition, radio frequency
Identification module also applies radio frequency identification module, communicates wirelessly；
The laser sensor is on detection Chinese herbaceous peony portion, chassis；The laser sensor is used for the anchor ring to narrow space
Continuously scanned；
With reference to radio frequency identification module and infrared sensor, detection vehicle has the function of automatically by specific automatically-controlled door；It is described automatic
Door is equipped with rfid device and switch accelerator control system.
2. the multifunctional examining measuring car of a kind of narrow space, which is characterized in that the multifunctional examining measuring car includes：Mobile chassis, extremely
It is a few telescopic rod, an at least high-definition camera, an at least gyroscope holder, tablet computer, light source, magnetic conductance tracing sensor, red
Outer avoidance sensor, laser sensor and radio frequency identification module；
The telescopic rod is set on mobile chassis；High-definition camera, magnetic conductance tracing sensor, IR evading obstacle sensors, laser
Sensor and radio frequency identification module communicate respectively with tablet computer；
The high-definition camera is set on corresponding telescopic rod；The multifunctional examining measuring car is passed including 4 infrared diffusing reflection avoidance
Sensor；First IR evading obstacle sensors are mounted on the forepart of vehicle bottom；Second IR evading obstacle sensors are mounted on vehicle bottom
Tail portion；Third IR evading obstacle sensors are mounted on the left of car body, and the 4th IR evading obstacle sensors are mounted on the right side of car body；
The multifunctional examining measuring car includes 2 magnetic conductance tracing sensors；First magnetic conductance tracing sensor is mounted on car body bottom downward
The forepart in portion, the bottom of the first IR evading obstacle sensors, but without departing from the first IR evading obstacle sensors；Second magnetic conductance tracks sensing
Device senses downward mounted on the tail portion of vehicle bottom, the bottom of the second IR evading obstacle sensors, but without departing from the first infrared obstacle avoidance
Device；
The laser sensor is mounted on detection Chinese herbaceous peony portion；The radio frequency identification module is mounted on downwards in detection car bottom
Between position.
3. the multifunctional examining measuring car of narrow space according to claim 2, it is characterised in that：
The mobile chassis is the crawler type magnetic conductance that has in narrow space automatic obstacle-avoiding performance and can climb slight slope
Dolly chassis；Chassis width is no more than 50cm, and magnetic stripe is 50mm wide, and 1.2mm is thick.
4. the multifunctional examining measuring car of narrow space according to claim 2, it is characterised in that：
The multifunctional examining measuring car includes three high-definition cameras, and every is separately mounted on a gyroscope holder, gyroscope
Holder is mounted on telescopic rod；
Wherein, for the first video camera (3.1) at the top of the first telescopic rod (2.1), shooting direction is top；Second video camera
(3.2) at the top of the second telescopic rod (2.2), shooting direction is right side；Third video camera (3.3) is mounted on third telescopic rod
(2.3) top, shooting direction is left side；
First telescopic rod (2.1) position among detection vehicle, the second telescopic rod (2.2) is mounted on the first telescopic rod (2.1)
Right side, third telescopic rod (2.3) is on the left of the first telescopic rod (2.1)；Every high-definition camera is equipped at least 128G storages
Card.
5. the multifunctional examining measuring car of narrow space according to claim 2, it is characterised in that：
The multifunctional examining measuring car includes at least one repair mechanical arm, cement tub, as the replaceable of mechanical arm high-definition camera
Component is positioned on telescopic rod；Cement tub is positioned over before telescopic rod, and on the right side of light source, on chassis, cement tub is equipped with cement
Delivery pump, will be on cement transportation to mechanical arm by sebific duct；Servicing machine arm is three axle robert arm, and putty is housed at arm
Knife, for smearing cement.
6. the multifunctional examining measuring car of narrow space according to claim 2, it is characterised in that：
The mobile chassis is equipped with driving mechanism, and tablet computer is communicated with the driving mechanism, controls its action；Tablet computer is put
It is placed in behind telescopic rod, is stably mounted on domain, equipped with protective cover, prevent water and dust from damaging tablet computer；
In the case where network communication is accessible, tablet computer carries out remote interaction by Wi-fi and manually-operated equipment.
7. the multifunctional examining measuring car of narrow space according to claim 2, it is characterised in that：
The telescopic rod is equipped with telescopic rod driving mechanism, and telescopic rod driving mechanism is communicated with tablet computer；Three telescopic rods are side by side
On detection chassis, positioned at trolley centre position.
8. the multifunctional examining measuring car of narrow space according to claim 2, it is characterised in that：
4 infrared diffusing reflection avoidance sensor is respectively positioned on inside crawler belt, is detected at axletree, but not interferes with wheel shaft running；
IR evading obstacle sensors have shell protection, water proof and dust proof.
9. the multifunctional examining measuring car of narrow space according to claim 2, it is characterised in that：
The radio frequency identification module is mounted on downwards the forepart of detection car bottom, positioned at the left side of the first tracing sensor, RFID
Mark is pasted on according to the distance between radio frequency identification module and the first tracing sensor on the left of magnetic navigation track；In addition, radio frequency
Identification module also applies radio frequency identification module, communicates wirelessly；
The laser sensor is on detection Chinese herbaceous peony portion, chassis；The laser sensor is used for the anchor ring to narrow space
Continuously scanned；With reference to radio frequency identification module and infrared sensor, detection vehicle has the work(automatically by specific automatically-controlled door
Energy；Automatically-controlled door is equipped with rfid device and switch accelerator control system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720179296.7U CN207516258U (en) | 2017-02-27 | 2017-02-27 | The multifunctional examining measuring car of narrow space |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720179296.7U CN207516258U (en) | 2017-02-27 | 2017-02-27 | The multifunctional examining measuring car of narrow space |
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| CN207516258U true CN207516258U (en) | 2018-06-19 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109282993A (en) * | 2018-08-23 | 2019-01-29 | 湖南农业大学 | A kind of shoe rail integration transferring platform and crawler body skidding detection method |
| CN113280749A (en) * | 2021-06-02 | 2021-08-20 | 钱国忠 | Instrument for measuring warping degree of web plate of large plate girder |
| JP2021528631A (en) * | 2019-05-30 | 2021-10-21 | 国網浙江寧波市▲イン▼州区供電有限公司Ｓｔａｔｅ Ｇｒｉｄ Ｚｈｅｊｉａｎｇ Ｎｉｎｇｂｏ Ｙｉｎｚｈｏｕ Ｐｏｗｅｒ Ｓｕｐｐｌｙ Ｌｉｍｉｔｅｄ Ｃｏｍｐａｎｙ | Pipeline deformation detection device |
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2017
- 2017-02-27 CN CN201720179296.7U patent/CN207516258U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109282993A (en) * | 2018-08-23 | 2019-01-29 | 湖南农业大学 | A kind of shoe rail integration transferring platform and crawler body skidding detection method |
| JP2021528631A (en) * | 2019-05-30 | 2021-10-21 | 国網浙江寧波市▲イン▼州区供電有限公司Ｓｔａｔｅ Ｇｒｉｄ Ｚｈｅｊｉａｎｇ Ｎｉｎｇｂｏ Ｙｉｎｚｈｏｕ Ｐｏｗｅｒ Ｓｕｐｐｌｙ Ｌｉｍｉｔｅｄ Ｃｏｍｐａｎｙ | Pipeline deformation detection device |
| JP7116939B2 (en) | 2019-05-30 | 2022-08-12 | 国網浙江寧波市▲イン▼州区供電有限公司 | Pipe line deformation detector |
| CN113280749A (en) * | 2021-06-02 | 2021-08-20 | 钱国忠 | Instrument for measuring warping degree of web plate of large plate girder |
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