A multi-functional comprehensive detection device and system for road based on automatic driving

Abstract

The application belongs to the technical field of road detection, and particularly relates to a road multifunctional comprehensive detection device and system based on automatic driving, and the road multifunctional comprehensive detection device based on automatic driving, which comprises an automatic driving vehicle, a multi-degree-of-freedom mechanical arm one, a sample storage mechanism and a multi-degree-of-freedom mechanical arm two fixedly connected to the rear side of the automatic driving vehicle, a marking spray gun fixedly connected to the multi-degree-of-freedom mechanical arm two, a telescopic rod unit fixedly connected to the multi-degree-of-freedom mechanical arm one, and a sampling drill bit fixedly connected to the piston rod of the telescopic rod unit, wherein the sampling drill bit comprises a drill bit main body, and a plurality of sampling pipe openings are fixedly connected to the circumferential surface of the drill bit main body. The application can realize integrated automatic operation of road detection, pavement sampling, sample storage and abnormal marking, and greatly improves the detection efficiency and the automation level.

Description

Technical Field

[0001] This invention belongs to the field of road detection technology, specifically relating to a multi-functional integrated road detection device and system based on autonomous driving. Background Technology

[0002] With the rapid growth of my country's highway mileage and the large-scale application of autonomous driving technology, higher requirements have been placed on the detection efficiency, accuracy, and unmanned operation capabilities of road infrastructure.

[0003] Existing road inspection technologies are mainly divided into two categories: manual inspection and semi-automated inspection. Manual inspection relies on visual inspection by inspectors and sampling with handheld devices, which has inherent drawbacks such as high labor intensity, long inspection cycles, large subjective errors, and low operational safety. Although semi-automated inspection vehicles can be equipped with road imaging equipment to achieve preliminary defect identification, they generally suffer from limited functionality and low system integration. The detection, sampling, sample storage, and defect marking processes are fragmented, requiring multiple devices and multiple operators to work together, making it difficult to achieve fully unmanned operation. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-functional integrated road inspection device and system based on autonomous driving, which can realize integrated automatic operation of road inspection, road surface sampling, sample storage and anomaly marking, and greatly improve inspection efficiency and automation level.

[0005] The specific technical solution adopted by this invention is as follows: A multi-functional integrated road inspection device based on autonomous driving includes an autonomous driving vehicle. A multi-degree-of-freedom robotic arm I, a sample storage mechanism, and a multi-degree-of-freedom robotic arm II are fixedly connected to the rear of the autonomous driving vehicle. A marking spray gun is fixedly connected to the multi-degree-of-freedom robotic arm II. A telescopic rod unit is fixedly connected to the multi-degree-of-freedom robotic arm I. A sampling drill bit is fixedly connected to the piston rod of the telescopic rod unit. The sampling drill bit includes a drill bit body, with multiple sampling ports fixedly connected to the peripheral side of the drill bit body. Multiple guide rails are fixedly connected inside the drill bit body, the number of guide rails being the same as the number of sampling ports. Sampling cylinders are slidably connected to each of the multiple guide rails. An adjustment drive component that is drively connected to the sampling cylinders is installed inside the drill bit body.

[0006] Furthermore, the adjustment drive includes a servo motor fixedly connected inside the drill bit body, a threaded rod fixedly connected to the output end of the servo motor, a threaded sleeve threadedly connected to the outer side of the threaded rod, and multiple connecting rods hinged on the threaded sleeve, with the multiple connecting rods respectively hinged to multiple sampling cylinders.

[0007] Furthermore, the guide rail includes two straight rails and one arc-shaped rail. The two straight rails are connected by the arc-shaped rail. One of the straight rails is vertically arranged. Two round rods are fixedly connected to both sides of the sampling cylinder. The two round rods are slidably connected inside the same guide rail. The lower end of the drill bit body is provided with a discharge port. The upper end of the drill bit body is fixedly connected to the piston rod of the telescopic rod unit. The lower end of the drill bit body is fixedly connected to a first electric lifting mechanism. The lower end of the first electric lifting mechanism is fixedly connected to the drill bit body located below the drill bit body.

[0008] Furthermore, a conical guide body is fixedly connected to the upper side of the drill bit body.

[0009] Furthermore, a servo motor 2 is fixedly connected to the outer side of the sampling cylinder, and a threaded rod 2 is fixedly connected to the output end of the servo motor 2. The threaded rod 2 is rotatably connected to the inside of the sampling cylinder, and a movable push plate is threadedly connected to the outer side of the threaded rod 2. The movable push plate and the sampling cylinder are slidably connected.

[0010] Furthermore, a sample storage mechanism is fixedly connected to the rear of the autonomous vehicle. The sample storage mechanism includes a storage housing fixedly connected to the rear of the autonomous vehicle. A rotating frame is rotatably connected inside the storage housing. The rotating frame has multiple placement holes. A sample storage cylinder is placed inside each placement hole. The storage housing has a sample inlet adapted to the sample storage cylinder. A servo motor is fixedly connected to the upper side of the storage housing. The output end of the servo motor is fixedly connected to the rotating frame.

[0011] Furthermore, a servo motor four is fixedly connected to the outside of the storage housing, and a baffle adapted to the sample inlet is fixedly connected to the output end of the servo motor four. Multiple second electric lifting mechanisms are fixedly connected to the upper side of the storage shell, and a sealing plate adapted to the sample storage cylinder is fixedly connected to the second electric lifting mechanism.

[0012] A multi-functional integrated road detection system based on autonomous driving includes: The autonomous driving control module is used to control the autonomous driving of the vehicle, its path planning, and its docking at designated points. The road data acquisition module is used to control the data acquisition module to collect data on road surface defects, smoothness, and structural strength. The central processing module is used to receive collected data, analyze and judge it, and issue control commands. The robotic arm control module is used to regulate the multi-degree-of-freedom robotic arm one and the multi-degree-of-freedom robotic arm two. The automatic sampling module is used to drive the sampling drill bit to complete the drilling, sampling, and material discharge actions; The sample storage management module is used to control the sample storage mechanism; The marking and spraying module is used to drive the marking and spraying gun to automatically spray identification marks on abnormal areas.

[0013] The technical effects achieved by this invention are as follows: The present invention provides a multi-functional integrated road inspection device and system based on autonomous driving. The system relies on an autonomous vehicle equipped with a multi-degree-of-freedom robotic arm, a sampling drill bit, a sample storage mechanism and a marking spray gun to realize integrated automatic operation of road inspection, road surface sampling, sample storage and anomaly marking, which greatly improves the inspection efficiency and automation level. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the cross-sectional structure of the sampling drill bit of the present invention; Figure 3 This is a side view of the cross-sectional structure of the sampling drill bit of the present invention; Figure 4 This is a side view of the cross-sectional structure of the sampling cylinder of the present invention; Figure 5 This is a schematic diagram of the sample storage mechanism of the present invention; Figure 6 This is a cross-sectional structural diagram of the sample storage mechanism of the present invention; Figure 7 This is the present invention. Figure 6 A magnified view of a portion of point A in the middle.

[0015] The attached diagram lists the components represented by each number as follows: 1. Autonomous vehicle; 2. Multi-DOF robotic arm one; 3. Telescopic rod unit; 4. Sampling drill bit; 5. Sample storage mechanism; 6. Multi-DOF robotic arm two; 7. Marking spray gun; 8. Drill bit body; 9. Sampling nozzle; 10. Sampling cylinder; 11. Round rod; 12. Guide rail; 13. Servo motor one; 14. Threaded rod one; 15. Threaded sleeve; 16. Connecting rod; 17. Drill bit body; 18. Conical guide body; 19. First electric lifting unit Mechanism; 20. Servo motor II; 21. Threaded rod II; 22. Movable push plate; 23. Storage housing; 24. Servo motor III; 25. Rotating frame; 26. Placement hole; 27. Sample storage cylinder; 28. Sample inlet; 29. ​​Servo motor IV; 30. Baffle; 31. Second electric lifting mechanism; 32. Guide housing; 33. Movable plate; 34. Slide rod; 35. Sealing plate; 36. Electromagnet; 37. Tension spring; 38. Magnetic plate. Detailed Implementation

[0016] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.

[0017] like Figures 1-7 As shown, a multi-functional integrated road inspection device based on autonomous driving includes an autonomous driving vehicle 1. The autonomous driving vehicle 1 includes a data acquisition module and a control host. The data acquisition module includes at least one of a high-definition camera, a lidar, a road surface smoothness sensor, and a defect identification sensor, realizing fully automatic data collection of road cracks, potholes, settlement, etc. The road data is then input into the control host for analysis to detect whether there are any abnormalities in the road. This part is a mature prior art, which has been disclosed in Chinese patents with authorization announcement numbers CN111723750B or CN113838111B, and will not be described in detail in this technical solution.

[0018] The rear of the autonomous vehicle 1 is fixedly connected to a multi-degree-of-freedom robotic arm 1 2, a sample storage mechanism 5, and a multi-degree-of-freedom robotic arm 2 6. A telescopic rod unit 3 is fixedly connected to the multi-degree-of-freedom robotic arm 1 2. The telescopic rod unit 3 can be an electric push rod, a hydraulic telescopic rod, or a pneumatic telescopic rod. A sampling drill bit 4 is fixedly connected to the piston rod of the telescopic rod unit 3. When the autonomous vehicle 1 detects an anomaly on the road, it activates the multi-degree-of-freedom robotic arm 1 2 and the sampling drill bit 4 to sample the abnormal area of ​​the road and stores the sample inside the sample storage mechanism 5 for preservation. A marking spray gun 7 is fixedly connected to the multi-degree-of-freedom robotic arm 2 6. The marking spray gun 7 can be used to spray markings on the abnormal area to facilitate subsequent repairs by staff.

[0019] In some embodiments, the marking spray gun 7 can be a separate spray gun with built-in paint; in other embodiments, the marking spray gun 7 is connected to a spraying system via a pipe, and the spraying system is installed on the autonomous vehicle 1.

[0020] Among them, such as Figures 1-3 As shown, the sampling drill bit 4 includes a drill bit body 8. Multiple sampling ports 9 are fixedly connected to the peripheral side of the drill bit body 8. Multiple guide rails 12 are fixedly connected inside the drill bit body 8. The number of guide rails 12 is the same as the number of sampling ports 9. Sampling cylinders 10 are slidably connected to each of the multiple guide rails 12. The sampling cylinders 10 can slide through the sampling ports 9 to the outside of the drill bit body 8 to sample abnormal areas of the road on the outside of the drill bit body 8.

[0021] The drill bit body 8 is equipped with an adjustment drive component that is connected to the sampling cylinder 10. The adjustment drive component includes a servo motor 13 fixedly connected inside the drill bit body 8. The output end of the servo motor 13 is fixedly connected to a threaded rod 14. A threaded sleeve 15 is threadedly connected to the outer side of the threaded rod 14. Multiple connecting rods 16 are hinged on the threaded sleeve 15. The multiple connecting rods 16 are respectively hinged to multiple sampling cylinders 10. At this time, by starting the servo motor 13, the multiple sampling cylinders 10 can be driven to move synchronously.

[0022] In some embodiments, the guide rail 12 is a straight rail. In other embodiments, the guide rail 12 includes two straight rails and an arc-shaped rail, with the two straight rails connected by the arc-shaped rail. One of the straight rails is vertically positioned, and the angle between the other straight rail and the horizontal plane is less than 15°. Two round rods 11 are fixedly connected to both sides of the sampling cylinder 10. The two round rods 11 are slidably connected inside the same guide rail 12. In this case, when the round rods 11 slide to the vertically positioned straight rail, the sampling cylinder 10 is vertically positioned. The sample inside the sampling cylinder 10 can be discharged by gravity into the drill bit body 8. The lower end of the drill bit body 8 is provided with a discharge port. The upper end of the drill bit body 8 is fixedly connected to the piston rod of the telescopic rod unit 3. The lower end of the drill bit body 8 is fixedly connected to a first electric lifting mechanism 19. The lower end of the first electric lifting mechanism 19 is fixedly connected to a drill bit body 17 located on the lower side of the drill bit body 8. The drill bit body 17 can block the discharge port of the drill bit body 8, thereby reducing sample leakage.

[0023] like Figures 2-4 As shown, a servo motor 20 can be fixedly connected to the outside of the sampling cylinder 10. A threaded rod 21 is fixedly connected to the output end of the servo motor 20. The threaded rod 21 is rotatably connected inside the sampling cylinder 10, and a movable push plate 22 is threadedly connected to the outside of the threaded rod 21. The movable push plate 22 and the sampling cylinder 10 are slidably connected. By starting the servo motor 20, the movable push plate 22 can be moved, so that the sample inside the sampling cylinder 10 can be discharged in a better way. The opening of the sampling cylinder 10 can also be sealed by the movable push plate 22.

[0024] The first electric lifting mechanism 19 includes a guide housing 32, which is fixedly connected inside the drill body 8. An electromagnet 36 is fixedly connected to the upper end of the guide housing 32. A movable plate 33 is slidably connected inside the guide housing 32. A slide rod 34 is fixedly connected to the lower side of the movable plate 33. The slide rod 34 of the first electric lifting mechanism 19 is fixedly connected to the drill body 17. A magnetic plate 38 is fixedly connected to the upper side of the movable plate 33. A tension spring 37 is fixedly connected between the electromagnet 36 and the magnetic plate 38. Initially, the tension spring 37 pulls the slide rod 34, causing the slide rod 34 to move the drill body 17 to the upper part. When the electromagnet 36 is energized, it applies a magnetic force to the magnetic plate 38, pushing the slide rod 34 downward, which separates the drill body 17 from the drill body 8, allowing the sample inside the drill body 8 to be discharged through the discharge port.

[0025] A conical guide body 18 can be fixedly connected to the upper side of the drill bit body 17. By setting the conical guide body 18, the circumferential side surface of the conical guide body 18 forms a guide surface, which can reduce the sample residue on the drill bit body 17.

[0026] In some further embodiments, a cleaning system, such as a water spray system, may be provided on the drill bit body 8 to rinse and clean the interior of the drill bit body 8.

[0027] Among them, such as Figure 1 and Figures 4-5 As shown, the sample storage mechanism 5 includes a storage housing 23 fixedly connected to the rear of the autonomous vehicle 1. A rotating frame 25 is rotatably connected inside the storage housing 23. The rotating frame 25 has multiple placement holes 26, and sample storage cylinders 27 are placed inside the placement holes 26. The storage housing 23 has a sample inlet 28 adapted to the sample storage cylinder 27. When the sample storage cylinder 27 rotates to face the sample inlet 28, the sampling drill 4 can move to face the sample inlet 28 and then discharge the sample into the sample storage cylinder 27. When the sample is discharged from the sample storage mechanism 5, the sample storage cylinder 27 can be removed. A servo motor 24 is fixedly connected to the upper side of the storage housing 23. The output end of the servo motor 24 is fixedly connected to the rotating frame 25. Starting the servo motor 24 will drive the rotating frame 25 to rotate.

[0028] A servo motor 29 can also be fixedly connected to the outside of the housing 23. The output end of the servo motor 29 is fixedly connected to a baffle 30 that is compatible with the sample inlet 28. By starting the servo motor 29, the baffle 30 can be rotated to block the sample inlet 28.

[0029] Multiple second electric lifting mechanisms 31 can be fixedly connected to the upper side of the storage housing 23. A sealing plate 35 adapted to the sample storage cylinder 27 is fixedly connected to the second electric lifting mechanism 31. When the sample storage cylinder 27 moves to the lower side of the sealing plate 35, the sealing plate 35 can be moved down by activating the second electric lifting mechanism 31, so that the sample storage cylinder 27 can be sealed by the sealing plate 35.

[0030] The second electric lifting mechanism 31 and the first electric lifting mechanism 19 have roughly the same structure, such as Figure 5 As shown, the second electric lifting mechanism 31 includes a guide housing 32, which is fixedly connected to the upper side of the storage housing 23. An electromagnet 36 is fixedly connected to the upper end of the guide housing 32. A movable plate 33 is slidably connected inside the guide housing 32. A slide rod 34 is fixedly connected to the lower side of the movable plate 33. The slide rod 34 and the sealing plate 35 of the second electric lifting mechanism 31 are fixedly connected. A magnetic plate 38 is fixedly connected to the upper side of the movable plate 33. A tension spring 37 is fixedly connected between the electromagnet 36 and the magnetic plate 38. Initially, the tension spring 37 pulls the slide rod 34, causing the slide rod 34 to move the sealing plate 35 to the upper part. When the electromagnet 36 is energized, it applies a magnetic force to the magnetic plate 38, pushing the slide rod 34 to move downward.

[0031] A multi-functional integrated road inspection system based on autonomous driving includes an autonomous driving control module, a road data acquisition module, a central processing module, a robotic arm control module, an automatic sampling module, a sample storage and management module, a marking and spraying module, a communication transmission module, and a power management module integrated on a control host. The autonomous driving control module is used to control the autonomous driving vehicle 1 to drive autonomously, plan routes, and stop at designated points. The road data acquisition module is used to control the data acquisition module to collect data on road surface defects, smoothness, and structural strength. The central processing module is used to receive collected data, analyze and judge it, and issue control commands. The robotic arm control module is used to regulate the multi-degree-of-freedom robotic arm 12 and the multi-degree-of-freedom robotic arm 26; The automatic sampling module is used to drive the sampling drill bit 4 to complete the drilling, sampling, and material discharge actions; The sample storage management module is used to control the sample storage mechanism 5; The marking and spraying module is used to drive the marking and spraying gun 7 to automatically spray identification marks on abnormal areas; The communication transmission module is used to upload test data and sample information to the back-end terminal; The power management module is used to provide a stable power supply for the entire system.

[0032] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. A multi-functional integrated road inspection device based on autonomous driving, comprising an autonomous driving vehicle (1), characterized in that: The rear side of the autonomous vehicle (1) is fixedly connected to a multi-degree-of-freedom robotic arm one (2), a sample storage mechanism (5) and a multi-degree-of-freedom robotic arm two (6). A marking spray gun (7) is fixedly connected to the multi-degree-of-freedom robotic arm two (6). A telescopic rod unit (3) is fixedly connected to the multi-degree-of-freedom robotic arm one (2). A sampling drill bit (4) is fixedly connected to the piston rod of the telescopic rod unit (3). The sampling drill bit (4) includes a drill bit body (8), a plurality of sampling ports (9) are fixedly connected to the peripheral side of the drill bit body (8), a plurality of guide rails (12) are fixedly connected inside the drill bit body (8), the number of guide rails (12) is the same as the number of sampling ports (9), a sampling cylinder (10) is slidably connected to each of the plurality of guide rails (12), and an adjustment drive component that is connected to the sampling cylinder (10) is installed inside the drill bit body (8).

2. The multi-functional integrated road detection device based on autonomous driving according to claim 1, characterized in that: The adjustment drive includes a servo motor (13) fixedly connected inside the drill bit body (8). The output end of the servo motor (13) is fixedly connected to a threaded rod (14). The outer side of the threaded rod (14) is threadedly connected to a threaded sleeve (15). Multiple connecting rods (16) are hinged on the threaded sleeve (15). The multiple connecting rods (16) are respectively hinged to multiple sampling cylinders (10).

3. The multi-functional integrated road detection device based on autonomous driving according to claim 1, characterized in that: The guide rail (12) includes two straight rails and one arc rail. The two straight rails are connected by the arc rail. One of the straight rails is set vertically. Two round rods (11) are fixedly connected to both sides of the sampling cylinder (10). The two round rods (11) are slidably connected inside the same guide rail (12). The lower end of the drill bit body (8) is provided with a discharge port. The upper end of the drill bit body (8) is fixedly connected to the piston rod of the telescopic rod unit (3). The lower end of the drill bit body (8) is fixedly connected to a first electric lifting mechanism (19). The lower end of the first electric lifting mechanism (19) is fixedly connected to a drill bit body (17) located below the drill bit body (8).

4. The multi-functional integrated road detection device based on autonomous driving according to claim 3, characterized in that: A conical guide body (18) is fixedly connected to the upper side of the drill bit body (17).

5. The multi-functional integrated road detection device based on autonomous driving according to claim 1, characterized in that: A servo motor 2 (20) is fixedly connected to the outside of the sampling cylinder (10). A threaded rod 2 (21) is fixedly connected to the output end of the servo motor 2 (20). The threaded rod 2 (21) is rotatably connected inside the sampling cylinder (10). A movable push plate (22) is threadedly connected to the outside of the threaded rod 2 (21). The movable push plate (22) and the sampling cylinder (10) are slidably connected.

6. The multi-functional integrated road detection device based on autonomous driving according to claim 1, characterized in that: The sample storage mechanism (5) includes a storage housing (23) fixedly connected to the rear side of the autonomous vehicle (1). A rotating frame (25) is rotatably connected inside the storage housing (23). Multiple placement holes (26) are provided on the rotating frame (25). A sample storage cylinder (27) is placed inside the placement hole (26). An inlet (28) adapted to the sample storage cylinder (27) is provided on the storage housing (23). A servo motor (24) is fixedly connected to the upper side of the storage housing (23). The output end of the servo motor (24) is fixedly connected to the rotating frame (25).

7. The multi-functional integrated road detection device based on autonomous driving according to claim 6, characterized in that: A servo motor four (29) is fixedly connected to the outside of the storage housing (23), and a baffle (30) adapted to the sample inlet (28) is fixedly connected to the output end of the servo motor four (29). Multiple second electric lifting mechanisms (31) are fixedly connected to the upper side of the storage housing (23), and a sealing plate (35) adapted to the sample storage cylinder (27) is fixedly connected to the second electric lifting mechanism (31).

8. A multi-functional integrated road inspection system based on autonomous driving, applied to the multi-functional integrated road inspection device according to any one of claims 1-7, characterized in that: include: The autonomous driving control module is used to control the autonomous driving vehicle (1) to drive autonomously, plan routes and stop at designated points; The road data acquisition module is used to control the data acquisition module to collect data on road surface defects, smoothness, and structural strength. The central processing module is used to receive collected data, analyze and judge it, and issue control commands. The robotic arm control module is used to control the multi-degree-of-freedom robotic arm one (2) and the multi-degree-of-freedom robotic arm two (6). An automatic sampling module is used to drive the sampling drill bit (4) to complete drilling, sampling, and material discharge actions; The sample storage management module is used to control the sample storage mechanism (5). The marking spraying module is used to drive the marking spray gun (7) to automatically spray identification marks on abnormal areas.

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