A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Encircling crawling robot and method for highway bridge underwater pier column detection
The invention discloses an encircling crawling robot and method for detecting an underwater pier column of a highway bridge. The integrated maintenance management system is mainly used for integrated maintenance management of underwater pier columns in highway bridge engineering. The robot comprises a robot body, an underwater lighting system, a tool bin, a depth metering module, a servo power system, an inclination angle measuring module, an underwater operation mechanical arm, an array vision module, a synchronous stretching and fixing system and a driven wheel. The robot has the characteristic of climbing around a highway bridge pier column, and can stably run in an underwater environment. After the robot cleans and brushes attachments on the surface of the underwater pier column, disease visual detection is conducted; and after the disease category and the positioning information are determined, disease information is transmitted back. The detection robot can embrace the highway bridge underwater pier column to stably crawl at any depth and sense depth information and visual information under the conditions of high speed and turbid water flow, the purpose of detecting the damage of the highway bridge underwater pier column is achieved, and the detection robot can be used for maintaining the highway bridge underwater pier column.
本发明公开了一种用于公路桥梁水下墩柱检测的环抱爬行机器人及方法。本发明主要用于公路桥梁工程中的水下墩柱的一体化养护管理。该机器人包括机身本体、水下照明系统、工具仓、深度计量模块、伺服动力系统、倾角测量模块、水下作业机械臂、阵列视觉模块、同步拉伸固定系统、从动轮。机器人具有环抱公路桥梁墩柱爬行的特点，可稳定运行于水下环境。机器人在清刷水下墩柱表面附着物后，进行病害视觉检测；在确定病害类别及定位信息后，进行病害信息回传。此检测机器人可在高速、浑浊水流情况下，环抱公路桥梁水下墩柱稳定爬行于任意深度并感知深度信息及视觉信息，达到公路桥梁水下墩柱病害检测的目的，可用于公路桥梁水下墩柱的维护。
Encircling crawling robot and method for highway bridge underwater pier column detection
The invention discloses an encircling crawling robot and method for detecting an underwater pier column of a highway bridge. The integrated maintenance management system is mainly used for integrated maintenance management of underwater pier columns in highway bridge engineering. The robot comprises a robot body, an underwater lighting system, a tool bin, a depth metering module, a servo power system, an inclination angle measuring module, an underwater operation mechanical arm, an array vision module, a synchronous stretching and fixing system and a driven wheel. The robot has the characteristic of climbing around a highway bridge pier column, and can stably run in an underwater environment. After the robot cleans and brushes attachments on the surface of the underwater pier column, disease visual detection is conducted; and after the disease category and the positioning information are determined, disease information is transmitted back. The detection robot can embrace the highway bridge underwater pier column to stably crawl at any depth and sense depth information and visual information under the conditions of high speed and turbid water flow, the purpose of detecting the damage of the highway bridge underwater pier column is achieved, and the detection robot can be used for maintaining the highway bridge underwater pier column.
本发明公开了一种用于公路桥梁水下墩柱检测的环抱爬行机器人及方法。本发明主要用于公路桥梁工程中的水下墩柱的一体化养护管理。该机器人包括机身本体、水下照明系统、工具仓、深度计量模块、伺服动力系统、倾角测量模块、水下作业机械臂、阵列视觉模块、同步拉伸固定系统、从动轮。机器人具有环抱公路桥梁墩柱爬行的特点，可稳定运行于水下环境。机器人在清刷水下墩柱表面附着物后，进行病害视觉检测；在确定病害类别及定位信息后，进行病害信息回传。此检测机器人可在高速、浑浊水流情况下，环抱公路桥梁水下墩柱稳定爬行于任意深度并感知深度信息及视觉信息，达到公路桥梁水下墩柱病害检测的目的，可用于公路桥梁水下墩柱的维护。
Encircling crawling robot and method for highway bridge underwater pier column detection
一种用于公路桥梁水下墩柱检测的环抱爬行机器人及方法
SONG GUANGMING (author) / XIE FENG (author) / MAO JUZHENG (author) / WANG FEI (author) / ZHOU JUN (author) / SONG AIGUO (author) / WU GANG (author)
2023-12-08
Patent
Electronic Resource
Chinese
IPC:
B63C
LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS
,
Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen
/
B08B
Reinigen allgemein
,
CLEANING IN GENERAL
/
B62D
MOTOR VEHICLES
,
Motorfahrzeuge
/
E01D
BRIDGES
,
Brücken
/
G01B
MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS
,
Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen
/
G01F
Messen des Volumens, des Durchflussvolumens, des Massendurchflusses oder des Füllstandes
,
MEASURING VOLUME, VOLUME FLOW, MASS FLOW, OR LIQUID LEVEL
/
G01N
Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften
,
INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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