Robot for in-service bridge inspection
By using robots for bridge inspection in service, which combine a mobile base, binocular cameras, and a rotating robotic arm, the problem of insufficient comprehensive inspection by manual inspection has been solved, enabling accurate and efficient detection of bridge deck defects and reducing traffic disruption.
Patent Information
- Application Number
- CN202422604740.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-28
- Publication Date
- 2025-12-19
- Estimated Expiration
- 2034-10-28
AI Technical Summary
Manual bridge inspections cannot provide a comprehensive view, are prone to errors, and are inefficient. They are particularly difficult to identify deep and minor damage to the bridge surface, which can disrupt traffic.
Design a robot for inspecting in-service bridges. It uses a mobile base, binocular cameras, a rotating robotic arm, and vibration sensors. Combined with a navigation module and a wireless communication module, it can detect bridge decks along a prescribed path, avoid obstacles using laser positioning radar, adjust the angle of the rotating robotic arm, capture images using the camera module, and detect deep damage using the vibration sensor.
It achieves comprehensive inspection of the bridge surface without any omissions, improves inspection accuracy and efficiency, reduces the impact on traffic, and can identify minor damage.
Smart Images
Figure CN223685413U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to in service bridge detection technical field, concretely relates to a kind of robot for in service bridge inspection. BACKGROUND
[0002] Concrete bridge deck serves long, is inevitably influenced by environment, load and material aging etc. during use, plus construction, design defects, prone to bridge deck structure prematurely enters bad state, if long-term in bad state can lead to bridge collapse. Therefore, bridge deck slab should be maintained and overhauled periodically, to ensure its effectiveness and safety. For bridge surface crack, artificial inspection is the current commonly used method, and staff uses destructive or non-destructive method to detect bridge deck, wherein non-destructive method mainly includes impact echo method, impulse response method, infrared thermal imaging method, radar method and image detection method, and staff carries detection device along bridge deck and inspects to complete bridge deck information collection according to the above method. Since artificial detection is used, artificial detection cannot be carried out according to the set route, and there is error inevitably due to working experience, especially bridge deck deep layer and micro-damage identification. And artificial detection efficiency is low, and traffic is affected.
[0003] Therefore, a robot for inspection is needed, which provides a hardware basis for comprehensive, efficient and accurate bridge deck disease detection. SUMMARY
[0004] The utility model discloses to solve the problem that artificial inspection cannot be detected comprehensively and the problem of low detection efficiency, and proposes a kind of robot for in service bridge inspection, by setting up mobile base and binocular camera combination main control unit, navigation module and wireless communication module, realize detection according to prescribed path, provide hardware basis for bridge deck disease detection without omission, and detect bridge deck deep layer and micro-damage by rotating mechanical arm, camera module and vibration sensor, provide hardware basis for bridge deck disease accurate detection.
[0005] To achieve the above object, the utility model provides a kind of robot for in service bridge inspection, including mobile base, installation platform and camera module, mobile base is provided with installation platform and rotating mechanical arm, and the mobile platform includes bottom plate, drive motor, wheel shaft, front wheel and rear wheel, the rotating mechanical arm includes base, first rotary motor, connecting rod mechanical arm and second rotary motor, the installation platform is provided with navigation module, display module and wireless communication module;
[0006] Rotating mechanical arm is provided with camera module and vibration sensor;
[0007] The mobile platform is provided with a main control unit, a binocular camera and a laser positioning radar, the binocular camera is in communication connection with the main control unit, the main control unit is also in communication connection with a navigation module, a display module and a wireless communication module respectively, an input end of the main control unit is connected with a vibration sensor and the laser positioning radar, and an output end of the main control unit is connected with a drive chip, the drive chip is connected with a drive motor, a first rotary motor and a second rotary motor respectively.
[0008] Further, the bottom plate is a square frame structure, front wheels and rear wheels are arranged on the side surface of the bottom plate, two rear wheels are rotatably connected with the bottom plate through an axle, and two front wheels are rotatably connected with the bottom plate and connected with the output shaft of the drive motor respectively.
[0009] The upper end of the bottom plate is provided with the main control unit and the binocular camera, the edge of the bottom plate is provided with the laser positioning radar, and the cavity of the bottom plate is provided with a power module.
[0010] Two front wheels are respectively provided with a drive motor, and the two drive motors are controlled by the main control unit to provide a hardware basis for differential turning control.
[0011] Further, the mounting platform is a square frame structure, the mounting platform is welded and fixed with the mobile platform, the navigation module is arranged at the top end of the mounting platform, the side edge of the upper end surface of the mounting platform is provided with a hinge, the mounting platform is connected with a display module mounting seat through the hinge, the display module mounting seat is a square plate body, and the other side of the display module mounting seat is fixed with the display module through bolts.
[0012] The wireless communication module is arranged in the cavity of the mounting platform.
[0013] The navigation module is arranged to realize positioning and navigation of the mobile base, and the wireless communication module is used for communication between the main control unit and external equipment.
[0014] Further, the first rotary motor is fixedly arranged in the cavity of the bottom plate, the output shaft of the first rotary motor penetrates through the bottom plate and is fixed with a base, the second rotary motor and a linkage mechanical arm are arranged on the base, and the output shaft of the second rotary motor is connected with the linkage mechanical arm.
[0015] The linkage mechanical arm is fixedly provided with a camera module and a vibration sensor at the front end.
[0016] The first rotary motor drives the camera module to perform yaw motion through the base and the linkage mechanical arm, and the second rotary motor drives the linkage mechanical arm to realize pitch motion of the camera module, so that the camera module is close to the bridge deck to capture slight damage.
[0017] Further, the master control unit comprises an MCU chip and a storage module, the MCU chip is in communication connection with the storage module through a UART serial port, the MCU chip is in connection with the navigation module through an SPI serial port, the MCU chip is in communication connection with the wireless communication module through a UART serial port, and the MCU chip is in communication connection with the camera module and the binocular camera through an RS232 communication module.
[0018] The ADC port of the MCU chip is connected with the input end of the laser positioning radar and the vibration sensor.
[0019] Further, the number of the driving chips is plural, and the output ends of the plural driving chips are respectively connected with the driving motor, the first rotary motor and the second rotary motor.
[0020] The driving motor comprises a stepping motor, and the first rotary motor and the second rotary motor comprise a rudder engine.
[0021] The driving chip is arranged to facilitate the accurate control of the stepping motor and the rudder engine, so that the mobile base and the rotary mechanical arm can perform fine adjustment.
[0022] Further, the navigation module comprises a Beidou navigation module.
[0023] The wireless communication module comprises a 4G network module.
[0024] Through the above technical scheme, the bridge deck detection device has the following beneficial effects:
[0025] 1. The mobile platform is arranged, manual detection equipment is not needed for detecting the bridge deck, the mobile platform drives the rotary mechanical arm and the mounting platform to move, the laser positioning radar detects obstacles, the master control unit, the navigation module and the wireless communication module are arranged, and a hardware basis is provided for the mobile platform to move along the bridge deck according to the designed track, the binocular camera collects images of the bridge deck, a hardware basis is provided for real-time online image collection in combination with the master control unit and the wireless communication module, manpower is liberated, and control is facilitated.
[0026] 2. The rotary mechanical arm is arranged, the camera module and the vibration sensor are arranged on the rotary mechanical arm, in the detection process, the camera module can be adjusted in yaw and pitch by the rotary mechanical arm to facilitate the adjustment of the shooting angle, and further, small damage can be captured and shot, and the vibration sensor can be used to detect the displacement or acceleration parameter of the disease position close to the bridge deck.
[0027] 3. Compared with manual detection, the bridge deck detection device has smaller influence on traffic, and can detect the bridge deck without affecting the traffic. BRIEF DESCRIPTION OF DRAWINGS
[0028] Fig. 1The utility model relates to a kind of structure schematic view of robot for bridge in service inspection;
[0029] Fig. 2 The utility model relates to a kind of structure schematic view of robot for bridge in service inspection two;
[0030] Fig. 3 The utility model relates to a kind of electrical schematic diagram of robot for bridge in service inspection.
[0031] Fig. 1 is a moving base, 2 is a mounting platform, 3 is a rotating mechanical arm, 4 is a driving motor, 5 is a second rotating motor, 6 is a navigation module, 7 is a display module, 8 is a wireless communication module, 9 is a camera module, 10 is a vibration sensor, 11 is a main control unit, 12 is a binocular camera, 13 is a laser positioning radar, 14 is a driving chip, 15 is a power module, 16 is a display module mounting seat, 17 is a first rotating motor. DETAILED DESCRIPTION
[0032] The utility model will be further described below in connection with the drawings and specific embodiments:
[0033] Example 1
[0034] As Figs. 1-3 shown, a kind of robot for bridge in service inspection, including moving base 1, mounting platform 2 and camera module 9, the moving base 1 is provided with mounting platform 2 and rotating mechanical arm 3, the moving platform includes bottom plate, driving motor 4, wheel shaft, front wheel and rear wheel, the rotating mechanical arm 3 includes base, first rotating motor 17, connecting rod mechanical arm and second rotating motor 5, the mounting platform 2 is provided with navigation module 6, display module 7 and wireless communication module 8;
[0035] The rotating mechanical arm 3 is provided with camera module 9 and vibration sensor 10;
[0036] The moving platform is provided with main control unit 11, binocular camera 12 and laser positioning radar 13, the binocular camera 12 is connected with main control unit 11, the main control unit 11 is also respectively connected with navigation module 6, display module 7 and wireless communication module 8, the input end of main control unit 11 is connected with vibration sensor 10 and laser positioning radar 13, and the output end of main control unit 11 is connected with driving chip 14, and the driving chip 14 is connected with driving motor 4, first rotating motor 17 and second rotating motor 5 respectively.
[0037] The bottom plate is square frame structure, and the side of bottom plate is provided with front wheel and rear wheel, two rear wheels are rotatably connected with bottom plate by wheel shaft, and two front wheels are rotatably connected with bottom plate by the output shaft of driving motor 4 respectively;
[0038] The upper end of the bottom plate is provided with a master control unit 11 and a binocular camera 12, the edge of the bottom plate is provided with a laser positioning radar 13, and the cavity of the bottom plate is provided with a power supply module 15.
[0039] The mounting platform 2 is a square frame structure, the mounting platform 2 is welded and fixed with the moving platform, the mounting platform 2 is provided with a navigation module 6 at the top end, the side of the upper end surface of the mounting platform 2 is provided with a hinge, and the mounting platform 2 is connected with a display module mounting seat 16 through the hinge, the display module mounting seat 16 is a square plate body, and the other side of the display module mounting seat 16 is fixed with a display module 7 through bolts.
[0040] The cavity of the mounting platform 2 is provided with a wireless communication module 8.
[0041] The cavity of the bottom plate is fixedly provided with a first rotating motor 17, the output shaft of the first rotating motor 17 penetrates through the bottom plate and is fixed with a base, the base is provided with a second rotating motor 5 and a connecting rod mechanical arm, and the output shaft of the second rotating motor 5 is connected with the connecting rod mechanical arm.
[0042] The connecting rod mechanical arm is fixedly provided with a camera module 9 and a vibration sensor 10 at the front end.
[0043] The master control unit 11 comprises an MCU chip and a storage module, the MCU chip and the storage module are connected through a UART serial port communication, the MCU chip is connected with the navigation module 6 through an SPI serial port, the MCU chip is connected with the wireless communication module 8 through a UART serial port communication, and the MCU chip is connected with the camera module 9 and the binocular camera 12 through an RS232 communication module.
[0044] The ADC port of the MCU chip is connected with the input end of the vibration sensor 10 and the laser positioning radar 13.
[0045] The number of the driving chips 14 is multiple, and the output ends of the multiple driving chips 14 are respectively connected with a driving motor 4, a first rotating motor 17 and a second rotating motor 5.
[0046] The driving motor 4 comprises a stepping motor, and the first rotating motor 17 and the second rotating motor 5 comprise a rudder.
[0047] The navigation module 6 comprises a Beidou navigation module.
[0048] The wireless communication module 8 comprises a 4G network module.
[0049] In the embodiment, the control circuit adopts a Raspberry Pi mainboard, the Raspberry Pi mainboard is integrated with an MCU chip, a storage module, a 4G network module and a Beidou navigation module, the display module 7 selects a 7-inch OLED display screen, the camera module 9 selects a C100 high-definition camera, the binocular camera 12 selects an Astra Pro binocular camera, the laser positioning radar 13 selects a Leshen N10P laser positioning radar, the vibration sensor 10 selects an HJ260 three-axis vibration sensor, and the drive chip 14 selects an L289N chip.
[0050] The MCU chip is connected with an upper computer through the 4G network module, and a staff sets a patrol track on the upper computer.
[0051] During operation, the MCU chip controls the driving motor 4 to operate according to the patrol track in combination with the Beidou navigation module through the drive chip 14, the front wheels drive the rear wheels to rotate, and the mobile platform moves according to the track. During the movement, the binocular camera 12 continuously operates to collect images of the bridge deck, the collected image data is displayed through the display module 7, and meanwhile, the MCU chip identifies the cracks in the image data, and rough detection is completed. The staff marks the disease part.
[0052] Then, the staff controls the mobile platform to stop working after moving to the disease part, the staff controls the MCU chip to control the first rotating motor 17 and the second rotating motor 5 through the drive chip 14, the rotating mechanical arm 3 drives the camera module 9 to adjust the heading and the pitch, so that the camera module 9 is close to the disease part to collect images of the slight damage, the collected image data is displayed through the display module 7, and meanwhile, the MCU chip identifies the cracks in the image data.
[0053] The vibration sensor 10 can measure the displacement or acceleration of the disease part, so as to specifically evaluate the damage degree of the crack. If the bridge deck under the crack is damaged more, the elastic modulus or the stiffness of the bridge deck structure at the position will decrease, and then the displacement or acceleration of the bridge deck measured by the vibration sensor 10 will become larger, if the displacement or acceleration of the bridge deck measured by the vibration sensor 10 does not change, it indicates that the disease of the bridge deck only exists on the surface, and the inside is not damaged.
[0054] The above-described embodiments are only preferred embodiments of the utility model, and do not limit the implementation range of the utility model, so that equivalent changes or modifications made according to the structure, features and principles described in the patent range of the utility model should be included in the patent range of the utility model application.
Claims
1. A robot for bridge inspection in service, comprising a mobile base (1), a mounting platform (2) and a camera module (9), characterized in that, The mobile base (1) is provided with a mounting platform (2) and a rotating mechanical arm (3), the mobile platform comprises a bottom plate, a drive motor (4), an axle, a front wheel and a rear wheel, the rotating mechanical arm (3) comprises a base, a first rotating motor (17), a connecting rod mechanical arm and a second rotating motor (5), the mounting platform (2) is provided with a navigation module (6), a display module (7) and a wireless communication module (8); The rotating mechanical arm (3) is provided with a camera module (9) and a vibration sensor (10); The mobile platform is provided with a main control unit (11), a binocular camera (12) and a laser positioning radar (13), the binocular camera (12) is in communication connection with the main control unit (11), the main control unit (11) is also in communication connection with the navigation module (6), the display module (7) and the wireless communication module (8) respectively, the input end of the main control unit (11) is connected with the vibration sensor (10) and the laser positioning radar (13), the output end of the main control unit (11) is connected with a drive chip (14), the drive chip (14) is connected with the drive motor (4), the first rotating motor (17) and the second rotating motor (5) respectively.
2. The robot for inspecting a bridge in service according to claim 1, wherein The bottom plate is a square frame structure, the side surface of the bottom plate is provided with the front wheel and the rear wheel, the two rear wheels are rotatably connected with the bottom plate through an axle, and the two front wheels are rotatably connected with the bottom plate and connected with the output shaft of the drive motor (4) respectively; The upper end of the bottom plate is provided with the main control unit (11) and the binocular camera (12), the edge of the bottom plate is provided with the laser positioning radar (13), and the cavity of the bottom plate is provided with a power module (15) therein, the power module (15) supplies power to the navigation module (6), the display module (7), the wireless communication module (8), the camera module (9), the vibration sensor (10), the main control unit (11), the binocular camera (12) and the laser positioning radar (13).
3. The robot for inspecting a bridge in service according to claim 1, wherein The mounting platform (2) is a square frame structure, the mounting platform (2) is welded and fixed with the mobile platform, the mounting platform (2) is provided with the navigation module (6) at the top end, the side edge of the upper end surface of the mounting platform (2) is provided with a hinge, and the mounting platform (2) is connected with a display module mounting seat (16) through the hinge, the display module mounting seat (16) is a square plate body, and the other side of the display module mounting seat (16) is fixed with the display module (7) through bolts; The cavity of the mounting platform (2) is provided with the wireless communication module (8).
4. The robot for inspecting a bridge in service according to claim 2, wherein The first rotating motor (17) is fixedly arranged in the cavity of the bottom plate, the output shaft of the first rotating motor (17) penetrates through the bottom plate and is fixed with the base, the second rotating motor (5) and the connecting rod mechanical arm are arranged on the base, and the output shaft of the second rotating motor (5) is connected with the connecting rod mechanical arm; The connecting rod mechanical arm is provided at the front end with the camera module (9) and the vibration sensor (10).
5. The robot for inspecting a bridge in service according to claim 1, wherein The master control unit (11) comprises an MCU chip and a storage module, the MCU chip and the storage module are connected through UART serial port communication, the MCU chip and the navigation module (6) are connected through SPI serial port, the MCU chip and the wireless communication module (8) are connected through UART serial port communication, and the MCU chip and the camera module (9) and the binocular camera (12) are connected through RS232 communication module communication. The ADC port of the MCU chip is connected with the input end of the vibration sensor (10) and the laser positioning radar (13).
6. The robot for inspecting a bridge in service according to claim 1, wherein The number of the driving chips (14) is multiple, and the output ends of the multiple driving chips (14) are respectively connected with the driving motor (4), the first rotating motor (17) and the second rotating motor (5). The driving motor (4) comprises a stepping motor, and the first rotating motor (17) and the second rotating motor (5) comprise a rudder engine.
7. The robot for inspecting a bridge in service according to claim 1, wherein The navigation module (6) comprises a Beidou navigation module. The wireless communication module (8) comprises a 4G network module.