Omnidirectional movement unmanned driving platform method based on highway tunnel crack detection

An unmanned, highway technology, applied in measurement devices, two-dimensional position/channel control, instruments, etc., can solve the problem of not getting rid of the participation of technicians, and achieve the effect of improving accuracy

Active Publication Date: 2018-01-16
SHENYANG POLYTECHNIC UNIV
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Problems solved by technology

[0003] At home and abroad, the process of tunnel crack detection based on

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  • Omnidirectional movement unmanned driving platform method based on highway tunnel crack detection
  • Omnidirectional movement unmanned driving platform method based on highway tunnel crack detection
  • Omnidirectional movement unmanned driving platform method based on highway tunnel crack detection

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[0059] The invention provides an omnidirectional mobile unmanned driving platform based on expressway tunnel crack detection, which is characterized in that: the platform includes a car body (5) and a mecanum wheel (30) arranged at the bottom of the car body (5); The mecanum wheel is arranged on the bottom of the car body (5) through a stage clip (31). The motor is connected, the motor is connected to the motor drive, the motor drive is connected to the main control single-chip microcomputer (13), and the main control single-chip microcomputer (13) is connected to the computer (18), ultrasonic module, GPS and nine-axis sensor module (2); the computer (18) is connected to the laser Radar (3) and camera;

[0060] The laser radar (3) is installed on the top of the car body (5); there are four ultrasonic sensors, and two of the four ultrasonic sensors are installed on the left and right sides of the car body; the GPS and nine-axis sensor modules (2) are supported on the car body b...

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Abstract

The invention provides an omnidirectional movement unmanned driving platform method based on highway tunnel crack detection. The platform comprises a vehicle body and Mecanum wheels arranged at the bottom of the vehicle body. The Mecanum wheels are arranged at the bottom of the vehicle body through pressure springs. The pressure springs at the left side and the right side are configured in a reversed-V-shaped manner in which the pressure springs gradually incline outwards from top to bottom. The Mecanum wheels are connected with a motor in the vehicle body. The motor is connected with a motordriver. The motor driver is connected with a master control single-chip microcomputer. The master control single-chip microcomputer is connected with a computer, an ultrasonic module, a GPS and a nine-axis sensor module. The computer is connected with a laser radar (3) and a camera. The omnidirectional movement unmanned driving platform method has advantages of well settling problems of high speed, high efficiency and high automation in tunnel detection, realizing high significance, reducing wastage of a large amount of manpower and physical resource in highway tunnel crack detection, and greatly improving crack detection accuracy.

Description

Technical field: [0001] The invention belongs to the technical field of unmanned driving, and relates to the fields of machine vision, image processing, simultaneous positioning and mapping (SLAM), inertial navigation and electro-mechanical control, and in particular to an omnidirectional unmanned vehicle based on expressway tunnel crack detection. driving system. Background technique: [0002] Since the beginning of the 21st century, with the rapid development of the national economy, especially under the historical opportunity of the "7918" national expressway network planning and the development of the western region, the construction of highway tunnels has entered a period of rapid development. In the past ten years, the annual growth rate of road tunnels has reached 24%, which is much higher than the growth rate of roads and bridges. The importance of road tunnels has become increasingly prominent. At present, my country is the country with the most road tunnels and th...

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Application Information

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IPC IPC(8): G05D1/02G01D21/02
Inventor 薛丹刁羽峰
Owner SHENYANG POLYTECHNIC UNIV
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