Automatic wall climbing type radar photoelectric robot system for nondestructive testing diagnosis of bridge and tunnel structure disease

Abstract

The invention discloses a bridge and tunnel structure, and an automatic wall climbing type radar photoelectric robot system for nondestructive testing of the bridge and tunnel structure. The system mainly comprises a control terminal, a wall climbing robot and a server. The wall climbing robot utilizes a rotor system for generating a reverse pushing force. Furthermore omnidirectional wheel technology is utilized. The automatic wall climbing type radar photoelectric robot system can cling to a coarse surface of the bridge and tunnel structure for performing flexible movement. In detection, no closing of the bridge or the tunnel is required, and no influence to traffic is realized. Only configuration of a plurality of UWB base stations and charging and data receiving devices on the bridge and tunnel structure is required. Through UWB positioning, laser SLAM and IMU navigation technology, different working areas can be divided in the bridge and tunnel. The automatic wall climbing type radar photoelectric robot system supports simultaneous working of a plurality of wall combing robots and can realize automatic path planning and automatic obstacle dodging. The automatic wall climbing type radar photoelectric robot system can realize unmanned regular automatic inspection.

Description

technical field [0001] The invention relates to an automatic wall-climbing radar photoelectric robot system used for non-destructive detection and diagnosis of bridge and tunnel structural diseases. Background technique [0002] At present, there are more than 300,000 bridges in service in our country. According to statistics, bridges with potential safety hazards and durability problems account for about 50% of the total, and even more than 70% in some areas, of which dangerous bridges account for 20% to 30%. The main forms are cracks, steel corrosion, concrete erosion, structural damage, etc. [0003] At present, my country has become the largest country in the world in terms of tunnel construction scale and construction speed. However, due to different tunnel construction times, different design standards and construction technology levels, and differences in engineering geological conditions, most tunnels have problems such as lining cracks, Contains various degrees of d...

AI Technical Summary

Problems solved by technology

[0007] (1) At present, the bridge and tunnel structure is mainly inspected manually, which is inefficient, and the judgment of the inspection results is very dependent on experience, so the accuracy cannot be guaranteed;

[0008] (2) The bridge-tunnel structure inspection vehicle based on the lifting trolley is very bulky, and the bridge or tunnel needs to be closed during inspection, which seriously affects normal traffic and has poor applicability;

[0009] (3) Existing wall-climbing robots mostly use the principles of vacuum devices and negative pressure devices, which make it difficult to work on the rough surface of bridge and tunnel structures;

[0010] (4) For wall-climbing robots based on GPS and IMU navigation devices, it is difficult for GPS to receive signals in deep tunnels and subsea tunnels, and the cumulative error of IMU for a long time is relatively large, making it difficult to achieve accurate navigation; using guide rails or navigation lines The wall-climbing robot needs to install guide rails on the bridge-tunnel structure or to the route, which is difficult and costly to promote

Images