Intelligent robot and method for nondestructive detection of road compactness

Abstract

The invention belongs to the technical field of road engineering, tunnel engineering, municipal engineering and the like, and provides an intelligent robot and method for nondestructive detection of road compactness, the intelligent robot comprises a robot frame, and a driving wheel, a driven wheel, an exciting force emission wheel and a vibration response acquisition wheel arranged on the robot frame; the exciting force emission wheel and the vibration response acquisition wheel are connected with a controller; according to the invention, nondestructive testing of the road compactness can be realized, the quality and efficiency of road construction are improved, and the standardization process of infrastructures is promoted. The intelligent robot is small in occupied space, relatively convenient to disassemble and assemble and low in manufacturing cost. According to the intelligent robot, the control efficiency is high, the vibration response source is clear, and the relation between the vibration response and the compaction degree can be rapidly established. The intelligent robot is wide in application scene, not only can be used for conventional road engineering, municipal engineering and tunnel engineering, but also has more remarkable advantages in engineering such as dams with high dangerousness.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of road engineering, tunnel engineering and municipal engineering, and particularly relates to an intelligent robot for nondestructive testing of road compactness and a method. BACKGROUND

[0002] Highway traffic is an important component in the transportation and infrastructure system, has the characteristics of strong traffic capacity, fast transportation speed and flexible transportation mode, and has an important strategic position in road engineering, municipal engineering and even tunnel engineering. Therefore, the construction quality control of the highway is particularly critical. The current specification evaluates the highway construction quality by compactness, and calculates the compactness of the highway after the completion of the highway construction by the sand filling method, the ring knife method and the core drilling sampling method according to the current specification. If the compactness of the highway after the construction meets the target requirement, the highway can be put into operation.

[0003] The existing compactness detection method has the problems of destructiveness to the road surface and limitation to the detection area. Specifically, after the completion of the highway construction, sampling is performed in a certain range, and the compactness of the highway is calculated by the ratio of the current density to the maximum density. If the compactness meets the requirement, the sampling part is backfilled and recompacted. If the compactness does not meet the requirement, the backfilled part is supplemented. The above method will cause damage to the constructed highway, and the compactness after the filling cannot be controlled. In addition, the above compactness detection method detects the compactness by sampling in proportion in a certain area, which belongs to the detection of "point", and the regional limitation will cause the area with insufficient compactness to be consistent with the detection area if it is not sampled, which will reduce the highway construction quality and construction efficiency. SUMMARY

[0004] In order to solve the above problems, the application provides an intelligent robot for nondestructive testing of road compactness and a method. The vibration response acquisition wheel and the connecting controller are arranged on the robot frame. First, the relationship between the vibration response and the compactness is established in the first detection area in the whole area to be detected. Then, the compactness in the second detection area is determined according to the walking and detection of the robot in the second detection area, the detected vibration response in the second detection area and the relationship between the vibration response and the compactness. Only the first detection area is punched, which reduces the destructiveness to the road surface. The walking of the robot in the second detection area realizes the continuous detection of the road surface, and solves the limitation of the detection area.

[0005] In order to achieve the above purpose, in a first aspect, the application provides an intelligent robot for nondestructive testing of road compactness, which adopts the following technical scheme: The application discloses an intelligent robot for nondestructive detection of road compaction degree, which comprises a robot frame, and driving wheels, driven wheels, excitation force emitting wheels and vibration response collecting wheels arranged on the robot frame; the excitation force emitting wheels and the vibration response collecting wheels are connected with a controller. The controller is configured to receive vibration responses in a preset first detection area and a preset second detection area, and to measure a compaction degree in the preset first detection area by core drilling sampling or sand column method; a relationship between the vibration responses and the compaction degree is established, and the compaction degree in the second detection area is determined according to the vibration responses in the second detection area and the relationship between the vibration responses and the compaction degree; the first detection area and the second detection area constitute a whole area to be detected.

[0006] Further, the driving wheels and the driven wheels are provided with a conveying belt.

[0007] Further, the excitation force emitting wheels and the vibration response collecting wheels are in contact with the conveying belt.

[0008] Further, the excitation force emitting wheels are arranged on both sides of the vibration response collecting wheels.

[0009] Further, the excitation force emitting wheels and the vibration response collecting wheels are respectively hinged to the robot frame 1 through connecting rods.

[0010] Further, the excitation force emitting wheels and the vibration response collecting wheels are connected with springs between the robot frame.

[0011] Further, the controller is connected with a display, a memory and a positioning system.

[0012] Further, the relationship between the vibration responses and the compaction degree is established by a multivariate nonlinear regression method, specifically, vibration response information selected is determined as an analysis index, Q is defined as a peak value of an acceleration signal in each excitation period, vibration response sample data are collected through a preset test section, multiple vibration response data are collected in the test section, multiple compaction degree data are defined as K, a binary quadratic equation is used for regression fitting through a multivariate nonlinear fitting method, and the relationship between K and Q is established.

[0013] Further, Q is used as an input parameter, K is used as an output parameter, an ANN neural network is used to establish the relationship between the vibration responses and the compaction degree.

[0014] In order to achieve the above-mentioned purpose, in a second aspect, the application further provides a method for nondestructive detection of road compaction degree, which adopts the following technical scheme: The application discloses a method for nondestructively detecting road compaction, and uses the intelligent robot for nondestructively detecting road compaction as described in the first aspect, and the method comprises the following steps: dividing the whole area to be detected into a first detection area and a second detection area according to a preset ratio; starting the exciting force emitting wheel and the vibration response collecting wheel, setting the exciting frequency and the collecting frequency, and making the robot walk in the first detection area; when the robot walking in the first detection area is finished, extracting the vibration response of the first detection area, measuring the compaction of a limited number of points in the first detection area by using the core drilling sampling or the sand pouring method, and establishing the relationship between the vibration response and the compaction; starting the exciting force emitting wheel and the vibration response collecting wheel, setting the exciting frequency and the collecting frequency, and making the robot walk in the second detection area; and determining the road compaction of the second detection area according to the vibration response in the second detection area and the relationship between the vibration response and the compaction.

[0015] Compared with the prior art, the application has the beneficial effects that: The application establishes the relationship between the vibration response and the compaction in the first detection area in the whole area to be detected, and then determines the compaction in the second detection area according to the walking and detection of the robot in the second detection area, the vibration response detected in the second detection area and the relationship between the vibration response and the compaction, so that the compaction in the first detection area is only punched, the damage to the road surface is reduced, the continuity of the detection of the road surface is realized by the walking of the robot in the second detection area, the limitation of the detection area is solved, the first detection area and the second detection area constitute the whole area to be detected, the relationship between the vibration response and the compaction established in this way can guarantee the accuracy of the compaction, and the problem of the detection accuracy caused by the different relationships between the vibration response and the compaction due to the different environments, road construction and material differences is avoided.

[0016] The intelligent robot in the application can realize the nondestructive detection of the road compaction, improve the quality and efficiency of the road construction, and help promote the standardization process of the infrastructure. The intelligent robot in the application has a small occupied space, is convenient to disassemble and assemble, and has a low cost. The control efficiency of the intelligent robot in the application is high, the vibration response source is clear, and the relationship between the vibration response and the compaction can be quickly established. The intelligent robot in the application has a wide application scene, and can be used not only in the conventional road engineering, municipal engineering and tunnel engineering, but also in the engineering of high-risk dams and has more significant advantages. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings constituting a part of this embodiment are used to provide a further understanding of the embodiment, and the schematic embodiment and the description thereof are used to explain the embodiment, and do not constitute an improper limitation on the embodiment.

[0018] Figure 1 This is a schematic diagram of the robot structure according to Embodiment 1 of the present invention; The components include: 1. Robot frame; 2. Drive wheel; 3. Driven wheel; 4. Conveyor belt; 5. Excitation force emitting wheel; 6. Vibration response acquisition wheel; 7. Spring; 8. Connector; 9. Controller; 10. Display; 11. Memory; 12. Positioning system; and 13. Connecting rod. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0021] Example 1: like Figure 1 As shown, this embodiment provides an intelligent robot for non-destructive testing of road compaction, which can realize non-destructive testing of road compaction, thereby improving the quality and efficiency of road construction; the intelligent robot includes a robot frame 1, drive wheel 2, driven wheel 3, conveyor belt 4, excitation force emitting wheel 5, vibration response acquisition wheel 6, spring 7, connector 8, controller 9, display 10, memory 11, positioning system 12 and connecting rod 13, etc.

[0022] The robot frame 1 can be understood as the robot chassis frame. Its structural form can be selected and designed according to design requirements. The robot frame 1 can be made of stainless steel or other materials, such as steel Q235. The robot frame 1 can withstand the load generated by the normal operation of the intelligent robot.

[0023] The drive wheel 2 is mounted on the robot frame 1 via a motor or other power source, and the driven wheel 3 is mounted on the robot frame 1 via a connector 8; the connector 8 can be a shaft, bolt, or other connecting component. A conveyor belt 4, which can be a track, connects the drive wheel 2 and the driven wheel 3. During operation, the drive wheel 2 rotates under the drive of the power source, causing the driven wheel 3 and the conveyor belt 4 to rotate. The conveyor belt 4 contacts the road surface in the area to be inspected, thus moving the robot.

[0024] The excitation force emitting wheel 5 and the vibration response acquisition wheel 6 are in contact or engaged with the conveyor belt 4. The excitation force emitted by the excitation force emitting wheel 5 is transmitted to the road surface through the conveyor belt 4, and the vibration response acquisition wheel 6 receives the vibration response through the conveyor belt 4.

[0025] The excitation force emitting wheel 5 can be realized by a conventional excitation force emitting device, and the vibration response collecting wheel 6 can be realized by a conventional vibration response collecting device; in some other embodiments, optionally, the excitation force emitting wheel 5 adjusts the value of the excitation force by adjusting the rotating speed of the two built-in eccentric rotors in the horizontal position, and adjusts the direction of the excitation force by adjusting the rotating direction, so as to realize the excitation force adjustment. The excitation force emitting wheel 5 can realize the excitation frequency adjustment by adjusting the rotating speed of the built-in rotor. The vibration response collecting wheel 6 realizes the collection frequency adjustment in two ways, one is the vibration response signal transmission once, and the collection frequency is the excitation frequency at this time; the other is the vibration response preprocessing and then transmission, the vibration response information in a certain time can be collected and preliminarily processed, and the vibration response in this time period is packaged and transmitted, and the collection frequency at this time can be defined as the inverse of the length of the time period.

[0026] The vibration response collecting wheel 6 is provided with the excitation force emitting wheel 5 on both sides, and the vibration response signal collection strength can be improved by the excitation force in different positions, and the relationship between the road compaction degree and the vibration response can be more comprehensively considered by the excitation force in multiple directions and angles, so as to improve the detection effect.

[0027] The excitation force emitting wheel 5 and the vibration response collecting wheel 6 are respectively hinged to the robot frame 1 through the connecting rod 13, and the excitation force emitting wheel 5 and the vibration response collecting wheel 6 are connected with the robot frame 1 through the spring 7. Optionally, one end of the connecting rod 13 is hinged to the robot frame 1, and the other end is connected with the excitation force emitting wheel 5 or the vibration response collecting wheel 6; when the conveyor belt 4 rotates and walks, the flatness of the conveyor belt 4 can be affected due to the uneven road or other reasons, the excitation force emitting wheel 5 and the vibration response collecting wheel 6 can rotate on the robot frame 1, so as to avoid the damage of the uneven conveyor belt 4 to the excitation force emitting wheel 5 and the vibration response collecting wheel 6, and the spring 7 can always ensure the adhesion of the excitation force emitting wheel 5 and the vibration response collecting wheel 6 to the conveyor belt 4, so as to ensure the excitation effect of the excitation force and the collection effect of the vibration response, and improve the compaction degree detection effect.

[0028] The controller 9 is connected with the driving wheel 2, the excitation force emitting wheel 5, the vibration response collecting wheel 6, the display 10, the memory 11 and the positioning system 12, etc.; the controller 9 has the functions of data receiving, sending, processing and analysis, control instruction generation and sending, etc.

[0029] The controller 9 is configured to receive the vibration response in the preset first detection area and the vibration response in the preset second detection area, and measure the compaction degree in the preset first detection area by core drilling or sand column method; establish the relationship between the vibration response and the compaction degree, determine the compaction degree in the second detection area according to the vibration response in the second detection area and the relationship between the vibration response and the compaction degree; and the first detection area and the second detection area constitute the entire area to be detected.

[0030] Specifically, first, the relationship between the vibration response and the compaction degree is established in the preset first detection area in the entire area to be detected; then, according to the walking and detection of the robot in the second detection area, the compaction degree in the second detection area is determined according to the detected vibration response in the second detection area and the relationship between the vibration response and the compaction degree; only the first detection area is punched, which reduces the damage to the road surface, and the walking of the robot in the second detection area realizes the continuous detection of the road surface, solving the limitation of the detection area; the first detection area and the second detection area constitute the entire area to be detected, and the relationship between the vibration response and the compaction degree established in this way can ensure the accuracy of the compaction degree and avoid the problem of detection accuracy caused by different relationships between the vibration response and the compaction degree due to different environments and road construction, material differences.

[0031] The display 10 can be used for the display of detection results, detection process data and robot parameters and other data; the memory 11 can be used for the storage of all related data. The positioning system 12 is used to assist the positioning and walking of the robot.

[0032] One working process or principle of the embodiment is: S1, assemble the intelligent robot, determine the area of the road compaction degree to be detected, and divide it into two parts according to 2:8, and name them as A area and B area respectively, and the A area is at most 20m, and the part exceeding is combined with the B area as the B area; the A area is the first detection area, and the B area is the preset second detection area; S2, start the excitation force emitting wheel 5 and the vibration response collecting wheel 6, set the excitation frequency and the collection frequency, start the controller 9, the display 10, the memory 11 and the positioning system 12, set the walking speed, and start the driving wheel 2; S3, the robot walks in the A area and ends, the robot is turned off, the vibration response of the A area is extracted, and the compaction degree of a limited number of points in the A area is measured by core drilling or sand column method, the relationship between the vibration response and the compaction degree is established, and input into the controller; S4, repeat step S2 in the B area; S5, according to the vibration response collected in the B area and the relationship between the vibration response and the compaction degree, extracting the B area road compaction degree converted by the controller 9, and closing the robot.

[0033] Embodiment 2: The embodiment provides a method for nondestructive testing of road compaction degree, and uses the intelligent robot for nondestructively testing road compaction degree as described in embodiment 1, and the method comprises the following steps: dividing the whole area to be detected into a first detection area and a second detection area according to a preset proportion; starting the vibration excitation force emitting wheel 5 and the vibration response collecting wheel 6, and setting the excitation frequency and the collection frequency, and making the robot walk in the first detection area; when the robot walking in the first detection area is finished, extracting the vibration response of the first detection area, and measuring the compaction degree of a limited number of points in the first detection area by means of core drilling sampling or sand pouring method, and establishing the relationship between the vibration response and the compaction degree; starting the vibration excitation force emitting wheel 5 and the vibration response collecting wheel 6, and setting the excitation frequency and the collection frequency, and making the robot walk in the second detection area; and according to the vibration response in the second detection area and the relationship between the vibration response and the compaction degree, determining the road compaction degree of the second detection area.

[0034] Embodiment 3: The embodiment provides an intelligent robot for nondestructively testing road compaction degree and / or a method for nondestructively testing road compaction degree, and uses the intelligent robot for nondestructively testing road compaction degree as described in embodiment 1, and optionally, the A area is a compaction degree detection area, and the B area is a compaction degree nondestructive testing area. The excitation frequency of the vibration excitation force emitting wheel 5 is 20Hz-100Hz, the collection frequency of the vibration response collecting wheel 6 is 200Hz-1000Hz, and the transmission mode is wired / wireless. The controller 9 comprises but is not limited to the control of walking speed, the extraction of vibration response and the conversion of vibration response and compaction degree and the like. The walking speed range of the robot is 0m / s-5m / s, and the positioning system should be higher than dm level in accuracy. The vibration response comprises but is not limited to vertical acceleration and vertical displacement. When the compaction degree of a limited number of points in the A area is measured by means of core drilling sampling or sand pouring method, the number of the limited number of points can be greater than 6.

[0035] Embodiment 4: The embodiment provides an intelligent robot for nondestructively testing road compaction degree and / or a method for nondestructively testing road compaction degree, and uses the intelligent robot for nondestructively testing road compaction degree as described in embodiment 1, and optionally: The intelligent robot is taken out and assembled, it is determined that the area needing to detect the road compaction degree is a strip with a length of 200 m, the first 20 m is defined as an A area, and the remaining 180 m is defined as a B area; the exciting force emitting wheel 5 and the vibration response collecting wheel 6 are started, the exciting frequency is set to 30 Hz and the collecting frequency is set to 500 Hz, the controller 9, the display 10, the memory 11 and the positioning system 12 are started, the walking speed is set to 2 m / s, and the driving wheel 2 is started; the robot is caused to walk in the A area and then stopped, the vertical displacement of the A area is extracted as the vibration response, 10 point compaction degrees of the A area are measured by the sand filling method at equal intervals, the relationship between the vertical displacement and the compaction degree is established by the multivariate nonlinear regression method, and the established relationship is input into the controller 9. In the B area, the exciting force emitting wheel and the vibration response collecting wheel are started, the exciting frequency is set to 30 Hz and the collecting frequency is set to 500 Hz, the controller, the display, the memory and the positioning system are started, the walking speed is set to 2 m / s, and the driving wheel 2 is started; the B area road compaction degree converted by the controller 9 is extracted, and the robot is stopped, and the compaction degree of the B area can be obtained from the display 10 and the memory 11.

[0036] Example 5 The embodiment provides an intelligent robot for nondestructive testing of road compaction degree and / or a method for nondestructive testing of road compaction degree, and uses the intelligent robot for nondestructive testing of road compaction degree as described in the embodiment 1.

[0037] In the embodiment, the vibration response information selected as the analysis index is determined by establishing the relationship between the vibration response and the compaction degree through the ANN model, and is defined as Q. Q can be the peak value of the acceleration signal of each exciting cycle, and Q can also be an existing active control index such as CMV, CCV and the like, or an index established or modified by ourselves. The vibration response sample data is collected through a preset test section, 100 vibration response data are collected, and Q1, Q2... Q 100 will appear, and 100 compaction degree data will also appear, which are defined as K1, K2... K 100 . The vibration response and the compaction degree relationship can be established by taking Q as an input parameter and K as an output parameter through the ANN neural network.

[0038] Example 6 The embodiment provides an intelligent robot for nondestructive testing of road compaction degree and / or a method for nondestructive testing of road compaction degree, and uses the intelligent robot for nondestructive testing of road compaction degree as described in the embodiment 1.

[0039] In the embodiment, the relationship between the vibration response and the compaction degree is established by a multiple nonlinear regression method. Optionally, the selected vibration response information is determined as an analysis index, which is defined as Q. Q can be the peak value of the acceleration signal of each excitation cycle. Q can also be an existing active control index such as CMV, CCV, etc. Q can also be an index established or modified by ourselves. The vibration response sample data is collected through a preset test section. It is assumed that 100 vibration response data is collected from the test section, which corresponds to Q1, Q2...Q 100 , and 100 compaction degree data is also collected, which is defined as K1, K2...K 100 . Through the multiple nonlinear fitting method, a binary quadratic equation is used for regression fitting to establish the relationship between K and Q, that is, the relationship between the vibration response and the compaction degree is established.

[0040] The above only describes the preferred embodiments of the present embodiment and is not intended to limit the present embodiment. The present embodiment can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. An intelligent robot for non-destructive testing of road compaction, characterized in that, The robot comprises a robot frame (1), a driving wheel (2), a driven wheel (3), a vibration excitation force emitting wheel (5) and a vibration response collecting wheel (6) arranged on the robot frame (1); the vibration excitation force emitting wheel (5) and the vibration response collecting wheel (6) are connected to a controller (9); The controller (9) is configured to receive vibration responses in a preset first detection area and vibration responses in a preset second detection area, and to measure compaction degree values in the preset first detection area by core drilling or sand column method; a relationship between vibration responses and compaction degree is established, and the compaction degree in the second detection area is determined according to the vibration responses in the second detection area and the relationship between vibration responses and compaction degree; the first detection area and the second detection area constitute the entire area to be detected.

2. The intelligent robot for non-destructive testing of road compaction as claimed in claim 1 wherein, A conveyor belt (4) is arranged between the driving wheel (2) and the driven wheel (3).

3. The intelligent robot for non-destructive testing of road compaction as claimed in claim 2 wherein, The vibration excitation force emitting wheel (5) and the vibration response collecting wheel (6) are in contact with the conveyor belt (4).

4. The intelligent robot for non-destructive testing of road compaction as claimed in claim 1 wherein, The vibration excitation force emitting wheels (5) are arranged on both sides of the vibration response collecting wheel (6).

5. The intelligent robot for non-destructive testing of road compaction as claimed in claim 1 wherein, The vibration excitation force emitting wheel (5) and the vibration response collecting wheel (6) are respectively hinged to the robot frame (1) through connecting rods (13).

6. The intelligent robot for non-destructive testing of road compaction as claimed in claim 5 wherein, The vibration excitation force emitting wheel (5) and the vibration response collecting wheel (6) are connected to the robot frame (1) through springs (7).

7. The intelligent robot for non-destructive testing of road compaction as claimed in claim 1 wherein, The controller (9) is connected to a display (10), a memory (11) and a positioning system (12).

8. The intelligent robot for non-destructive testing of road compaction as claimed in claim 1 wherein, The relationship between vibration responses and compaction degree is established by a multiple nonlinear regression method, specifically, vibration response information selected is determined as an analysis index, Q is defined as the peak value of the acceleration signal in each vibration excitation cycle, vibration response sample data are collected through a preset test section, multiple vibration response data are collected in the test section, multiple Q values are obtained, and multiple compaction degree data are obtained, which are defined as K; a binary quadratic equation is used for regression fitting through a multiple nonlinear fitting method, and the relationship between K and Q is established.

9. The intelligent robot for non-destructive testing of road compaction as claimed in claim 8, wherein, The relationship between vibration responses and compaction degree is established by an ANN neural network with Q as an input parameter and K as an output parameter.

10. A method of non-destructively testing the compaction of a road, characterized in that, The intelligent robot for nondestructive testing of road compaction degree is used, and the entire area to be detected is divided into a first detection area and a second detection area according to a preset proportion; the vibration excitation force emitting wheel (5) and the vibration response collecting wheel (6) are started, and excitation frequency and collection frequency are set, and the robot walks in the first detection area; the robot walks in the first detection area, vibration responses in the first detection area are extracted, compaction degree of a limited number of points in the first detection area is measured by core drilling or sand column method, and the relationship between vibration responses and compaction degree is established; the vibration excitation force emitting wheel (5) and the vibration response collecting wheel (6) are started, and excitation frequency and collection frequency are set, and the robot walks in the second detection area; the road compaction degree in the second detection area is determined according to the vibration responses in the second detection area and the relationship between vibration responses and compaction degree.

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