Roadbed compactness detection robot and detection method

Abstract

The invention relates to the technical field of road engineering detection, in particular to a roadbed compactness detection robot and a detection method.The roadbed compactness detection robot comprises a crawler chassis, and the crawler chassis is provided with a mechanical arm, a drying box, a brush mechanism, a soil sampling device and a depth camera mechanism; the soil sampling device comprises a sliding module arranged at the front end of the crawler chassis, a drilling mechanism is movably mounted on the sliding module, a first motor used for driving the drilling mechanism to operate is further mounted on the sliding module, the depth camera mechanism comprises a fixing tool fixedly mounted on the crawler chassis, a vision module is mounted on the fixing tool, and the vision module is connected with the depth camera mechanism. The visual module is provided with a first signal connection channel. The model airplane remote controller is used for controlling the detection vehicle to pass through the to-be-detected railroad bed and arrive at the designated point location, and the detection vehicle only needs to be operated on the control interface for roadbed sampling detection, so that the problem of lack of accuracy and objectivity of detection data caused by the experience problem of detection personnel is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of road engineering detection, and particularly to a roadbed compaction degree detection robot and a detection method thereof. Background Art

[0002] As an important transportation infrastructure, the quality of the roadbed of a railway is directly related to the safety and comfort of railway operation. The hardness of the roadbed is one of the key indicators for measuring the quality of the roadbed. During the construction of a railway, it is necessary to detect the soil hardness of the newly laid roadbed to ensure that it meets the design standards. To avoid these problems, during the road construction process, it is necessary to strictly detect the compaction degree of the roadbed to ensure that it reaches the design standards. The traditional manual detection method is difficult to meet the needs of large-scale and rapid construction. It relies on manual single-point sampling and requires off-line laboratory analysis, which cannot reflect the compaction quality of a large area of the roadbed in real time during the construction process, and there are problems such as a long detection cycle and large manual operation errors. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the present invention provides a roadbed compaction degree detection robot and a detection method thereof, which have the advantages of detecting large-scale roadbed construction and solve the problem of small detection scale.

[0004] To solve the above technical problems, the present invention provides the following technical solutions:

[0005] A roadbed compaction degree detection robot includes a crawler chassis, on which a robotic arm, a drying box, and a brush mechanism are installed, and a soil sampling device and a depth camera mechanism are also installed. The soil sampling device includes a sliding module provided at the front end of the crawler chassis, a drilling mechanism is movably installed on the sliding module, and a motor one for driving the drilling mechanism to operate is also installed. The depth camera mechanism includes a fixed tooling fixed on the crawler chassis, a vision module is installed on the fixed tooling, and a signal connection channel one is provided on the vision module.

[0006] Preferably, the robotic arm includes a fixed base installed in the middle of the crawler chassis, a central wrist arm is installed on the fixed base, and a front claw head is connected to the end of the central wrist arm.

[0007] Preferably, the drying box includes a box body fixed on the crawler chassis, a plurality of material boxes are placed in the box body, heating tubes are placed at the bottom of each layer of the material boxes, the heating tubes are fixed in the box body, and a temperature control sensor is also installed on the box body.

[0008] Preferably, the brush mechanism includes a motor two fixed on the crawler chassis, a brush head is fixedly connected to the output end of the motor two, and a signal connection channel two is provided on the motor two.

[0009] Preferably, control cabinets are fixedly connected to both sides of the crawler chassis.

[0010] Preferably, four gravity sensors are provided on the crawler chassis at the bottom of the soil sampling device, and the four gravity sensors are respectively distributed at the four corners of the bottom of the soil sampling device.

[0011] Preferably, the gravity sensor includes a fixed seat fixedly connected to the crawler chassis, a support platform attached to the bottom of the soil sampling device is installed on the fixed seat, and a signal connection channel three is provided on the fixed seat.

[0012] Preferably, a lithium battery is also installed on the side of the crawler chassis.

[0013] The subgrade compactness detection method includes the following steps:

[0014] S1. Equipment startup and preparation: Connect the power supply of the lithium battery, start the industrial control computer of the control cabinet, complete the self-check and calibration of each module, and move the detection vehicle to the subgrade area to be measured through the crawler chassis and align it with the detection point;

[0015] S2. Soil sampling and wet mass measurement: Control the sliding module and motor of the soil sampling device, drive the drilling mechanism to rotate and lift to take soil, and use the gravity sensor at the bottom to measure the wet mass of the taken soil and transmit the data to the control cabinet;

[0016] S3. Soil drying and dry mass measurement: The robotic arm grabs the material box to receive the sampled soil, puts it into the drying oven to heat and dry (monitor the temperature), and after drying, measure the dry mass of the soil again through the gravity sensor and record the data;

[0017] S4. Subgrade pit volume collection and compactness calculation: The depth camera mechanism collects the volume data of the subgrade pit after sampling through point cloud technology, and the control cabinet calculates the subgrade compactness by combining the wet mass, dry mass and volume data and stores the results;

[0018] S5. Material box cleaning and equipment reset: The robotic arm transfers the dried material box to the brush mechanism to clean the residual soil, each device returns to its initial position, exports the detection data, and completes a single detection process.

[0019] With the above technical solutions, the present invention provides a subgrade compactness detection robot and a detection method, which at least have the following beneficial effects:

[0020] 1. For the subgrade compactness detection robot and the detection method, by using the remote control of the model aircraft to control the detection vehicle to drive over the railway subgrade to be detected and reach the designated point, only operate on the control interface to perform subgrade sampling and detection, avoiding the problem of lack of accuracy and objectivity of the detection data caused by the experience of the detection personnel.

[0021] 2. The subgrade compaction degree detection robot and detection method include a soil sampling device, a robotic arm, a drying oven, a power supply, etc. The structure is relatively simple without complex detection equipment and systems, reducing the probability of equipment failure and improving the reliability and stability of the equipment.

[0022] 3. The subgrade compaction degree detection robot and detection method can quickly detect the subgrade compaction quality during vehicle driving, without the need for fixed-point detection like traditional detection methods, greatly improving the detection efficiency and meeting the detection requirements of large-scale subgrade construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and form a part of this application:

[0024] Figure 1 is a three-dimensional structure schematic diagram of the present invention;

[0025] Figure 2 is a structure schematic diagram of the soil sampling device of the present invention;

[0026] Figure 3 is a structure schematic diagram of the robotic arm of the present invention;

[0027] Figure 4 is a structure schematic diagram of the drying oven of the present invention;

[0028] Figure 5 is a structure schematic diagram of the depth camera mechanism of the present invention;

[0029] Figure 6 is a structure schematic diagram of the brush mechanism of the present invention;

[0030] Figure 7 is a structure schematic diagram of the gravity sensor of the present invention;

[0031] Figure 8 is a three-dimensional structure schematic diagram of the other side of the present invention.

[0032] Reference Signs:

[0033] 1. Soil sampling device; 11. Sliding module; 12. Motor 1; 13. Drilling mechanism; 14. Fixed sliding device; 2. Robotic arm; 21. Fixed base; 22. Front claw head; 23. Central wrist arm; 3. Drying oven; 31. Heating tube; 32. Material box; 33. Temperature control sensor; 4. Control cabinet; 5. Crawler chassis; 6. Depth camera mechanism; 61. Vision module; 62. Fixed tooling; 63. Signal connection channel 1; 7. Brush mechanism; 71. Motor 2; 72. Brush head; 73. Signal connection channel 2; 8. Gravity sensor; 81. Fixed seat; 82. Support platform; 83. Signal connection channel 3; 9. Lithium battery. Detailed implementation mode

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] Next, some embodiments of the present invention will be described in conjunction with the accompanying drawings to provide a roadbed compaction degree detection robot and a detection method.

[0036] Embodiment 1:

[0037] Combined with Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 8 As shown, the roadbed compaction degree detection robot provided by the present invention includes a crawler chassis 5, on which a robotic arm 2, a drying box 3 and a brush mechanism 7 are installed, and a soil sampling device 1 and a depth camera mechanism 6 are also installed to realize automatic soil drilling and depth control, avoid the time-consuming and physical consumption of manual operation, and shorten the single-point sampling time;

[0038] The soil sampling device 1 includes a sliding module 11 provided at the front end of the crawler chassis 5, a drilling mechanism 13 is movably installed on the sliding module 11, and a motor 12 for driving the drilling mechanism 13 to operate is also installed. The crawler chassis 5 is provided with a fixed sliding device 14 connected to the soil sampling device 1. The motor 12 drives the drilling mechanism 13 to rotate and cooperate with the sliding module 11 to lift and take soil downward;

[0039] The fixed sliding device 14 includes four sliding rods fixed to the crawler chassis 5, and a limiting block connected to the soil sampling device 1 is slidably connected to the sliding rods.

[0040] The depth camera mechanism 6 includes a fixed tooling 62 fixed to the crawler chassis 5, a vision module 61 is installed on the fixed tooling 62, and a signal connection channel 63 is provided on the vision module 61. Using point cloud acquisition technology, three-dimensional modeling of the soil pit after sampling is carried out to accurately calculate the volume and solve the subjectivity and low accuracy problems of traditional manual measuring tapes.

[0041] Specifically, the robotic arm 2 includes a fixed base 21 installed in the middle of the crawler chassis 5, a central wrist arm 23 is installed on the fixed base 21, and a front claw head 22 is connected to the end of the central wrist arm 23. The robotic arm 2 is connected to a control signal, and a series of operations are performed by the front claw head 22 to grab the material box 32.

[0042] Further, control cabinets 4 are fixedly connected to both sides of the crawler chassis 5.

[0043] On the side of the crawler chassis 5, a lithium battery 9 is also installed to provide power for the driving of this inspection vehicle and the power supply for the operation of other modules.

[0044] According to the embodiment, the layout of the control components is reasonable, reducing the labor intensity and operation difficulty of the operator. Even non-professional personnel can proficiently use this device for operation after simple training, reducing work failures or sample errors caused by improper operation, and providing a reliable solution for subgrade compaction measurement.

[0045] Embodiment 2:

[0046] Combined with Figure 4 and Figure 6 As shown, on the basis of Embodiment 1, the drying oven 3 includes a box body fixedly connected to the crawler chassis 5. Inside the box body, a plurality of material boxes 32 are placed. Heating tubes 31 are placed at the bottom of each layer of the material box 32. The heating tubes 31 are fixedly installed inside the box body. A temperature control sensor 33 is also installed on the box body, which supports drying multiple soil samples simultaneously. Compared with the single material box 32 design, it can improve the detection efficiency, especially suitable for the multi-point detection requirements of large-scale subgrade projects, and avoid the waiting time for single sample processing.

[0047] Specifically, the brush mechanism 7 includes a second motor 71 fixedly installed on the crawler chassis 5. The output end of the second motor 71 is fixedly connected to a brush head 72. A second signal connection channel 73 is provided on the second motor 71. When the second motor 71 is started, it drives the brush head 72 to rotate to remove the fine soil particles on the inner wall of the material box 32, preventing residual moisture or impurities from affecting the measurement of the wet and dry masses of subsequent samples, and eliminating systematic errors from the source.

[0048] According to the embodiment, the drilling mechanism 13 is used to extend forward and backward to cut the extruded soil and collect the soil into the cavity of the material box 32. Then, the robotic arm 2 clamps the material box 32 with the soil for weighing, and then puts it into the drying oven 3 for heating treatment. After the drying oven 3 dries the soil, it is placed on the gravity sensor 8 for the second weighing measurement. Then, the soil is poured out, and the brush cleaning mechanism is used to clean the cavity of the material box 32.

[0049] Embodiment 3:

[0050] Combined with Figure 1 and Figure 7 As shown, on the basis of Embodiment 1, four gravity sensors 8 are provided on the crawler chassis 5 at the bottom of the soil sampling device 1, and the four gravity sensors 8 are respectively distributed at the four corners of the bottom of the soil sampling device 1.

[0051] Specifically, the gravity sensor 8 includes a fixed seat 81 fixedly connected to the crawler chassis 5. A support platform 82 that fits against the bottom of the soil sampling device 1 is installed on the fixed seat 81, and a third signal connection channel 83 is provided on the fixed seat 81.

[0052] According to the embodiment, after clicking the work button on the control interface and the soil sampling is completed, under the processing of the gravity sensor 8, the mass of the sampled soil is converted into data and transmitted to the control interface, and then the depth camera is used to perform point cloud measurement on the soil pit to obtain the volume of the soil pit.

[0053] The control cabinet mainly consists of an industrial control computer 1, an emergency stop button 2, and a control cabinet key lock 3. The first signal connection channel, the second signal connection channel, and the third signal connection channel are respectively connected to the control cabinet 4 on the crawler chassis 5 through cables. The control cabinet 4 centrally manages and controls the entire detection process of the detection vehicle, coordinates operations such as the start, stop, parameter setting, and operation mode switching of each detection device, ensures that the detection process proceeds orderly according to the preset procedures and steps, and the control cabinet 4 is built-in with a data acquisition module and a processing unit, which can collect data from each detection sensor in real time.

[0054] Embodiment 4:

[0055] The subgrade compaction degree detection method includes the following steps:

[0056] S1. Equipment startup and preparation: Connect the power supply of the lithium battery 9, start the industrial control computer of the control cabinet 4, complete the self-check and calibration of each module, and move the detection vehicle to the subgrade area to be measured through the crawler chassis 5 and align it with the detection point;

[0057] S2. Soil sampling and wet mass measurement: Control the sliding module 11 and the motor of the soil sampling device 1, drive the drilling mechanism 13 to rotate and lift to take soil, and use the bottom gravity sensor 8 to measure the wet mass of the taken soil and transmit the data to the control cabinet 4;

[0058] S3. Soil drying and dry mass measurement: The robotic arm 2 grabs the material box 32 to receive the sampled soil, puts it into the drying oven 3 for heating and drying (the temperature control sensor 33 monitors the temperature), and after drying, measure the dry mass of the soil again through the gravity sensor 8 and record the data;

[0059] S4. Soil pit volume acquisition and compaction degree calculation: The depth camera mechanism 6 acquires the volume data of the soil pit after sampling through point cloud technology, and the control cabinet 4 calculates the subgrade compaction degree by combining the wet mass, dry mass, and volume data and stores the results;

[0060] S5. Cleaning of the material box 32 and equipment reset: The robotic arm 2 transfers the dried material box 32 to the brush mechanism 7 to clean the residual soil, each device returns to its initial position, the detection data is exported, and a single detection process is completed.

[0061] It should be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus.

[0062] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Roadbed compaction degree detection robot, including a crawler chassis (5), characterized in that: A robotic arm (2), a drying oven (3), a brush mechanism (7), a soil sampling device (1), and a depth camera mechanism (6) are installed on the crawler chassis (5). The soil sampling device (1) includes a sliding module (11) provided on the crawler chassis (5). A drilling mechanism (13) is movably installed on the sliding module (11), and a first motor (12) for driving the drilling mechanism (13) to operate is also installed on the sliding module (11). The depth camera mechanism (6) includes a fixed tooling (62) fixedly installed on the crawler chassis (5). A vision module (61) is installed on the fixed tooling (62), and a first signal connection channel (63) is provided on the vision module (61).

2. The roadbed compaction degree detection robot according to claim 1, characterized in that: The robotic arm (2) includes a fixed base (21) installed in the middle of the crawler chassis (5). A central wrist arm (23) is installed on the fixed base (21), and a front claw head (22) is connected to the end of the central wrist arm (23).

3. The roadbed compaction degree detection robot according to claim 1, characterized in that: The drying oven (3) includes a box body fixedly connected to the crawler chassis (5). A plurality of material boxes (32) are placed in the box body. Heating tubes (31) are placed at the bottom of each layer of the material boxes (32). The heating tubes (31) are fixedly installed in the box body, and a temperature control sensor (33) is also installed on the box body.

4. The roadbed compaction degree detection robot according to claim 1, wherein: The brush mechanism (7) includes a second motor (71) fixedly installed on the crawler chassis (5). A brush head (72) is fixedly connected to the output end of the second motor (71), and a second signal connection channel (73) is provided on the second motor (71).

5. The roadbed compaction degree detection robot according to claim 1, characterized in that: Control cabinets (4) are fixedly connected to both sides of the crawler chassis (5).

6. The roadbed compaction degree detection robot according to claim 1, characterized in that: Four gravity sensors (8) are provided on the crawler chassis (5) at the bottom of the soil sampling device (1), and the four gravity sensors (8) are respectively distributed at the four corners of the bottom of the soil sampling device (1).

7. The roadbed compaction degree detection robot according to claim 6, characterized in that: The gravity sensor (8) includes a fixed seat (81) fixedly connected to the crawler chassis (5). A support platform (82) that fits the bottom of the soil sampling device (1) is installed on the fixed seat (81), and a third signal connection channel (83) is provided on the fixed seat (81).

8. The roadbed compaction degree detection robot according to claim 1, characterized in that: A lithium battery (9) is also installed on the side of the crawler chassis (5).

9. Method for detecting the compaction degree of subgrade, characterized in that, It includes the following steps: S1. Equipment startup and preparation: Connect the power supply of the lithium battery (9), start the industrial control computer of the control cabinet (4), complete the self-check and calibration of each module, and move the inspection vehicle to the subgrade area to be measured through the crawler chassis (5) and align it with the inspection point. S2. Soil sampling and wet mass measurement: Control the sliding module (11) and the motor of the soil sampling device (1), drive the drilling mechanism (13) to rotate and lift to take soil, and use the bottom gravity sensor (8) to measure the wet mass of the taken soil and transmit the data to the control cabinet (4). S3. Soil drying and dry mass measurement: The robotic arm (2) grabs the material box (32) to receive the sampled soil, puts it into the drying oven (3) for heating and drying (the temperature control sensor (33) monitors the temperature), and after drying, measure the dry mass of the soil again through the gravity sensor (8) and record the data. S4. Earth pit volume collection and compaction degree calculation: The depth camera mechanism (6) collects the volume data of the earth pit after sampling through point cloud technology, and the control cabinet (4) calculates the subgrade compaction degree by combining the wet mass, dry mass and volume data and stores the results; S5. Cleaning of the material box (32) and equipment reset: The robotic arm (2) transfers the dried material box (32) to the brush mechanism (7) to clean the residual soil, each device returns to its initial position, the detection data is exported, and a single detection process is completed.

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