CN113665698A - Wall surface detection system and detection method based on mechanical arm - Google Patents
Wall surface detection system and detection method based on mechanical arm Download PDFInfo
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- CN113665698A CN113665698A CN202111159081.6A CN202111159081A CN113665698A CN 113665698 A CN113665698 A CN 113665698A CN 202111159081 A CN202111159081 A CN 202111159081A CN 113665698 A CN113665698 A CN 113665698A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention discloses a wall surface detection system and a wall surface detection method based on mechanical arms. The wall climbing robot comprises a wall climbing robot body, a power supply, a driving part, a walking part, a machine arm part, a control assembly and a detection assembly, the middle part of the wall climbing robot body is rotatably provided with the driving part which is used for driving the wall climbing robot to vertically take off and land or attach to a wall for climbing, two pairs of walking parts and a pair of machine arm parts are symmetrically arranged on two sides of the wall climbing robot body, the power supply is arranged in the wall climbing robot body, the detection assembly and the control assembly, the power supply and the driving part, the machine arm part, the control assembly and the detection assembly are electrically connected, the control assembly receives a working instruction of a control terminal and regulates and controls the working state of the wall climbing robot, the detection assembly receives a working instruction of the control assembly and detects the wall surface. The invention can realize the flight detection mode, the climbing detection mode, the vertical air arrival detection mode and the multi-machine coordination work, thereby improving the detection safety.
Description
Technical Field
The invention relates to the technical field of robot and engineering quality detection, in particular to a wall surface detection system and a wall surface detection method based on a mechanical arm.
Background
At present, the total number of various dams in China reaches more than ten thousand seats, wherein the middle and later periods of the 50 th to 60 th years in the last century are the high-speed development periods of dam construction. However, due to the fact that the factors affecting the safety of the dam such as natural force (such as flood and earthquake), material performance, structural mechanism (such as building instability mechanism), construction control (such as concrete temperature control and filling compactness), artificial damage and the like are not fully known, a lot of dams with the operation age of 30-50 years or even exceeding the designed service life have serious potential safety hazards at present. Because the working conditions of the dam are very complex, the actual working states of the dam and the foundation are difficult to be accurately predicted by using a calculation formula or a model test, and in order to timely monitor the hidden dangers, the operation safety of various dams is urgently required to be ensured by an effective monitoring means.
Considering that dam detection has multiple risk factor influence to detect, adopt machine automated inspection to compare and detect safer and the cost is lower than traditional manual work. The majority of traditional wall detection robot adopts vacuum adsorption formula or magnetism to inhale the formula. Although the vacuum adsorption type wall surface detection robot has strong adsorption capacity and is relatively stable, the vacuum adsorption type wall surface detection robot is limited by an adsorption mode, so that the wall surface detection robot can only adopt a multi-sucker type and/or multi-mechanical-arm type structure for adsorption, and the mechanical structure is relatively complex, the moving speed is slow, and the machine body is heavy; meanwhile, when the detection target is too large, the detection target is limited by the energy reserve carried by the detection target, so that the detection target is difficult to reach the to-be-detected place. On the other hand, magnetism is inhaled formula wall inspection robot and although can reach higher translation rate, need be surveyed the wall material and be ferromagnetic material, and magnetism is inhaled formula wall inspection robot and is used crawler-type electricity to adsorb or permanent magnetism adsorbs mostly, leads to its turn or be difficult to transition when meetting the right-angle wall, the motility is relatively poor. Accordingly, the conventional wall surface inspection robot is not suitable for efficiently inspecting a non-magnetic wall surface including a dam and having a large target.
Disclosure of Invention
The invention aims to provide a wall surface detection system and a wall surface detection method based on a mechanical arm, which are used for efficiently detecting nonmagnetic large-target wall surfaces including dams.
In order to solve the technical problems, the invention provides a wall surface detection system based on a mechanical arm, which comprises a plurality of wall-climbing robots and a control terminal for regulating and controlling the working state of at least one wall-climbing robot, wherein each wall-climbing robot comprises a wall-climbing robot body, a power supply, a driving part, a walking part, a machine arm part, a control assembly and a detection assembly; the middle part of the wall climbing robot body is rotatably provided with the driving part, and the driving part is used for driving the wall climbing robot to vertically take off and land or climb with a wall; two pairs of walking parts are symmetrically and detachably mounted on two sides of the wall climbing robot body, and the walking parts are used for assisting the wall climbing robot to climb along a wall; a pair of arm parts are symmetrically and detachably mounted on two sides of the wall-climbing robot body, and the arm parts are used for assisting the wall-climbing robot in fixed-point detection; this internal power, determine module and the control assembly of installing of wall climbing robot, the power with drive division, horn portion, control assembly and determine module electricity are connected, the control assembly receives control terminal's work order and regulation and control wall climbing robot's operating condition, the determine module receives control assembly's work order detects the wall.
Further, the drive division includes coaxial double-oar rotor subassembly, coaxial double-oar rotor subassembly includes motor, goes up rotor, lower rotor, motor ring, motor mount, four hollow poles and two first steering wheels, the middle part fixed mounting of motor ring has the motor mount, the center of motor ring is passed through motor mount fixed mounting has the motor, install respectively symmetrically at the both ends of motor go up rotor and lower rotor, the circumference equipartition of motor ring has four hollow poles, wherein adjacent two hollow poles are respectively through two first steering wheels with this body coupling of wall climbing robot and other two hollow poles with this body of wall climbing robot rotates and connects, the motor is received control assembly's work order and regulation and control go up the rotational speed of rotor and lower rotor, first steering wheel is received control assembly's work order and regulation and control the motor ring is relative this body of wall climbing robot rotates and connects, the motor is received control assembly's work order and regulation and control assembly The working angle of the body.
Furthermore, the first steering engine can drive the motor ring to do composite rotary motion relative to the wall-climbing robot body.
Furthermore, the mechanical arm part comprises a mechanical arm component, a sucker and a vacuum pump, the mechanical arm component comprises a second steering engine, a first connecting arm, a third steering engine, a second connecting arm, a fourth steering engine, a third connecting arm, a fifth steering engine and a fourth connecting arm which are connected in sequence, the first connecting arm passes through the second steering engine and the wall climbing robot body can be detachably connected, the fourth connecting arm is fixedly connected with the sucker, the vacuum pump is installed in the wall climbing robot body, the second steering engine, the third steering engine, the fourth steering engine and the fifth steering engine receive a working instruction of the control component and regulate and control the height and/or position of the wall climbing robot body relative to the wall surface, and the vacuum pump receives the working instruction of the control component and regulates and control the negative pressure of the sucker to the wall surface.
Further, the control assembly includes robot control ware, determine module includes image detection subassembly, crackle determine module, pressure sensor, speed sensor and angle displacement sensor, image detection subassembly includes the high definition digtal camera that is used for shooing the wall image, crackle determine module is including infrared imaging check out test set, the X-ray scattering imaging check out test set and the laser radar that are used for surveying the wall crackle situation, pressure sensor, speed sensor and angle displacement sensor are used for detecting respectively the negative pressure of sucking disc go up the rotational speed of rotor and lower rotor and the working angle of motor ring, robot control ware receives control terminal's operating instruction and determine module's feedback signal carries out the data fusion in order to send corresponding operating instruction.
Furthermore, the walking part comprises walking wheels and a connecting shaft, one end of the connecting shaft is fixedly connected with the walking wheels, and the other end of the connecting shaft is detachably connected with the wall-climbing robot body.
The invention also provides a wall surface detection method based on the mechanical arm, which comprises the following three working modes:
1) flight detection mode: the control terminal controls at least one wall climbing robot with a detached walking part and a machine arm part to detect wall partitions so as to construct a three-dimensional real scene model of the wall and plan an optimal climbing route required by a climbing detection mode;
2) climbing detection mode: the control terminal controls at least one wall climbing robot to detect the wall surface partition along the optimal climbing route;
3) vertical air arrival detection mode: the control terminal controls at least one wall-climbing robot to vertically reach the position near the designated wall surface area to be detected in the air, and coordinates and controls the driving part and the machine arm part to stop the wall-climbing robot at the designated wall surface area to be detected for detection.
Furthermore, the flight detection mode specifically includes the following steps:
11) dismantling a walking part and a horn part on at least one wall climbing robot;
12) the control terminal sends a flight detection mode working instruction to at least one control component on the wall climbing robot;
13) after any one of the control assemblies receives a flight detection mode working instruction, sending a flight working instruction to a driving part on the wall-climbing robot to drive the wall-climbing robot to fly to the position near the designated wall surface area to be detected, and sending a detection working instruction to a detection assembly on the wall-climbing robot to detect the designated wall surface area to be detected;
14) any one control assembly receives a feedback signal of the detection assembly in real time, and data are fused and then transmitted to the control terminal;
15) and the control terminal constructs a three-dimensional real-scene model of the wall surface and plans an optimal climbing route required by a climbing detection mode according to the feedback signal of the control component on at least one wall-climbing robot.
Further, the climbing detection mode specifically comprises the following steps:
21) the control terminal sends a climbing detection mode working instruction to at least one control component on the wall climbing robot;
22) after receiving a climbing detection mode working instruction, any one of the control assemblies sends a climbing working instruction to a driving part on the wall climbing robot to drive the wall climbing robot, and climbs to a designated wall surface area to be detected along an optimal climbing route by means of a walking part on the wall climbing robot;
23) and any one of the control assemblies sends a fixed-point work instruction to the arm part on the wall-climbing robot so as to fix a fixed point on the designated wall surface area to be detected, and sends a detection work instruction to the detection assembly on the wall-climbing robot so as to perform fixed-point detection on the designated wall surface area to be detected.
Further, the vertical air arrival detection mode specifically comprises the steps of:
31) the control terminal sends a vertical air arrival detection mode working instruction to a control component on at least one wall climbing robot;
32) after receiving a vertical aerial arrival detection mode working instruction, any one of the control assemblies sends a vertical aerial arrival working instruction to a driving part on the wall climbing robot so as to drive the wall climbing robot to vertically arrive at the position near a specified wall surface area to be detected;
33) and any one of the control assemblies sends a fixed-point work instruction to the arm part on the wall-climbing robot so as to fix a fixed point on the designated wall surface area to be detected, and sends a detection work instruction to the detection assembly on the wall-climbing robot so as to perform fixed-point detection on the designated wall surface area to be detected.
Compared with the prior art, the invention has the beneficial effects that:
1. by adopting the coaxial double-propeller rotor wing assembly capable of generating reverse thrust and regulating the posture of the coaxial double-propeller rotor wing assembly, namely enabling the coaxial double-propeller rotor wing assembly to do composite rotary motion relative to the wall-climbing robot body through the first steering engine according to actual working requirements (vertical take-off and landing or wall-attached climbing), the lifting, flying, climbing and landing of the wall-climbing robot can be quickly realized, namely the posture regulation response is more sensitive and quick, and the adaptability is strong;
2. by adopting the machine arm part with multiple degrees of freedom, the auxiliary wall climbing robot can stably stay in a specified wall surface area to be detected for fixed-point detection, and the height and/or position of the wall climbing robot relative to the wall surface can be adjusted; meanwhile, only two groups of machine arm parts are arranged, and only two suckers are arranged, so that flexible displacement and rapid fixed-point detection can be realized, and the machine arm part has a simpler structure, a smaller volume and lighter weight;
3. through adopting the walking portion and the horn portion that possess the characteristics of dismantling, can realize flight detection mode, climbing detection mode and the perpendicular switching of arriving at the detection mode in the air, the wall detects more conveniently, swiftly, and can realize multimachine coordination work, has improved detection efficiency and detection security greatly.
Drawings
FIG. 1 is a schematic structural diagram of a wall-climbing robot in a wall surface detection system based on a mechanical arm according to the present invention;
FIG. 2 is a schematic structural view of a coaxial twin-bladed rotor assembly of the robotic-arm based wall inspection system of the present invention;
FIG. 3 is a schematic structural diagram of a robot arm portion of the robot-based wall surface inspection system according to the present invention;
FIG. 4 is a flow chart of a flight detection mode in the wall surface detection method based on the robot arm according to the present invention;
FIG. 5 is a schematic view of the flight detection mode of the wall surface detection method based on the robot arm according to the present invention;
FIG. 6 is a flow chart of a climbing detection mode in the robot-based wall detection method of the present invention;
FIG. 7 is a schematic diagram showing the climbing detection mode of the wall surface detection method based on the robot arm according to the present invention;
FIG. 8 is a flow chart of a vertical airborne arrival detection mode of the robotic-arm-based wall detection method of the present invention;
the reference numbers in the figures illustrate:
100-a wall climbing robot, 10-a wall climbing robot body, 20-a coaxial double-oar rotor wing assembly, 30-a walking part and 40-a machine arm part;
21-motor, 22-upper rotor, 23-lower rotor, 24-motor ring, 25-motor fixing frame, 26-hollow rod;
31-road wheel, 32-connecting shaft;
41-a second steering engine, 42-a first connecting arm, 43-a third steering engine, 44-a second connecting arm, 45-a fourth steering engine, 46-a third connecting arm, 47-a fifth steering engine, 48-a fourth connecting arm and 49-a sucker.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the system or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, cannot be understood as the present invention
The limit of (2). Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The wall surface detection system based on the mechanical arm adopts a mode of combining vacuum adsorption and thrust structure assistance, so that the purposes of perfect adsorption, stable movement and stopping can be realized for non-ferromagnetic walls including dam wall surfaces, walls with larger targets and uneven surfaces, and the wall surfaces can be efficiently detected.
In order to realize the purpose of efficiently and safely detecting wall surfaces such as dam wall surfaces, the invention provides a wall surface detection system based on mechanical arms, which comprises a plurality of wall climbing robots 100 and a control terminal (not shown in the figure) for regulating and controlling the working state of at least one wall climbing robot. The number of the wall climbing robots 100 can be set according to factors such as the size of the wall surface and the quality of the wall surface, so that the wall surface can be detected in a partition mode, and the detection efficiency is improved; the control terminal is arranged on the ground, and the control terminal can uniformly or individually regulate and control the working states of the wall-climbing robots 100, such as lifting, flying, climbing, descending and the like.
Meanwhile, as shown in fig. 1 to 3, the present invention provides a schematic structural diagram of the above-mentioned wall-climbing robot, and the wall-climbing robot 100 includes a wall-climbing robot body 10, a power source (not shown), a driving part, a walking part 30, a boom part 40, a control component (not shown), and a detection component (not shown). The middle part of the wall-climbing robot body 10 is rotatably provided with a driving part, the driving part is used for driving the wall-climbing robot 100 to vertically take off and land or climb with a wall, namely the driving part can drive the wall-climbing robot 100 to vertically lift, vertically land, fly to the position near the specified wall surface to be detected and climb to the specified position on the wall surface to be detected; two pairs of walking parts 30 are symmetrically and detachably mounted on two sides of the wall-climbing robot body 10, that is, the walking parts 30 can be detached from the wall-climbing robot body 10 to reduce the weight of the wall-climbing robot 100, or the walking parts 30 are used to assist the wall-climbing robot 100 to climb to a designated position while attaching to a wall; a pair of arm parts 40 are symmetrically and detachably mounted on two sides of the wall-climbing robot body 10, that is, the arm parts 40 can be detached from the wall-climbing robot body 10 to reduce the weight of the wall-climbing robot 100, or the arm parts 40 are used to assist the wall-climbing robot 100 in performing fixed-point stopping and stable detection; a power supply, a detection component and a control component are clamped in the wall-climbing robot body 10 by a plug-in method, the power supply is respectively electrically connected with the driving part, the arm part 40, the control component and the detection component so as to provide required voltage and current for the driving part, the arm part 40, the control component and the detection component through the power supply, and the electric quantity of the power supply is monitored by the detection component so as to ensure that the wall-climbing robot 100 can normally work; the control component is used for receiving various working instructions of the control terminal and feedback signals of the detection component and performing data fusion so as to adjust and control the working state of the wall-climbing robot 100 in time, and the detection component is used for receiving various working instructions of the control component so as to detect cracks, diseases and the like of a wall surface to be detected.
As an embodiment of the present invention, the wall-climbing robot body 10 is a box-shaped hollow structure with a through hole in the middle, and a power supply, a vacuum pump (not shown in the figure), a control module, and a detection module are mounted in the box-shaped hollow structure of the wall-climbing robot body 10 in a clamping manner, so that the power supply, the vacuum pump, the control module, and the detection module are prevented from being affected by severe environments such as an external humid environment, and the resistance suffered by the wall-climbing robot during moving is reduced, thereby ensuring the safety of the wall-climbing robot and reducing the energy consumption. In other embodiments, other detection devices can be clamped in the wall-climbing robot body according to detection requirements, so that the detection function of the wall-climbing robot is increased, and the applicability of the wall-climbing robot is improved.
As an embodiment of the present invention, the driving part is configured as a coaxial double-bladed rotor assembly 20 installed in a central through hole of the wall-climbing robot body 10, and the coaxial double-bladed rotor assembly 20 includes a motor 21, an upper rotor 22, a lower rotor 23, a motor ring 24, a motor mount 25, four hollow rods 26, and two first steering engines (not shown in the figure). Wherein, a motor fixing frame 25 crossing the motor ring 24 is fixedly installed in the middle of the motor ring 24, a motor 21 is fixedly installed in the centers of the motor ring 24 and the motor fixing frame 25 through the motor fixing frame 25, and an upper rotor 22 and a lower rotor 23 are symmetrically installed at two ends of the motor 21 respectively; meanwhile, four hollow rods 26 are uniformly distributed in the circumferential direction of the motor ring 24, that is, the hollow rods 26 are opposite in pairs, two pairs of hollow rods 26 are respectively arranged on the mutually perpendicular rotating shafts, one ends of two adjacent hollow rods 26 can be respectively connected with the wall-climbing robot body 10 through two first steering engines, and the other two hollow rods 26 are rotatably connected with the wall-climbing robot body 10.
Further, the motor 21 may be electrically connected to the control assembly to receive various working instructions of the control assembly, and regulate and control the rotation speed (such as deceleration, acceleration, and uniform speed) of the upper rotor 22 and the lower rotor 23 according to the working instructions of the control assembly; meanwhile, the first steering engine can be electrically connected with the control assembly to receive various working instructions of the control assembly, and the working angle of the motor ring 24 relative to the wall-climbing robot body 10 is regulated and controlled according to the working instructions of the control assembly (for example, the motor ring is parallel, inclined and vertical relative to the wall-climbing robot body).
Furthermore, the first steering engine adopts a 360-degree steering engine, so that the first steering engine can drive the motor ring 24 to do composite rotary motion around the mutually vertical rotating shafts relative to the wall-climbing robot body 10, and further the wall-climbing robot 100 can reach any specified position of the space where the wall surface to be detected is located, so that the whole wall surface can be detected conveniently.
In addition, the motor 21 adopts a brushless motor and a coaxial double-paddle structure to provide a lift force larger than that of a single motor in a limited space and maximize the lift force; meanwhile, the upper rotor 22 and the lower rotor 23 are installed at both ends of the same motor 21 to ensure that the rotation speeds of the upper rotor 22 and the lower rotor 23 are the same and the torques generated by the upper rotor 22 and the lower rotor 23 are offset. Furthermore, the upper rotor 22, the lower rotor 23, the motor ring 24, the motor mount 25, and the hollow rod 26 are all made of composite materials such as carbon fiber materials, so as to reduce the weight of the coaxial twin-screw rotor assembly 20, increase the power of the coaxial twin-screw rotor assembly 20, and reduce energy consumption. The motor ring 24 and the motor mount 25 may be hollow sandwich structures to improve the strength and rigidity of the coaxial twin-screw rotor assembly 20 and further reduce the weight of the coaxial twin-screw rotor assembly 20.
The coaxial double-oar rotor wing assembly 20 (driving part) of the invention receives various working instructions of the control assembly through the motor 21, not only can drive the upper rotor wing 22 and the lower rotor wing 23 to start synchronous operation, so that the driving part generates upward lift force and drives the wall-climbing robot 100 to move upwards, or fly to the vicinity of the wall surface to be detected, or vertically arrive at the vicinity of the designated position in the air, or climb to the designated position with a wall, and can detect the wall surface subareas by gradually reducing the rotating speed of the upper rotor 22 and the lower rotor 23 when flying to the vicinity of the wall surface to be detected, or when the wall climbing robot reaches the vicinity of the designated position or the designated position, the wall climbing robot 100 stably stays at the designated position through the arm part 40 to detect the wall partition by gradually reducing the rotation speed of the upper rotor 22 and the lower rotor 23 (the rotation speed of the upper rotor 22 and the lower rotor 33 is even reduced to zero, that is, the upper rotor 22 and the lower rotor do not work 23); meanwhile, according to the weight of the wall-climbing robot 100, the working state (rising, flying, climbing, descending and the like) of the wall-climbing robot 100, the adhesive force between the wall-climbing robot 100 and the wall surface and other factors, the working angle of the motor ring 24 relative to the wall-climbing robot body 10 can be regulated and controlled by the first steering engine in the driving part to enable the wall-climbing robot 100 to vertically take off and land or climb along with a wall and detect the wall surface. In other words, the present invention can change the operation state of the wall-climbing robot 100 by controlling the rotation speeds of the upper and lower rotors 22 and 23 and the operation angle of the motor ring 24 with respect to the wall-climbing robot body 10.
The robot arm 40 includes a robot arm assembly, a suction cup 49, and a vacuum pump, as one embodiment of the present invention. The mechanical arm assembly comprises a second steering engine 41, a first connecting arm 42, a third steering engine 43, a second connecting arm 44, a fourth steering engine 45, a third connecting arm 46, a fifth steering engine 47 and a fourth connecting arm 48 which are connected in sequence, the first connecting arm 42 can be detachably connected with the wall-climbing robot body 10 through the second steering engine 41, the fourth connecting arm 48 is fixedly connected with a suction cup 49, and a vacuum pump is installed in the wall-climbing robot body 10.
Further, the second steering engine 41, the third steering engine 43, the fourth steering engine 45 and the fifth steering engine 47 can be electrically connected with the control assembly to receive various working instructions of the control assembly, and the angles between the first connecting arm 42 and the second connecting arm 44, between the second connecting arm 44 and the third connecting arm 46, and between the third connecting arm 46 and the fourth connecting arm 48 are regulated and controlled according to the working instructions of the control assembly, so that the height and/or the position of the wall climbing robot body 10 relative to the wall surface are regulated and controlled, and the obstacle avoidance or the fine adjustment of the detection range is facilitated; meanwhile, the vacuum pump can be electrically connected with the control assembly to receive various working instructions of the control assembly and regulate the negative pressure of the suction disc 49 on the wall surface, so that the wall climbing robot 100 can stably stay on the wall surface to be detected.
The arm part 40 of the present invention can selectively adsorb the wall surface through the suction cup 49 to perform fixed-point staying and stable detection, and can finely adjust the wall-climbing robot 100 through the mechanical arm component to expand the detection range, reduce energy consumption and improve detection efficiency, and can also be used to compensate the detection error caused by the instability of the driving part (coaxial dual-rotor wing component 20), i.e., the gravity of the wall-climbing robot 100 can be well balanced and sufficient adhesion pressure can be generated to the wall surface through the coordinated work of the arm part 40 (vacuum adsorption) and the driving part (thrust structure assistance), so that the wall-climbing robot 100 stably stays at a fixed point on the wall surface to be detected to perform detection.
As an embodiment of the present invention, the control component includes a robot controller, and the robot controller may be configured to receive various work instructions of the control terminal, perform data fusion according to the various work instructions of the control terminal and the feedback signal of the detection component, and send corresponding work instructions to the driving unit, the arm unit 40, and the detection component, so that the wall-climbing robot 100 executes the work task of the control terminal.
As an embodiment of the present invention, the detection assembly includes an image detection assembly, a crack detection assembly, a pressure sensor, a rotation speed sensor, and an angular displacement sensor. The image detection assembly comprises a high-definition camera, and the high-definition camera is used for shooting wall surface images and transmitting the wall surface images to the robot controller; the crack detection assembly comprises infrared imaging detection equipment, X-ray scattering imaging detection equipment and a laser radar, wherein the infrared imaging detection equipment, the X-ray scattering imaging detection equipment and the laser radar are used for detecting the crack condition and the three-dimensional coordinate in the wall surface and transmitting the crack condition and the three-dimensional coordinate to the robot controller; the pressure sensor is used for detecting the air pressure in the suction cup 49 (namely detecting the negative pressure of the suction cup to the wall surface) and feeding back the detection result to the control component so as to control the power of the vacuum pump; the rotating speed sensor is used for acquiring the rotating speed of the upper rotor 22 or the lower rotor 23 in synchronous rotation and feeding back the detection result to the control assembly so as to control the rotating speed of the motor 21; the angular displacement sensor is used for collecting the working angle of the motor ring 24 relative to the wall-climbing robot body 10 and feeding back a detection result to the control assembly so as to control the working angle of the first steering engine.
As an embodiment of the present invention, the traveling part 30 includes a traveling wheel 31 and a connecting shaft 32, wherein one end of the connecting shaft 32 is fixedly connected to the traveling wheel 31, and the other end is detachably connected to the wall-climbing robot body 10, so that the wall-climbing robot is shaped like a "trolley" and can climb on a wall surface while attaching a wall thereto.
The invention not only provides the wall surface detection system based on the mechanical arm, but also provides a wall surface detection method based on the mechanical arm, wherein the wall surface detection method comprises a flight detection mode, a climbing detection mode and a vertical air arrival detection mode. Compared with the existing wall surface detection robot which only has one or two detection modes, the wall surface detection robot has the advantages that the wall surface detection working modes are increased, the adaptability is stronger, the energy consumption is less, and the size and the weight are smaller. The three wall surface detection operation modes of the present invention will be specifically described below.
A first mode of operation, a flight detection mode:
the flight detection mode is that before conventional detection, the control terminal controls at least one wall climbing robot with a detached walking part and a machine arm part to detect wall partitions so as to construct a three-dimensional real scene model of the wall and plan an optimal climbing route required by the climbing detection mode. The detection steps of the flight detection mode are as follows:
11) before wall surfaces such as dam wall surfaces and the like are detected, a walking part and a horn part on at least one wall-climbing robot are dismantled in advance, namely, the structure of the wall-climbing robot only keeps a wall-climbing robot body, a driving part arranged in the middle of the wall-climbing robot body, and a power supply, a control assembly and a detection assembly which are arranged in the wall-climbing robot, so that the weight of the wall-climbing robot is reduced, and the wall surface detection flexibility and efficiency are improved;
12) the control terminal sends a flight detection mode working instruction to a control assembly on the wall climbing robot with the walking part and the arm part removed;
13) after any control assembly receives a flight detection mode working instruction sent by a control terminal, the control assembly sends a flight working instruction to a driving part on the wall climbing robot to drive the wall climbing robot to fly to the vicinity of a specified wall surface area to be detected, and sends a detection working instruction to a detection assembly on the wall climbing robot to detect the specified wall surface area to be detected;
14) any control assembly receives the feedback signal of the detection assembly in real time, and transmits the feedback signal to the control terminal after data fusion;
15) the control terminal constructs a three-dimensional real-scene model of the wall surface (including the wall surface crack condition), plans an optimal climbing route required by a climbing detection mode and performs partition cutting on the wall surface to be detected according to the feedback signal of the control component on at least one wall climbing robot so as to distribute the optimal climbing route to a plurality of wall climbing robots for one-to-one partition detection.
A second mode of operation, a climb detection mode:
the climbing detection mode is that in routine detection or routine detection, the control terminal controls at least one wall climbing robot to detect wall partitions along the optimal climbing route. The detection steps of the climbing detection mode are as follows:
21) the control terminal sends a climbing detection mode working instruction to a control component on at least one wall climbing robot;
22) after any control assembly receives a climbing detection mode working instruction sent by a control terminal, the control assembly sends a climbing working instruction to a driving part on the wall climbing robot to drive the wall climbing robot, and the wall climbing robot is climbed to a designated wall surface area to be detected along an optimal climbing route by means of a walking part on the wall climbing robot; at the moment, the rotating speeds of the upper rotor wing and the lower rotor wing in the driving part and the working angle of the motor ring relative to the wall-climbing robot body can well balance the gravity of the wall-climbing robot and generate enough adhesive pressure on the wall surface to support the wall-climbing robot to attach to the wall for climbing;
23) meanwhile, any control assembly sends a fixed-point work instruction to a robot arm part on the wall-climbing robot so that the wall-climbing robot can stay at a designated wall surface area to be detected in a fixed point mode, and sends a detection work instruction to a detection assembly on the wall-climbing robot so as to perform fixed-point detection on the designated wall surface area to be detected; at the moment, the driving part can correspondingly adjust the rotating speeds of the upper rotor and the lower rotor and the working angle of the motor ring relative to the wall-climbing robot body, even stop working, as long as the wall-climbing robot can stably stay at the designated position through the pressure of the suction cup in the machine arm part;
24) and any detection assembly feeds back the detection result to the control assembly so that the control assembly can make corresponding judgment and send a corresponding working instruction.
A third mode of operation, vertical air arrival detection mode:
the vertical aerial arrival detection mode is that aiming at some walls with obvious cracks and in urgent need of detection, the control terminal controls at least one wall-climbing robot to arrive near a wall area to be detected in the vertical aerial direction, and coordinates and controls the driving part and the arm part to stop the wall-climbing robot at the wall area to be detected at a fixed point for detection. The detection steps of the vertical air arrival detection mode are as follows:
31) the control terminal sends a vertical air arrival detection mode working instruction to a control assembly on at least one wall climbing robot;
32) after any control assembly receives a vertical aerial arrival detection mode working instruction sent by a control terminal, the vertical aerial arrival detection mode working instruction is sent to a driving part on the wall-climbing robot to drive the wall-climbing robot to vertically arrive at the position near a specified wall area to be detected, and at the moment, the driving part can correspondingly adjust the rotating speeds of the upper rotor wing and the lower rotor wing and the working angle of the motor ring relative to the wall-climbing robot body so that the wall-climbing robot stays near the specified position;
33) meanwhile, any control assembly sends a fixed-point working instruction to a robot arm part on the wall-climbing robot so that the wall-climbing robot can be stopped at a designated wall surface area to be detected at a fixed point, and sends a detection working instruction to a detection assembly on the wall-climbing robot so as to perform fixed-point detection on the designated wall surface area to be detected, at the moment, the driving part can correspondingly adjust the rotating speeds of the upper rotor wing and the lower rotor wing and the working angle of the motor ring relative to the wall-climbing robot body, even stop working, as long as the wall-climbing robot can be stably stopped at the designated position by the pressure of a sucker in the robot arm part;
34) and any detection assembly feeds back the detection result to the control assembly so that the control assembly can make corresponding judgment and send a corresponding working instruction.
The invention can realize the switching of a flight detection mode, a climbing detection mode and a vertical air arrival detection mode, is more convenient and quicker for wall detection, can coordinate with multiple machines, and improves the detection efficiency and the detection safety.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the equivalent replacement or change according to the technical solution and the modified concept of the present invention should be covered by the scope of the present invention.
Claims (10)
1. Wall detecting system based on arm includes a plurality of wall climbing robot and regulates and control at least one wall climbing robot operating condition's control terminal, its characterized in that: the wall climbing robot comprises a wall climbing robot body, a power supply, a driving part, a walking part, a machine arm part, a control assembly and a detection assembly; the middle part of the wall climbing robot body is rotatably provided with the driving part, and the driving part is used for driving the wall climbing robot to vertically take off and land or climb with a wall; two pairs of walking parts are symmetrically and detachably mounted on two sides of the wall climbing robot body, and the walking parts are used for assisting the wall climbing robot to climb along a wall; a pair of arm parts are symmetrically and detachably mounted on two sides of the wall-climbing robot body, and the arm parts are used for assisting the wall-climbing robot in fixed-point detection; this internal power, determine module and the control assembly of installing of wall climbing robot, the power with drive division, horn portion, control assembly and determine module electricity are connected, the control assembly receives control terminal's work order and regulation and control wall climbing robot's operating condition, the determine module receives control assembly's work order detects the wall.
2. The robotic arm-based wall detection system of claim 1, wherein: the driving part comprises a coaxial double-oar rotor wing assembly, the coaxial double-oar rotor wing assembly comprises a motor, an upper rotor wing, a lower rotor wing, a motor ring, a motor fixing frame, four hollow rods and two first steering gears, the middle part of the motor ring is fixedly provided with the motor fixing frame, the center of the motor ring is provided with the motor, two ends of the motor are symmetrically and respectively provided with the upper rotor wing and the lower rotor wing, the circumferential uniform distribution of the motor ring is provided with four hollow rods, the two adjacent hollow rods are respectively provided with two first steering gears, the first steering gears are connected with the wall climbing robot body, the other two hollow rods are rotatably connected with the wall climbing robot body, the motor receives the working instructions of the control assembly and regulates the rotating speeds of the upper rotor wing and the lower rotor wing, the first steering gears receive the working instructions of the control assembly and regulate the motor ring, and the working angles of the wall climbing robot body are opposite And (4) degree.
3. The robotic arm-based wall detection system of claim 2, wherein: the first steering engine can drive the motor ring to move relative to the wall-climbing robot body in a composite rotating mode.
4. The robotic arm-based wall detection system of claim 2, wherein: the robot arm comprises a robot arm component, a sucker and a vacuum pump, wherein the robot arm component comprises a second steering engine, a first connecting arm, a third steering engine, a second connecting arm, a fourth steering engine, a third connecting arm, a fifth steering engine and a fourth connecting arm which are connected in sequence, the first connecting arm passes through the second steering engine and the wall-climbing robot body can be detachably connected, the fourth connecting arm is fixedly connected with the sucker, the vacuum pump is installed in the wall-climbing robot body, the second steering engine, the third steering engine, the fourth steering engine and the fifth steering engine receive working instructions of the control component and regulate and control the height and/or position of the wall-climbing robot body relative to the wall surface, and the vacuum pump receives the working instructions of the control component and regulates and control the negative pressure of the sucker to the wall surface.
5. The robotic arm-based wall detection system of claim 4, wherein: the control assembly includes robot control ware, determine module includes image detection subassembly, crackle determine module, pressure sensor, tachometer sensor and angle displacement sensor, image detection subassembly includes the high definition digtal camera that is used for shooing the wall image, crackle determine module is including infrared imaging check out test set, X-ray scattering imaging check out test set and the laser radar who is used for surveying the wall crackle situation, pressure sensor, tachometer sensor and angle displacement sensor are used for detecting respectively the negative pressure of sucking disc go up the rotational speed of rotor and lower rotor and the working angle of motor ring, robot control ware receives control terminal's operating instruction and determine module's feedback signal carries out data fusion in order to send corresponding operating instruction.
6. A robotic-arm-based wall detection system as claimed in any one of claims 1 to 5, wherein: the walking part comprises walking wheels and a connecting shaft, one end of the connecting shaft is fixedly connected with the walking wheels, and the other end of the connecting shaft is detachably connected with the wall-climbing robot body.
7. The method for inspecting a wall inspection system based on a robotic arm as claimed in claim 1, comprising the following three modes of operation:
1) flight detection mode: the control terminal controls at least one wall climbing robot with a detached walking part and a machine arm part to detect wall partitions so as to construct a three-dimensional real scene model of the wall and plan an optimal climbing route required by a climbing detection mode;
2) climbing detection mode: the control terminal controls at least one wall climbing robot to detect the wall surface partition along the optimal climbing route;
3) vertical air arrival detection mode: the control terminal controls at least one wall-climbing robot to vertically reach the position near the designated wall surface area to be detected in the air, and coordinates and controls the driving part and the machine arm part to stop the wall-climbing robot at the designated wall surface area to be detected for detection.
8. The wall surface detection method based on the mechanical arm as claimed in claim 7, wherein the flight detection mode specifically comprises the following steps:
11) dismantling a walking part and a horn part on at least one wall climbing robot;
12) the control terminal sends a flight detection mode working instruction to at least one control component on the wall climbing robot;
13) after any one of the control assemblies receives a flight detection mode working instruction, sending a flight working instruction to a driving part on the wall-climbing robot to drive the wall-climbing robot to fly to the position near the designated wall surface area to be detected, and sending a detection working instruction to a detection assembly on the wall-climbing robot to detect the designated wall surface area to be detected;
14) any one control assembly receives a feedback signal of the detection assembly in real time, and data are fused and then transmitted to the control terminal;
15) and the control terminal constructs a three-dimensional real-scene model of the wall surface and plans an optimal climbing route required by a climbing detection mode according to the feedback signal of the control component on at least one wall-climbing robot.
9. The wall surface detection method based on the mechanical arm as claimed in claim 8, wherein the climbing detection mode specifically comprises the following steps:
the control terminal sends a climbing detection mode working instruction to at least one control component on the wall climbing robot;
after receiving a climbing detection mode working instruction, any one of the control assemblies sends a climbing working instruction to a driving part on the wall climbing robot to drive the wall climbing robot, and climbs to a designated wall surface area to be detected along an optimal climbing route by means of a walking part on the wall climbing robot;
and any one of the control assemblies sends a fixed-point work instruction to the arm part on the wall-climbing robot so as to fix a fixed point on the designated wall surface area to be detected, and sends a detection work instruction to the detection assembly on the wall-climbing robot so as to perform fixed-point detection on the designated wall surface area to be detected.
10. The wall surface detection method based on the mechanical arm as claimed in claim 7 or 8, wherein the vertical air arrival detection mode specifically comprises the following steps:
31) the control terminal sends a vertical air arrival detection mode working instruction to a control component on at least one wall climbing robot;
32) after receiving a vertical aerial arrival detection mode working instruction, any one of the control assemblies sends a vertical aerial arrival working instruction to a driving part on the wall climbing robot so as to drive the wall climbing robot to vertically arrive at the position near a specified wall surface area to be detected;
33) and any one of the control assemblies sends a fixed-point work instruction to the arm part on the wall-climbing robot so as to fix a fixed point on the designated wall surface area to be detected, and sends a detection work instruction to the detection assembly on the wall-climbing robot so as to perform fixed-point detection on the designated wall surface area to be detected.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116202501A (en) * | 2023-05-06 | 2023-06-02 | 济宁市标准信息技术中心 | Standardized construction detection system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116202501A (en) * | 2023-05-06 | 2023-06-02 | 济宁市标准信息技术中心 | Standardized construction detection system and method |
| CN116202501B (en) * | 2023-05-06 | 2023-08-01 | 济宁市标准信息技术中心 | Standardized construction detection system and method |
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