A roadbed flatness detection system and working method based on a quadruped robot
The technology of a quadruped robot and detection system is applied in the field of road smoothness detection, which can solve the problems of low detection accuracy and large workload, and achieve the effect of improving accuracy and reducing personnel input.
Active Publication Date: 2022-05-20
WUHAN MUNICIPAL CONSTR GROUP
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[0006] The technical problem to be solved by the present invention is to provide a roadbed smoothness detection system and working method based on a quadruped robot for the defects of heavy workload and low detection accuracy caused by the three-meter ruler detection in the prior art
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[0048] To make the object, technical solution and advantages of embodiments of the present invention more clear, the following will be combined with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be a clear and complete description, obviously, the embodiments described are part of the embodiments of the present invention, not all embodiments. Based on embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work, are within the scope of protection of the present invention.
[0049] as Figure 1 As shown, embodiments of the present invention is based on a four-legged robot subgrade flatness detection system, comprising: a quadruped robot, an RTK positioning system, a lidar, an external panoramic camera, a PC-side data output window, an integrated mobile module, an automatic positioning system, a CAN / wireless prot...
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The invention discloses a roadbed smoothness detection system and working method based on a quadruped robot. The detection system uses a quadruped robot, an RTK positioning system, a laser radar, an external panoramic camera, and a PC terminal as a hardware system, and integrates mobile modules, autonomous Positioning system, CAN / wireless protocol, reality modeling system, and maximum clearance index calculation system are used as software systems. The roadbed smoothness detection system based on quadruped robot uses the quadruped robot as the carrier, obtains the 3D model of the roadbed surface through panoramic modeling, and performs path planning for flatness detection. The quadruped robot can be equipped with a panoramic camera to obtain high-definition sampling points according to the specified trajectory images, and on the basis of using high-definition images to establish a 3D real-scene model, accurately obtain the elevation data of each sample point within a three-meter straight line range, and use the maximum gap index calculation system to obtain the flatness detection results. The invention improves the accuracy and effectiveness of the flatness detection and realizes the intelligentization of the flatness detection.
Description
Technical field [0001] The present invention relates to road flatness detection technology, in particular to a roadbed flatness detection system based on a quadruped robot and working method. Background [0002] Road surface roughness (Road Surface Roughness) refers to the deviation value of the longitudinal bump of the road surface, which is one of the important technical indicators for evaluating the quality of the road surface, which is related to the safety and comfort of driving, as well as the size and service life of the impact force that the road surface can withstand. Uneven road surfaces will increase the resistance of driving, so that the vehicle produces additional vibration effects, not only affecting the speed and safety of driving, but also affecting the smoothness of driving and the comfort of passengers. Therefore, it is necessary to test and maintain the uniformity of the pavement. [0003] Subgrade flatness refers to the deviation value of the longitudinal conc...
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IPC IPC(8): G01B11/30
CPCG01B11/30
Inventor 周诚肖铭钊骆汉宾王洪伟陈维亚蔡明霞张勇刘颖卢吉
Owner WUHAN MUNICIPAL CONSTR GROUP