CN207586135U - Dam body wall surface detects robot and dam body detecting system - Google Patents
Dam body wall surface detects robot and dam body detecting system Download PDFInfo
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- CN207586135U CN207586135U CN201721696517.4U CN201721696517U CN207586135U CN 207586135 U CN207586135 U CN 207586135U CN 201721696517 U CN201721696517 U CN 201721696517U CN 207586135 U CN207586135 U CN 207586135U
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Abstract
The utility model discloses a kind of dam body wall surface detection robot and dam body detecting systems, are related to robot field.The robot includes enforcement division and main control part, enforcement division includes moving parts, detection components and multiple absorbent modules, main control part respectively with moving parts, detection components are connected with multiple absorbent modules, multiple absorbent modules include band and blower chamber, blower chamber is connect with main control part, band includes sponge and plastic film, plastic film is by sponge wrapping in wherein, plastic film is connected to the surrounding of blower chamber, and form absorption cavity, moving parts move enforcement division, the surface condition information of detection components detection wall surface is simultaneously sent to main control part, main control part receiving surface situation information simultaneously controls enforcement division to complete absorption, mobile and detection work, also power supply is provided to enforcement division.Dam body wall surface provided by the utility model detection robot has simple in structure, and stability is high, can improve detection efficiency, reduce the danger of monitoring personnel.
Description
Technical field
The utility model is related to robot fields, and robot and dam body detection system are detected in particular to dam body wall surface
System.
Background technology
Climbing robot belongs to one kind of specialized robot, be can fulfil assignment on the steep slope of high-altitude it is a kind of from
Dynamic makeup is standby.In present society, there are many work to be not appropriate for people and do or the health of people can be made in person
Operation into compared with macrolesion, such as nuclear industry under the higher environment of some radioactivity, the investigation pick-up operation in city in high building
And the cleaning task of glass, in the activity such as the deepwater works such as habitata and oil exploration and earthquake relief work.And national warp
The development of Ji has increasing need for solving the problems, such as these.Climbing robot can well be solved as the extension of mankind's job area
Certainly these problems.
Since the establishment of the nation, China has built nearly 90,000 dykes and dams, and predominantly concrete dam altogether.In these dams, depth of water 15m
Nearly more than 20,000 seat of above dam, more than 3000, the dam of more than depth of water 30m.These engineerings are just playing huge in national economy
Big effect.These reservoirs flood control, irrigate, supply water, power generation and aquaculture, tourist resources etc. develop and use etc. hair
Huge effect has been waved, has achieved the Social benefit and economic benefit to attract people's attention.But due to historical reasons, most of reservoir
Flood control standard is relatively low, and there are different degrees of quality problems for building, and the sick dangerous situation condition of many dams is extremely serious, this is not only bright
The aobvious performance for affecting comprehensive benefit, more serious threat the people's lives and property safety.
But the mode of detection crack or concrete breakage peeling is still detected for artificial naked eyes at present, and worker is needed to be raised to 20
The high-altitude of remaining rice carries out the detection of naked eyes, not only inefficiency, but also extremely dangerous.
Utility model content
The purpose of this utility model is to provide a kind of dam body wall surfaces to detect robot, which has at low cost, knot
Structure is simple, and stability is high, can improve dam body wall surface detection efficiency, reduces the danger of dam body monitoring personnel.
The another object of the utility model is to provide a kind of dam body detecting system, which uses dam body wall surface detection machine
Device people completes dam body wall surface Detection task, which has at low cost, and simple in structure, stability is high, can improve dam body wall surface
Detection efficiency reduces the danger of dam body monitoring personnel.
The utility model provides a kind of technical solution：
In a first aspect, a kind of dam body wall surface detection robot is provided, for detecting the wall surface of dam body, the dam body wall surface
Robot includes enforcement division and main control part, and the enforcement division includes moving parts, detection components and multiple absorbent modules, the master
Control portion is electrically connected respectively with the moving parts, the detection components and multiple absorbent modules, multiple absorbent modules
The moving parts are mounted on the detection components；
Multiple absorbent modules include band and blower chamber, and the blower chamber is electrically connected with the main control part
It connects, the band is connected to the surrounding of the blower chamber, and is adsorbed for being formed with the blower chamber and the wall surface
Cavity, the blower chamber are used for the air blast outside the absorption cavity so that negative pressure are generated in the absorption cavity, so that described
Dam body wall surface detection robot is adsorbed in the wall surface, and the band includes sponge and plastic film, and the plastic film will
For the sponge wrapping in wherein, the plastic film is connected to the surrounding of the blower chamber；
The moving parts are used to move the enforcement division；
The detection components are used to detect the surface condition information of the wall surface and are sent to the surface condition information
The main control part；
The main control part is used to receive the surface condition information that the detection components are sent, and control the enforcement division
Absorption, mobile and detection work are completed, also provides power supply to the enforcement division.
With reference to first aspect, in the first realization method of first aspect, the moving parts include movement vehicle frame and
Two driving wheels, the driving wheel are electrically connected with the main control part, and multiple absorbent modules and the detection components are respectively mounted
In the movement vehicle frame.
With reference to first aspect and its above-mentioned realization method, in second of realization method of first aspect, the exercise group
Part further includes two synchronizing wheels and two synchronous belts, and two synchronous belts are connected respectively described in a synchronizing wheel and one
Driving wheel.
With reference to first aspect and its above-mentioned realization method, in the third realization method of first aspect, the detection group
Part includes image processing unit, and described image processing unit is electrically connected with the main control part, and described image processing unit is used to clap
The ambient image for the wall surface taken the photograph in the environment residing for the dam body wall surface detection robot simultaneously identifies the institute in the environment
State the damaged information of wall surface and damage location information.
With reference to first aspect and its above-mentioned realization method, in the 4th kind of realization method of first aspect, at described image
It manages unit and includes image acquisition device and image processor, described image collector and described image processor are installed on the movement
Component, described image processor are electrically connected respectively with described image collector and the main control part, and described image collector is used for
It acquires the ambient image of the wall surface in the environment and the ambient image is sent to described image processor, institute
Image processor is stated for identifying the damaged information and the damage location information in the ambient image, and will be described broken
Damage information and the damage location information are sent to the main control part.
With reference to first aspect and its above-mentioned realization method, in the 5th kind of realization method of first aspect, the detection group
Part includes avoidance processing unit, and the avoidance processing unit is electrically connected with the main control part, and the avoidance processing unit is used to visit
It surveys the dam body wall surface and detects the barrier around robot to obtain obstacle position information.
With reference to first aspect and its above-mentioned realization method, in the 6th kind of realization method of first aspect, at the avoidance
It manages unit and includes ultrasonic distance-measuring sensor and avoidance processor, the ultrasonic distance-measuring sensor and avoidance processor peace
Loaded on the moving parts, the avoidance processor is electrically connected respectively with the ultrasonic distance-measuring sensor and the main control part,
The ultrasonic distance-measuring sensor is used to measure the range information of the barrier around dam body wall surface detection robot, and by described in
Range information is sent to the avoidance processor, and the avoidance processor is used to handle the range information and obtains the obstacle
The obstacle position information is simultaneously sent to the main control part by object location information.
With reference to first aspect and its above-mentioned realization method, in the 7th kind of realization method of first aspect, the main control part
The walking component is installed on including master control control module, walking component and power supply, the master control control module and the power supply,
The master control control module respectively with the power supply, the walking component, the moving parts, the detection components and the drum
Wind component is electrically connected, and the master control control module is for controlling the enforcement division completion to adsorb, mobile and detection work, the electricity
Source is used to provide power supply to the enforcement division.
With reference to first aspect and its above-mentioned realization method, in the 8th kind of realization method of first aspect, the main control part
Positioning unit is further included, the positioning unit is electrically connected with the master control control module, and the positioning unit is described for detecting
The location information of main control part.
Second aspect provides a kind of dam body detecting system, described including host and dam body wall surface detection robot
Dam body wall robot includes enforcement division and main control part, and the enforcement division includes moving parts, detection components and multiple absorption groups
Part, the main control part are electrically connected respectively with the moving parts, the detection components and multiple absorbent modules, multiple described
Absorbent module and the detection components are mounted on the moving parts；
Multiple absorbent modules include band and blower chamber, and the blower chamber is electrically connected with the main control part
It connects, the band is connected to the surrounding of the blower chamber, and is adsorbed for being formed with the blower chamber and the wall surface
Cavity, the blower chamber are used for the air blast outside the absorption cavity so that negative pressure are generated in the absorption cavity, so that described
Dam body wall surface detection robot is adsorbed in the wall surface, and the band includes sponge and plastic film, and the plastic film will
For the sponge wrapping in wherein, the plastic film is connected to the surrounding of the blower chamber；
The moving parts are used to move the enforcement division；
The detection components are used to detect the surface condition information of the wall surface and are sent to the surface condition information
The main control part；
The main control part is used to receive the surface condition information that the detection components are sent, and control the enforcement division
Absorption, mobile and detection work are completed, also provides power supply to the enforcement division；The host is connect with the main control part.
Compared with prior art, the beneficial effect of dam body wall surface detection robot provided by the utility model and dam body detecting system
Fruit is：
A kind of dam body wall surface detection robot of the offer of the utility model, band is formed with blower chamber and wall surface to be inhaled
Attached cavity, blower chamber air blast outside absorption cavity so that negative pressure is generated in absorption cavity, so that dam body wall surface detects robot
Wall surface is adsorbed in, band is in being wherein made with plastic film by the sponge wrapping, and the moving parts are used to move institute
State enforcement division；The detection components are used to detect the surface condition information of the wall surface and are sent to the surface condition information
The main control part；The main control part is used to receive the surface condition information that the detection components are sent, and hold described in control
Row portion completes absorption, mobile and detection work, also provides power supply to the enforcement division, has at low cost, simple in structure, stability
Height can improve dam body wall surface detection efficiency, reduce the danger of dam body monitoring personnel.
In addition, the another object of the utility model is to provide a kind of dam body detecting system, which uses dam body wall surface
It detects robot and completes dam body wall surface Detection task, which has at low cost, and simple in structure, stability is high, can improve dam
Body wall face detection efficiency reduces the danger of dam body monitoring personnel.
Description of the drawings
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described.It should be appreciated that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as.For those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the first view that the dam body wall surface that the first embodiment of the utility model provides detects robot；
Fig. 2 is the module diagram that the dam body wall surface that the first embodiment of the utility model provides detects robot
Fig. 3 is that the structure of absorbent module that the dam body wall surface that the first embodiment of the utility model provides detects robot is shown
It is intended to；
Fig. 4 is at the I of the first view of part that the dam body wall surface that the first embodiment of the utility model provides detects robot
Enlarged drawing；
Fig. 5 is the module diagram of dam body detecting system that the second embodiment of the utility model provides.
Icon：90- dam body detecting systems；50- hosts；70- dams wall surface；10- dam bodys wall surface detects robot；13- is performed
Portion；131- absorbent modules；1311- bands；13112- plastic films；1312- blower chambers；133- moving parts；1331- drives
Driving wheel；1332- synchronizing wheels；1333- synchronous belts；1334- moves vehicle frame；134- detection components；1341- image processing units；
13411- image acquisition devices；13412- image processors；1342- avoidance processing units；13421- ultrasonic distance-measuring sensors；
13422- avoidance processors；15- main control parts；151- master control control modules；152- walking components；153- power supplys；154- positioning is single
Member.
Specific embodiment
Purpose, technical scheme and advantage to make the utility model embodiment are clearer, new below in conjunction with this practicality
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described.Obviously, it is retouched
The embodiment stated is the utility model part of the embodiment, instead of all the embodiments.Usually here described in attached drawing and
The component of the utility model embodiment shown can be configured to arrange and design with a variety of different.
Therefore, requirement is not intended to limit to the detailed description of the embodiment of the utility model provided in the accompanying drawings below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, those of ordinary skill in the art's all other embodiments obtained without creative efforts, all
Belong to the range of the utility model protection.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need to that it is further defined and explained in subsequent attached drawing.
" on ", " under ", " interior ", " outer ", "left", "right" etc. it is to be appreciated that term in the description of the present invention,
The orientation or position relationship of instruction are when being used based on orientation shown in the drawings or position relationship or the utility model product
The orientation or position relationship that the orientation or position relationship usually put or those skilled in the art usually understand, be only for
Convenient for description the utility model and simplify description rather than instruction or imply signified equipment or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.
In addition, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively important
Property.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, " setting ",
Terms such as " connections " should be interpreted broadly, for example, " connection " can be fixedly connected or be detachably connected or one
Ground connects；Can be mechanical connection or electrical connection；Can be directly connected to, can also by between intermediary in succession
It connects, can be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be
Concrete meaning of the above-mentioned term in the utility model.
Below in conjunction with the accompanying drawings, specific embodiment of the present utility model is described in detail.
First embodiment：
Referring to Fig.1 and 2, the dam body wall surface that the first embodiment that Fig. 1 is the utility model provides detects robot 10
The first view, Fig. 2 is that the dam body wall surface that provides of first embodiment of the utility model detects the module diagram of robot 10.
A kind of dam body wall surface detects robot 10, and for detecting the dam wall surface 70 of dam body, dam body wall robot includes holding
Row portion 13 and main control part 15, enforcement division 13 include moving parts 133, detection components 134 and multiple absorbent modules 131, main control part
15 are electrically connected respectively with moving parts 133, detection components 134 and multiple absorbent modules 131, multiple absorbent modules 131 and detection
Component 134 and main control part 15 are installed on moving parts 133.
Wherein, absorbent module 131 is for so that dam body wall surface detection robot 10 is adsorbed in dam wall surface 70；Movement
Component 133 is used to move enforcement division 13；Detection components 134 are used to detect the situation of dam wall surface 70；Main control part 15 is held for controlling
Row portion 13 completes dam wall surface 70 absorption, mobile and detection work, and provides power supply 153 to enforcement division 13.
The present embodiment will be specifically introduced below, first, absorbent module 131 is for so that dam body wall surface detection
Robot 10 is adsorbed in dam wall surface 70.
Fig. 3 and Fig. 2 are please referred to, Fig. 3 is that the dam body wall surface that the first embodiment of the utility model provides detects robot 10
Absorbent module 131 structure diagram.
Wherein, absorbent module 131 includes band 1311 and blower chamber 1312, blower chamber 1312 and 15 electricity of main control part
Connection, band 1311 is connected to the surrounding of blower chamber 1312, and forms absorption sky with blower chamber 1312 and dam wall surface 70
Chamber, the air blast outside absorption cavity of blower chamber 1312 so that negative pressure is generated in absorption cavity, so that dam body wall surface detects machine
People 10 is adsorbed in wall surface, in the present embodiment, employs two groups of absorbent modules 131, is carried out in dam body wall surface detection robot 10
During Detection task, detection object be dam body dam wall surface 70, and dam wall surface 70 often there are many recess either crack,
When dam body wall surface detection robot 10 is by recess or crack, certain journey is will appear between absorbent module 131 and dam wall surface 70
The gas leakage of degree, may decline because of adsorption capacity causes dam body wall surface detection robot 10 to fall wall surface, to avoid because of single adsorption sky
Chamber gas leakage and cause dam body wall surface detection robot 10 fall, the present embodiment set two absorbent modules 131, with dam wall surface 70
Two absorption cavitys are formed, largely avoiding, which causes when adsorb cavity gas leakage dam body wall surface to detect robot 10, falls
Situation, improve dam body wall surface detection robot 10 handling capacity.
It is understood that in other embodiments, dam body wall surface detection robot 10 may also set up more absorption groups
Part 131, to adapt to the application of the different loads of dam body wall surface detection robot 10 or different wall surfaces.
Further, band 1311 includes sponge (not shown) and plastic film 13112, and plastic film 13112 will
For sponge wrapping in wherein, plastic film 13112 is connected to the surrounding of blower chamber 1312, and plastic film 13112 can increase sealing
With 1311 surface flatness, to reduce the sliding-frictional resistance of band 1311 and wall surface, in addition, sponge is as band
1311 primary resilient generates material, at low cost, convenient for making and moulding, secondly, is wrapped using plastic film 13112
The form for wrapping up in sponge also has the advantages of being easy to make, at low cost.
In addition, the move mode of the dam body wall surface detection robot 10 of the present embodiment is wheeled.
Specific to please refer to Fig. 4, Fig. 4 is that the dam body wall surface that the first embodiment of the utility model provides detects robot 10
Enlarged drawing at the I of the first view of part.
Wherein, moving parts 133 include movement vehicle frame 1334 and two driving wheels 1331, driving wheel 1331 and main control part 15
Electrical connection, multiple absorbent modules 131 and detection components 134 are installed on movement vehicle frame 1334, and two driving wheels 1331 can independently revolve
Turn, two driving wheels 1331 are used to complete the movement and steering of dam body wall surface detection robot 10, have and turn to simple, control
System is simple, and it for the adaptable of wall surface, production is low with maintenance cost, it is simple in structure the characteristics of.
Further, the bearing area of robot 10 and wall surface is detected to improve dam body wall surface, to increase its stability, this
Moving parts 133 further include two synchronizing wheels 1332 and two synchronous belts 1333 in embodiment, and two synchronous belts 1333 connect respectively
A synchronizing wheel 1332 and a driving wheel 1331 are connect, is turned with realizing that the synchronizing wheel 1332 of the same side is synchronous with driving wheel 1331
Dynamic, the four-wheel forms of the moving parts 133 equally has the simple in structure, production low with maintenance cost and mobile stable excellent
Point.
When dam body wall surface detection robot 10 performs Detection task, mainly by being detected task with lower module.
Specifically please continue to refer to Fig. 2, detection components 134 include image processing unit 1341, image processing unit 1341 with
The master control control module 151 of main control part 15 is electrically connected, and image processing unit 1341 detects robot 10 for shooting dam body wall surface
The damaged information of wall surface in the ambient image and environment-identification of wall surface in residing environment.
Wherein, image processing unit 1341 includes image acquisition device 13411 and image processor 13412, image acquisition device
13411 and image processor 13412 be installed on moving parts 133, image processor 13412 respectively with image acquisition device 13411
It is connected with master control control module 151, image acquisition device 13411 acquires the ambient image of the wall surface in environment and sends out ambient image
It send to image processor 13412, damaged information and damage location information in 13412 environment-identification image of image processor, and
Damaged information and damage location information are sent to master control control module 151.
In addition, detection components 134 further include avoidance processing unit 1342, avoidance processing unit 1342 controls mould with master control
Block 151 is electrically connected, and avoidance processing unit 1342 is used to detect the barrier and its obstacle around dam body wall surface detection robot 10
Object location information.
Wherein, avoidance processing unit 1342 includes ultrasonic distance-measuring sensor and avoidance processor 13422, ultrasound
Be installed on moving parts 133 away from sensor 13421 and avoidance processor 13422, avoidance processor 13422 respectively with ultrasound
It is electrically connected away from sensor 13421 and master control control module 151, ultrasonic distance-measuring sensor 13421 is examined for measuring dam body wall surface
The range information of the barrier around robot 10 is surveyed, and range information is sent to avoidance processor 13422, avoidance processor
13422 are used to handle range information and obtain obstacle position information and obstacle position information is sent to master control control module
151。
To ensure stablizing and working long hours for enforcement division 13, the master control of dam body wall surface detection robot 10 in the present embodiment
Portion 15 provides power supply 153 for enforcement division 13 to be controlled to complete absorption, mobile and detection work to enforcement division 13.
Please continue to refer to Fig. 4 and Fig. 2, main control part 15 includes master control control module 151, walking component 152 and power supply 153,
Master control control module 151 and power supply 153 be installed on walking component 152, master control control module 151 respectively with power supply 153, walking
Component 152, moving parts 133, detection components 134 and blower chamber 1312 are electrically connected, and master control control module 151 is used to control
Enforcement division 13 completes absorption, mobile and detection work, and power supply 153 is used to provide power supply 153 to enforcement division 13.
It is understood that master control control module 151 and the connection mode of enforcement division 13 are not limited to wired connection, also may be used
To be wireless pairing connection, i.e., matched in a manner that instruction is matched and realize connection or other connection modes, for example,
Can the connection of master control control module 151 and enforcement division 13 be realized by Intel Network or be realized by WLAN
The connection of master control control module 151 and enforcement division 13.
In addition to this, main control part 15 further includes positioning unit 154, and positioning unit 154 is electrically connected with master control control module 151
It connects, positioning unit 154 is used to detect the location information of main control part 15, location information is provided for operating personnel, to reduce operator
The operation difficulty of member.
First embodiment provide dam body wall surface detection robot 10 operation principle be：
Band 1311 is connected to the surrounding of blower chamber 1312, and forms absorption sky with blower chamber 1312 and wall surface
Chamber, the air blast outside absorption cavity of blower chamber 1312 so that dam body wall surface detection robot 10 is adsorbed in wall surface, two synchronous belts
1333 connect a synchronizing wheel 1332 and a driving wheel 1331 respectively, to realize mobile and turn to, to move enforcement division 13, and figure
As collector 13411 acquires the ambient image of the wall surface in environment and ambient image is sent to image processor 13412, image
Damaged information and damage location information in 13412 environment-identification image of processor, and by damaged information and damage location information
Main control part 15 is sent to, in addition, ultrasonic distance-measuring sensor 13421 is used to measure the barrier around dam body wall surface detection robot 10
Hinder the range information of object, and the range information of barrier is sent to avoidance processor 13422, avoidance processor 13422 is handled
Range information simultaneously obtains obstacle position information and obstacle position information is sent to master control control module 151, master control control
Module 151 controls enforcement division 13 to complete absorption, movement and detection work, power supply 153 and provides power supply 153, master control to enforcement division 13
Control module 151 is also electrically connected with positioning unit 154, to detect the location information of main control part 15.
Second embodiment：
Fig. 5 is please referred to, Fig. 5 is the module signal for the dam body detecting system 90 that the second embodiment of the utility model provides
Figure.
The dam body detecting system 90 includes dam body wall surface and detects robot 10, second embodiment and first embodiment it is main
Difference lies in dam body detecting system 90 further includes host 50, and the main control part 15 that host 50 and dam body wall surface detect robot 10 connects
It connects, host 50 is used for the wall surface Detection task that dam body wall surface detection robot 10 is controlled to complete dam body.
It is understood that the connection mode of host 50 and main control part 15 is not limited to wired connection or wireless
Pairing connection matches realization connection or other connection modes, for example, can pass through by way of instructing and matching
Intel Network realizes host 50 and the connection of main control unit.
The operation principle of dam body detecting system 90 that second embodiment provides is：
Difference lies in the detections of dam body wall surface for the maximum of the operation principle of second embodiment and the operation principle of first embodiment
Robot 10 controls it to complete the wall surface Detection task of dam body under the control of host 50.
In summary：
A kind of dam body wall surface detection robot 10 provided by the utility model, the robot have it is at low cost, it is simple in structure,
Stability is high, can improve dam body wall surface detection efficiency, reduces the danger of dam body monitoring personnel.
Dam body detecting system 90 provided by the utility model, the system complete dam body using dam body wall surface detection robot 10
Wall surface Detection task, the robot have at low cost, and simple in structure, stability is high, can improve dam body wall surface detection efficiency, reduces
The danger of dam body monitoring personnel
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of dam body wall surface detects robot, for detecting the wall surface of dam body, which is characterized in that the dam body wall robot
Including enforcement division and main control part, the enforcement division includes moving parts, detection components and multiple absorbent modules, the main control part
It is not electrically connected with the moving parts, the detection components and multiple absorbent modules, multiple absorbent modules and described
Detection components are mounted on the moving parts；
Multiple absorbent modules include band and blower chamber, and the blower chamber is electrically connected with the main control part, institute
The surrounding that band is connected to the blower chamber is stated, and for forming absorption cavity with the blower chamber and the wall surface,
The blower chamber is used for the air blast outside the absorption cavity so that negative pressure is generated in the absorption cavity, so that the dam body
Wall surface detection robot is adsorbed in the wall surface, and the band includes sponge and plastic film, and the plastic film is by described in
For sponge wrapping in wherein, the plastic film is connected to the surrounding of the blower chamber；
The moving parts are used to move the enforcement division；
The detection components are used to detect the surface condition information of the wall surface and are sent to the surface condition information described
Main control part；
The main control part is used to receive the surface condition information that the detection components are sent, and the enforcement division is controlled to complete
Absorption, mobile and detection work, also provide power supply to the enforcement division.
2. dam body wall surface according to claim 1 detects robot, which is characterized in that the moving parts include sport(s) car
Frame and two driving wheels, the driving wheel are electrically connected with the main control part, and multiple absorbent modules and the detection components are equal
It is installed on the movement vehicle frame.
3. dam body wall surface according to claim 2 detects robot, which is characterized in that the moving parts further include two
Synchronizing wheel and two synchronous belts, two synchronous belts connect a synchronizing wheel and a driving wheel respectively.
4. dam body wall surface according to claim 1 detects robot, which is characterized in that the detection components are included at image
Unit is managed, described image processing unit is electrically connected with the main control part, and described image processing unit is used to shoot the dam body wall
The ambient image of the wall surface in environment residing for the detection robot of face and the breakage for identifying the wall surface in the environment
Information and damage location information.
5. dam body wall surface according to claim 4 detects robot, which is characterized in that described image processing unit includes figure
As collector and image processor, described image collector and described image processor are installed on the moving parts, the figure
Picture processor is electrically connected respectively with described image collector and the main control part, and described image collector is used to acquire the environment
In the wall surface the ambient image and the ambient image is sent to described image processor, described image processor
For identifying the damaged information and the damage location information in the ambient image, and by the damaged information and described
Damage location information is sent to the main control part.
6. dam body wall surface according to claim 1 detects robot, which is characterized in that the detection components are included at avoidance
Unit is managed, the avoidance processing unit is electrically connected with the main control part, and the avoidance processing unit is used to detect the dam body wall
The barrier around robot is detected to obtain obstacle position information in face.
7. dam body wall surface according to claim 6 detects robot, which is characterized in that the avoidance processing unit includes super
Sound ranging sensor and avoidance processor, the ultrasonic distance-measuring sensor and the avoidance processor are installed on the movement
Component, the avoidance processor are electrically connected respectively with the ultrasonic distance-measuring sensor and the main control part, the ultrasound
It is used to measure the range information of the barrier around dam body wall surface detection robot away from sensor, and the range information is sent
To the avoidance processor, the avoidance processor is used to handle the range information and obtain the obstacle position information simultaneously
The obstacle position information is sent to the main control part.
8. dam body wall surface according to claim 1 detects robot, which is characterized in that the main control part is controlled including master control
Module, walking component and power supply, the master control control module and the power supply are installed on the walking component, the master control control
Module is electrically connected respectively with the power supply, the walking component, the moving parts, the detection components and the blower chamber
It connects, for controlling, the enforcement division completes absorption to the master control control module, mobile and detection work, the power supply are used for institute
It states enforcement division and power supply is provided.
9. dam body wall surface according to claim 8 detects robot, which is characterized in that it is single that the main control part further includes positioning
Member, the positioning unit are electrically connected with the master control control module, and the positioning unit is used to detect the position of the main control part
Information.
10. a kind of dam body detecting system, which is characterized in that including dam body wall described in any one in host and claim 1-9
Robot is detected in face, and the host is connect with the main control part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721696517.4U CN207586135U (en) | 2017-12-07 | 2017-12-07 | Dam body wall surface detects robot and dam body detecting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721696517.4U CN207586135U (en) | 2017-12-07 | 2017-12-07 | Dam body wall surface detects robot and dam body detecting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207586135U true CN207586135U (en) | 2018-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721696517.4U Expired - Fee Related CN207586135U (en) | 2017-12-07 | 2017-12-07 | Dam body wall surface detects robot and dam body detecting system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109001256A (en) * | 2018-09-13 | 2018-12-14 | 武汉轻工大学 | Dam suspension cable type crack detection robot |
| CN111238978A (en) * | 2020-01-11 | 2020-06-05 | 广东顺水工程建设监理有限公司 | Strength detection equipment of hydraulic engineering dam body |
-
2017
- 2017-12-07 CN CN201721696517.4U patent/CN207586135U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109001256A (en) * | 2018-09-13 | 2018-12-14 | 武汉轻工大学 | Dam suspension cable type crack detection robot |
| CN111238978A (en) * | 2020-01-11 | 2020-06-05 | 广东顺水工程建设监理有限公司 | Strength detection equipment of hydraulic engineering dam body |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180706 Termination date: 20191207 |
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| CF01 | Termination of patent right due to non-payment of annual fee |