Research Of Intelligent Monitoring System Of Folding Arm Bridge Detection Vehicle Based On Android

Folding arm bridge detection vehicle is a special engineering vehicle,which is used to detect the bridge health. The vehicle has three giant robotic arm.When the vehicle is working, the robotic arm can take the staff and testingequipment to anywhere within the operating range under the bridge for bridgeinspection work. So the anti-collision monitoring system of folding arm bridgedetection vehicle is especially important. For domestic folding arm bridge detectionvehicle, there are usually two anti-collision control measures. The first one is videosurveillance and the other one is artificial observation. As the video monitoringviewing angle limitations, it could not get the whole monitoring screen of large spanspace manipulator. Therefore video monitor does not apply to folding arm bridgedetection vehicle which has large span space manipulator. The artificial observationmeasure relies on the information of distance between manipulator and obstaclesobtained by observer outside the vehicle using interphone transmit to operator invehicle. Although the whole monitoring screen could be obtained by the measure ofartificial observation, but there is serious lag in information transmission.In order to solve the problems in existing monitoring measures. We design theintelligent monitoring system of folding arm bridge detection vehicle based onAndroid. The system could get the whole monitoring screen of folding arm bridgedetection vehicle by using3D virtual monitoring technology and has the function ofmanipulator collision warning by using3D collision detection technology.According to the design idea mentioned above. Firstly, we construct thehardware platform of the monitoring system of folding arm bridge detection vehicleand complete the selection of operating system. The system uses the MINI6410development board which has the S3C6410CPU inside as basic hardware platform.On the periphery of the MINI6410development board, there is dual axis tilt sensorand linear displacement sensor connected with it. We use Android as the operatingsystem.Then we study the driving system of Android system. We implement thehardware abstraction layer of the driver of dual axis tilt sensor using Android NDK technology and implement the interface of the data acquisition of multi-channelsensor.After that, we study the3D technology applied in the monitoring system of largespan space manipulator and use3D modeling software to build the solid model ofbridge detection vehicle. Then we implement the loading algorithm of3D modeldata file. Achieve the whole monitoring screen of manipulator by the method ofusing sensors to control the3D model of bridge inspection vehicle movementsynchronized with the real car. Achieve the function of collision warning ofmanipulator by the technology of virtual collision detection.Finally, we research the characteristic of Android application and design theapplication architecture of the monitoring system based on the MVC design idea. Atlast we implement each module and their integration with Android applicationdevelopment kit.Experimental results show that the designed monitoring system not only canovercome the video surveillance defect of getting the whole monitoring picture oflarge span manipulator but also has high real-time collision warning function. Thesystem can replace to the transformation of collision information manually to acertain extent.