CN102966038A - Bridge detecting robot based on negative-pressure absorption - Google Patents
Bridge detecting robot based on negative-pressure absorption Download PDFInfo
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- CN102966038A CN102966038A CN2012104815074A CN201210481507A CN102966038A CN 102966038 A CN102966038 A CN 102966038A CN 2012104815074 A CN2012104815074 A CN 2012104815074A CN 201210481507 A CN201210481507 A CN 201210481507A CN 102966038 A CN102966038 A CN 102966038A
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Abstract
The invention discloses a bridge detecting robot based on negative-pressure absorption. The bridge detecting robot consists of an absorption control module, a motion control module, a disease detection module and a light outer shell, wherein the absorption control module comprises a sealing cavity, a negative-pressure generation device, an air-pressure sensor, a single-chip-microcomputer main control board, a wireless instruction transmission module, a wireless instruction transmission module and a remote control device; the motion control module comprises four moving wheels, four steering engine drivers, a single-chip-microcomputer main control board, a wireless instruction transmission module, a wireless instruction transmission module and a remote control device; the disease detection module comprises a camera unit and a ground image processing unit; and the light outer shell is fixed by wire binding belts which penetrate through the installing holes on the front edge and the rear edge of a supporting bottom plate, and the negative-pressure generation device, the air-pressure sensor, the single-chip-microcomputer main control board, the wireless instruction transmission modules, the wireless instruction transmission module and the four steering engine drivers are put into the outer shell. The bridge detecting robot disclosed by the invention has the advantages that the anti-wind capability is strong, the working efficiency is improved, the detection period is shortened and the safety risk is also greatly reduced.
Description
Technical field
The invention belongs to the bridge defect detection field, particularly a kind of bridge detection robot based on negative-pressure adsorption.
Background technology
Bridge engineering is related to the every aspect of national life, and the economy of country is had significant facilitation.During now existing all kinds of large bridges were using or build, the importance of bridge security came into one's own day by day, and the demand that bridge is detected effective means is also day by day strong.The bridge back side some mechanisms can usually occur and change crackle or other diseases that causes, these diseases all need careful inspection, and the most intuitively visual inspection is effective method really.At present, the conventional method of this class maintenance is ground scaffolding or the staff is delivered to surveyed area by bridge-checking vehicle under the bridge.But all there is obvious shortcoming in these methods, and not only much time power, cost are high, mobility is poor, affected greatly by light and weather environment, and also there is certain hidden danger in the personal safety of bridge being examined personnel.And the restriction of the slower travel speed of bridge-checking vehicle or viewing distance all can affect the result of detection, particularly in case long-time observe cause testing staff's fatigue after, can't guarantee normal testing especially.
Application number is that 201010223164.2 Chinese patent discloses a kind of bridge detection robot based on four-axle aircraft, utilize four-axle aircraft to make the carrier sense bridge, but when running into the larger situation of wind speed, for example stride the high wind environment on the bridge river surface of river, safety and reliability can be greatly affected, thereby application is restricted.
Summary of the invention
The object of the present invention is to provide a kind of bridge based on negative-pressure adsorption to detect the mobile robot, utilize this robot to be adsorbed on the concrete such as high tower or steel plate different surfaces of the bridge back side, Bridge High-pier, oblique pull or suspension bridge, along detecting path movement, then the vision inspection apparatus that carries by wireless video image sending module real-time detected image is transferred to ground for testing staff's observation and analysis, thereby for the disease identification of bridge with a kind of new means that provide are provided.
The technical solution that realizes the object of the invention is: a kind of bridge detection robot based on negative-pressure adsorption, by the absorption and control module, motion-control module, disease detection module and lightweight outer casing form, described absorption and control module comprises annular seal space, depression generator, baroceptor, the single-chip microcomputer master control borad, the wireless instructions transport module, wireless instructions transport module and remote control, annular seal space communicates with depression generator, the pressure-sensitive flexible pipe of baroceptor stretches into annular seal space, baroceptor and wireless instructions transport module connect respectively the single-chip microcomputer master control borad, the single-chip microcomputer master control borad is bonded on the support baseboard, and ground remote controller transfers to the wireless instructions transport module by the enabled instruction of button send-out pumps through the wireless instructions transport module; Baroceptor detects in real time the pressure size in the annular seal space and feeds back to the single-chip microcomputer master control borad, and the single-chip microcomputer master control borad sends corresponding signal according to the force value size cases and regulates the pressure size to depression generator, the dynamic equilibrium of control absorption affinity;
Described motion-control module comprises four movable pulleys, four steering engine drivers, the single-chip microcomputer master control borad, the wireless instructions transport module, wireless instructions transport module and remote control, motion-control module and absorption and control module shared microcontroller master control borad, the wireless instructions transport module, wireless instructions transport module and remote control, four drift angle places of body supports base plate respectively fixedly mount a steering engine driver, the axle center of four movable pulleys is fixedly connected with the driving shaft of corresponding steering engine driver separately, four steering engine drivers all are connected with the single-chip microcomputer master control borad by serial ports, the single-chip microcomputer master control borad is understood from the instruction of wireless instructions transport module 8 and is converted to the signal of telecommunication and drives steering engine driver, this steering engine driver is adjusted the rotating speed of four movable pulleys, so that robot advances in the detection path, retreat, turn or stop;
Described disease detection module comprises image unit and ground image processing unit, when bridge detection robot moved on the detection path, image unit began photographic images and finishes the detection and Identification of bridge defect by wireless network transmissions to the ground image processing unit;
Described lightweight outer casing is fixed along upper installing hole before and after passing support baseboard by binding band, and depression generator, baroceptor, single-chip microcomputer master control borad, wireless instructions transport module, four steering engine drivers are put into outer casing.
The present invention compared with prior art, its remarkable advantage: (1) the present invention utilizes reliable and stable being adsorbed on the concrete such as the bridge back side or the steel plate different surfaces of principle of negative pressure, and wind loading rating is strong.Utilization based on the mobile robot of negative-pressure adsorption as detecting carrier, control its picture of taking at the movement that detects the path and transmission high accuracy camera head to ground by distant operation, observe and the image detecting system processing for the testing staff, automatically identify the crackle of image, thereby detect a kind of new means that provide for bridge.(2) unit of the present invention has relative independentability, and mutual interface is also very simple, can the independent design manufacturing, shortened the production cycle.(3) robot body's outer casing is the lightweight overall structure of using rapid shaping technique to form, and outer casing, impeller and steering engine driver shell all are to adopt low-density material to make, so that the robot deadweight is little, lifting capacity is large relatively.Adopt pressure feedback the absorption affinity dynamic balancing technique so that the energy consumption of robot be optimized, thereby increased cruising time, make the time of testing more abundant.(4) the present invention adopts photo site and the video of high definition camera device shooting to preserve, for the original foundation and the data that give over to historical data and analysis expert.(5) compact conformation of the present invention, motion are flexible, simple to operate, are applicable to the testing environment of various complexity.For example the inspection of bridge pad often can't comprehensively check, and this robot can check similar small space because the distance between soffit and pier cap is little.Utilize the present invention to make things convenient for the bridge detection, improved operating efficiency, shortened sense cycle, saved testing cost, reduced the time that affects bridge deck traffic, security risk is greatly descended.Therefore, have a wide range of applications occasion and unlimited prospect of the application.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is the stereogram of bridge detection robot of the present invention.
Fig. 2 is the planar side view of bridge detection robot of the present invention.
Fig. 3 is bridge detection robot sealed bottom of the present invention chamber plan view.
Fig. 4 is bridge detection robot centrifugal pump body sectional view of the present invention.
Fig. 5 is the state diagram that bridge detection robot of the present invention is operated in the bridge back side.
Fig. 6 is that bridge detection robot of the present invention is operated in the state diagram that bridge pier checks bearing.
Fig. 7 is ground remote controller of the present invention and wireless module.
Fig. 8 is the FB(flow block) of absorption and control functional module of the present invention.
Fig. 9 is the FB(flow block) of motion control function module of the present invention.
Figure 10 is the FB(flow block) of disease measuring ability module of the present invention.
The specific embodiment
In conjunction with Fig. 1 and Fig. 2, the present invention is based on the bridge detection robot of negative-pressure adsorption, by the absorption and control module, motion-control module, disease detection module and lightweight outer casing 14 form, described absorption and control module comprises annular seal space, depression generator, baroceptor 7, single-chip microcomputer master control borad 6, wireless instructions transport module 8, wireless instructions transport module 34 and remote control 33, annular seal space communicates with depression generator, the pressure-sensitive flexible pipe of baroceptor 7 stretches into annular seal space, baroceptor 7 is connected with the wireless instructions transport module and is connected respectively single-chip microcomputer master control borad 6, single-chip microcomputer master control borad 6 is bonded on the support baseboard 3, and ground remote controller 33 transfers to wireless instructions transport module 8 by the enabled instruction of button send-out pumps through wireless instructions transport module 34; Baroceptor 7 detects in real time the pressure size in the annular seal space and feeds back to single-chip microcomputer master control borad 6, and single-chip microcomputer master control borad 6 sends corresponding signal according to the force value size cases and regulates the pressure size to depression generator, the dynamic equilibrium of control absorption affinity.As shown in Figure 8, the workflow of absorption and control module is as follows: at first, ground remote controller 33 transfers to wireless instructions transport module 8 in the robot body by the enabled instruction of button send-out pumps through wireless instructions transport module 34; Secondly, wireless instructions transport module 8 is transferred to single-chip microcomputer master control borad 6 with the instruction that receives by serial ports, single-chip microcomputer master control borad 6 is understood instruction and is converted to pwm signal and sends to pump drive motors 24, makes it be adsorbed on the detection medium thereby make centrifugal pump body 10 High Rotation Speeds discharge sealing intracavity gas formation negative pressure cavity generation pressure-acting in robot; At last, baroceptor 7 is measured in real time annular seal space internal pressure value and is fed back to single-chip microcomputer master control borad 6, and single-chip microcomputer master control borad 6 sends pwm signal according to the force value size cases and adjusts pump drive motors 24 rotating speeds, thereby dynamically adjusts the absorption affinity size.
In conjunction with Fig. 9, described motion-control module comprises four movable pulley 4-1,4-2,4-3,4-4, four steering engine driver 5-1,5-2,5-3,5-4, single-chip microcomputer master control borad 6, wireless instructions transport module 8, wireless instructions transport module 34 and remote control 33, motion-control module and absorption and control module shared microcontroller master control borad 6, wireless instructions transport module 8, wireless instructions transport module 34 and remote control 33, four drift angle places of body supports base plate 3 respectively fixedly mount a steering engine driver 5-1,5-2,5-3,5-4, four movable pulley 4-1,4-2,4-3, the axle center of 4-4 separately with corresponding steering engine driver 5-1,5-2,5-3, the driving shaft of 5-4 is fixedly connected with, four steering engine driver 5-1,5-2,5-3,5-4 all is connected with single-chip microcomputer master control borad 6 by serial ports, single-chip microcomputer master control borad 6 is understood from the instruction of wireless instructions transport module 8 and is converted to the signal of telecommunication and drives steering engine driver 5-1,5-2,5-3,5-4, this steering engine driver 5-1,5-2,5-3,5-4 adjusts four movable pulley 4-1,4-2,4-3, the rotating speed of 4-4 is so that robot advances in the detection path, retreat, turn or stop.
Described disease detection module comprises image unit and ground image processing unit, when bridge detection robot moved on the detection path, image unit began photographic images and finishes the detection and Identification of bridge defect by wireless network transmissions to the ground image processing unit.
Described lightweight outer casing 14 passes support baseboard 3 front and back by binding band and fixes along upper installing hole, and depression generator, baroceptor 7, single-chip microcomputer master control borad 6, wireless instructions transport module 8, four steering engine driver 5-1,5-2,5-3,5-4 are put into outer casing 14.
The present invention is based on each movable pulley 4-1,4-2 of the bridge detection robot of negative-pressure adsorption, key of axle center insertion of 4-3,4-4, screw 28 passes the axle center of each movable pulley 4-1,4-2,4-3,4-4 and fixes with corresponding steering engine driver 5-1,5-2, the driving shaft of 5-3,5-4, has limited the driving shaft axial float.The periphery of movable pulley 4-1,4-2,4-3,4-4 is bonded with rubber friction tape 29, can increase friction factor, prevents wheel-slip.Single-chip microcomputer master control borad 6 is controlled the output voltage of four steering engine driver 5-1,5-2,5-3,5-4 according to the motor performance instruction that receives ground, the rotating speed of wheel is increased or reduces, and the four-wheel drive mode is so that the forms of motion of robot is more flexible.When running into the large obstacle that to cross on the bridge detection robot direction of advance, ground remote controller 33 can send turn command and transfer to wireless instructions transport module 8 in the robot body by wireless instructions transport module 34, steering engine driver 5-1,5-2,5-3,5-4 are connected with single-chip microcomputer master control borad 6 by serial ports, and single-chip microcomputer master control borad 6 is understood from the instruction of wireless instructions transport module 8 and is converted to the signal of telecommunication and drives steering engine driver 5-1,5-2,5-3,5-4.If receive the right-hand bend instruction this moment, then right side steering engine driver 5-2 and 5-3 drive shaft speed are higher than left side steering engine driver 5-1 and 5-4, and then allow the right-hand wheel 4-2 of robot and 4-3 rotating speed be higher than left side wheel 4-1 and 4-4, form differential, make the robot cut-through that bends to right, and finally stop at the appointment surveyed area, carefully photograph optimized image.As shown in Figure 7, some buttons are arranged on the ground remote controller 33, according to the various combination of button corresponding to different instructions, as adsorb instruction, advancement commands, turn command, stop to adsorb instruction and stop motion instruction etc., and send to wireless instructions transport module 8 in the robot by wireless instructions transport module 34.In addition, wireless instructions transport module 8 can also send some real-time status parameters of bridge detection robot to ground computer, such as supply voltage, environment temperature, mobile status, translational speed, absorption affinity size etc. except the instruction that receives the ground transmission.
In conjunction with Fig. 3, the annular seal space that the present invention is based on the bridge detection robot of negative-pressure adsorption is made of four soft sealed skirts 1, four flake aluminums 2 and four mounting clamps 18, each sealed skirt 1 is adhesive on the corresponding flake aluminum 2, each flake aluminum 2 by corresponding mounting clamp 18 be fixed on support baseboard 3 bottoms around form the rectangular seal chamber.The effect of sealed skirt 1 is that sealing adsorbent chamber and atmosphere outside are separated to come, and sealed skirt 1 integral body is jointless structure, processed by wear resistant nylon cloth, and sealing skirt 1 inner uniform filling soft elastic material, the sealing of sealed skirt 1 highly exceeds movable pulley 2-3mm.The effect of sealed skirt 1 is that sealing adsorbent chamber and atmosphere outside are separated to come, and sealed skirt 1 integral body is jointless structure, is processed by wear resistant nylon cloth.Sealed skirt 1 inner uniform filling soft elastic material such as rubber, sponge or gas etc., the effect of filling soft elastic material is to be unlikely to soft when sealed skirt 1 is contacted with the bridge wall and the sealing that affects annular seal space, to improve the compliance to rough smooth wall, thereby reduce leakage flow, running into that less obstacle (for example cement pimple of bridge back side projection) can be crossed naturally and the normal movement that do not affect robot in addition.The height of sealing can be adjusted by the height of soft elastic material, and is too much if sealed skirt 1 exceeds wheel, then can affect the movement of bridge detection robot on bridge floor, can reduce sealing effectiveness again if cross to hang down.Sealing in this employing highly exceeds wheel 2-3mm, when robot is adsorbed in the bridge back side 19, absorption affinity can make movable pulley 4-1,4-2,4-3,4-4 touch wall, and its pressure must satisfy the frictional force of wheel and wall and order about the normal movement of bridge detection robot.
In conjunction with Fig. 4, the depression generator that the present invention is based on the bridge detection robot of negative-pressure adsorption comprises centrifugal pump body 10, at centrifugal pump body 10 interior impeller 22, pump drive motors 24 and the motor-driven jackscrews 25 of arranging, pump drive motors bearing 21 is fixed on support baseboard 3 centre positions by screw 23, centrifugal pump body 10 is connected on the pump drive motors seat 21, through hole is set in the middle of the support baseboard 3, be covered with gas filtration net 20 between the through hole of pump drive motors bearing 21 and support baseboard 3,, prevent from sucking in the pump housing dust or solid granule etc.The pressure-sensitive flexible pipe of baroceptor 7 sees through the hole of gas filtration net 20 and stretches in the annular seal space, impeller 22 is installed on the pump drive motors seat 21, feature holes 26 and screwed hole 27 are set on the impeller 22, the axis of feature holes 26 and screwed hole 27 is mutually vertical, it is outer that pump drive motors 24(pump drive motors 24 parts are exposed at the housing of centrifugal pump body 10) output shaft be inserted in the feature holes 26, and fixing tight by the motor-driven jackscrew 25 that is installed in the screwed hole 27, thereby the output torque of pump drive motors 24 passes to impeller 22 band moving vane coaxial rotatings by motor-driven jackscrew 25, discharges the gas in the annular seal space; When the sealed skirt 1 of robot was close to wall, because the discharge of intracavity gas forms vacuum, and pressure formed pressure difference in ambient atmosphere pressure and the annular seal space, produces pressure to make robot be adsorbed on wall, and the annular seal space of this moment becomes negative pressure cavity.Pump drive motors 24 rotating speeds are faster, and the normal pressure that acts on the robot driving wheel is also just larger, so that the load capacity of robot increases.
Realize that the dynamically balanced process of absorption affinity is, baroceptor 7 detects in real time the pressure size in the annular seal space and feeds back to single-chip microcomputer master control borad 6, and the single-chip microcomputer master control borad 6 that present embodiment uses is AVR series monolithic ATMEGA2561 that Atmel company produces.Single-chip microcomputer master control borad 6 in the robot body is adhesive in centre position, support baseboard 3 left side by poly-lithium battery 9 power supplies.On the one hand, when running into rough bridge floor testing environment, may cause that annular seal space partly leaks enters gas so that absorption affinity diminishes, the force value size that the 6 each judgements of single-chip microcomputer master control borad detect, when less than 40N, single-chip microcomputer master control borad 6 can send pwm signals to pump drive motors 24, thereby increases deflation rate that motor speed makes centrifugal pump body 10 leakage rate in the annular seal space, therefore can produce larger pressure, improve the stability of absorption.On the other hand, the bridge floor testing environment is smooth when smooth sometimes, and sealing effectiveness better can produce very large absorption affinity.The force value that detects when single-chip microcomputer master control borad 6 can send pwm signal to pump drive motors 24 during greater than 60N, suitably reduces motor speed and is unlikely to make the robot absorption affinity excessive and can't move; Therefore, adopt the absorption affinity dynamic balancing technique of pressure feedback so that the energy consumption of robot is optimized, increased cruising time.Wireless instructions transport module 8 is transferred to single-chip microcomputer master control borad 6 with the pump startup instruction that receives by serial ports, single-chip microcomputer master control borad 6 is understood instruction and is converted to pwm signal and sends to pump drive motors 24, makes it be adsorbed on the detection medium thereby make centrifugal pump body 10 High Rotation Speeds discharge sealing intracavity gas formation negative pressure cavity generation pressure-acting in robot.
In conjunction with Fig. 2, the lightweight outer casing 14 that the present invention is based on the bridge detection robot of negative-pressure adsorption evenly arranges little rectangle steam vent 16 all around, is convenient to the gas in the annular seal space is discharged outside to atmospheric environment.The height of outer casing 14 is a little more than centrifugal pump body 10 height that are installed in support baseboard 3 centers, and the center at outer casing 14 tops arranges the ellipsoid cylinder 17 of projection, around this ellipsoid cylinder 17 steam vent is set.Purpose is can hold pump drive motors 24 and be unlikely to because the pump drive motors 24 too high outer casings 14 that withstand, and when pump drive motors 24 High Rotation Speed, the steam vent around the ellipsoid cylinder 17 also can be beneficial to heat radiation in addition.
In conjunction with Fig. 1, Fig. 2 and Figure 10, the image unit of disease detection module that the present invention is based on the bridge detection robot of negative-pressure adsorption comprises high-definition camera 13 and wireless video storage sending module 15, aluminium matter pole 11 is fixed on the middle installing hole in support baseboard 3 forward positions by screw 30, high-definition camera 13 is fixedly mounted on edge on the aluminium matter pole 11, and be miter angle with bar, so that the image of taking is positioned at the dead ahead of robot, on this aluminium matter pole 11 light source 12 is housed also, affects testing result thereby affect picture quality so that the light of testing environment is unlikely to dim; Wireless video storage sending module 15 is fixed on the outer casing 14, video and image that the storage high-definition camera is shot, and by being wirelessly transmitted to ground, observe and the image processing system processing for the testing staff, and live video and the image of storage can give over to the original in data of historical data and analysis expert;
The ground image processing unit of disease detection module comprises image processing host, image pick-up card and wireless video receiver module 35, and an end of wireless video receiver module 35 and image pick-up card links to each other, and the other end of image pick-up card links to each other with the image processing host.
Some parameters of the reaction bridge detection robot real-time status that but display radio command module 34 receives on the image processing host and the image scene that wireless video receiver module 35 receives, the backstage image processing program of image processing host is preserved the bridge image that collects and Identification of Cracks simultaneously, comprises following three key steps:
(a) image preliminary treatment: the main inhibition of image being carried out image smoothing, geometric distortion correction and noise spot etc., because camera and bridge detection faces are certain angle, the geometric distortion of geometric correction removal of images.
(b) image segmentation: to pretreated image, adopt based on the image sharpening such as the Canny operator to strengthen and the dynamic threshold segmentation processing, obtain binary image.
(c) crack identification: for binary image, based on connected domain algorithm search connected region, whether identify the crack according to length and width information.
The workflow of disease detection module is as follows: when bridge detection robot moves to when detecting on the path, high definition camera device begin photographic images and by the wireless video sending module 15 on the robot outer casing 14 through the wireless video receiver module 35 of wireless network transmissions to ground.Wireless video receiver module 35 is sent to the image that receives on the image processing host by image pick-up card and shows, and the image processing program on backstage is mainly finished the detection and Identification of bridge defect by steps such as image preliminary treatment, image segmentation and crack identification.
Fig. 5 shows bridge detection robot and is adsorbed on the duty that disease is detected at the bridge back side 19.
Fig. 6 shows bridge detection robot and is adsorbed on the duty that Bridge High-pier 31 checks bridge pad 32.By remote control 33 send-out pumps enabled instructions this robot is adsorbed on pier, then sends movement instruction and make robot move to the pier highest point, the high-definition camera 13 on this moment aluminium matter pole 11 can photograph bridge pad 32 and carefully check.
Bridge detection robot three large functional module couplings among the present invention are low, relatively independent, and the interface between each parts (such as single-chip microcomputer master control borad 6, baroceptor 7, wireless instructions transport module 8, steering engine driver 5-1,5-2,5-3 and 5-4, pump drive motors 24 etc.) is simple, can manufacture and design separately, shorten the production cycle.
Bridge detection robot among the present invention adopts poly-lithium battery 9 power supplies, because lithium battery environmental protection, energy density are high, lightweight, long service life, self-discharge rate are low, possess the high power holding capacity, so is suitable for the large electric current supply of robot.In the situation of some specific occasion permission, this bridge detection robot can also adopt the mode of wired power supply, thereby effectively increases the testing time.
Claims (7)
1. bridge detection robot based on negative-pressure adsorption, it is characterized in that by the absorption and control module, motion-control module, disease detection module and lightweight outer casing (14) form, described absorption and control module comprises annular seal space, depression generator, baroceptor (7), single-chip microcomputer master control borad (6), wireless instructions transport module (8), wireless instructions transport module (34) and remote control (33), annular seal space communicates with depression generator, the pressure-sensitive flexible pipe of baroceptor (7) stretches into annular seal space, baroceptor (7) is connected 8 with the wireless instructions transport module) connect respectively single-chip microcomputer master control borad (6), single-chip microcomputer master control borad (6) is bonded on the support baseboard (3), and ground remote controller (33) transfers to wireless instructions transport module (8) by the enabled instruction of button send-out pumps through wireless instructions transport module (34); Baroceptor (7) detects in real time the pressure size in the annular seal space and feeds back to single-chip microcomputer master control borad (6), single-chip microcomputer master control borad (6) sends corresponding signal according to the force value size cases and regulates the pressure size to depression generator, the dynamic equilibrium of control absorption affinity;
Described motion-control module comprises four movable pulley (4-1,4-2,4-3,4-4), four steering engine driver (5-1,5-2,5-3,5-4), single-chip microcomputer master control borad (6), wireless instructions transport module (8), wireless instructions transport module (34) and remote control (33), motion-control module and absorption and control module shared microcontroller master control borad (6), wireless instructions transport module (8), wireless instructions transport module (34) and remote control (33), four drift angle places of body supports base plate (3) respectively fixedly mount a steering engine driver (5-1,5-2,5-3,5-4), four movable pulley (4-1,4-2,4-3, axle center 4-4) separately with corresponding steering engine driver (5-1,5-2,5-3, driving shaft 5-4) is fixedly connected with, four steering engine driver (5-1,5-2,5-3,5-4) all be connected with single-chip microcomputer master control borad (6) by serial ports, single-chip microcomputer master control borad (6) is understood from the instruction of wireless instructions transport module (8) and is converted to the signal of telecommunication and drives steering engine driver (5-1,5-2,5-3,5-4), this steering engine driver (5-1,5-2,5-3,5-4) adjust four movable pulley (4-1,4-2,4-3, rotating speed 4-4) is so that robot advances in the detection path, retreat, turn or stop;
Described disease detection module comprises image unit and ground image processing unit, when bridge detection robot moved on the detection path, image unit began photographic images and finishes the detection and Identification of bridge defect by wireless network transmissions to the ground image processing unit;
Described lightweight outer casing (14) is fixed along upper installing hole before and after passing support baseboard (3) by binding band, and depression generator, baroceptor (7), single-chip microcomputer master control borad (6), wireless instructions transport module (8), four steering engine drivers (5-1,5-2,5-3,5-4) are put into outer casing (14).
2. the bridge detection robot based on negative-pressure adsorption according to claim 1, a key is inserted in the axle center that it is characterized in that each movable pulley (4-1,4-2,4-3,4-4), the axle center that screw (28) passes each movable pulley (4-1,4-2,4-3,4-4) is fixed with the driving shaft of corresponding steering engine driver (5-1,5-2,5-3,5-4), has limited the driving shaft axial float.
3. the bridge detection robot based on negative-pressure adsorption according to claim 1, it is characterized in that annular seal space is made of four soft sealed skirts (1), four flake aluminums (2) and four mounting clamps (18), each sealed skirt (1) is adhesive on the corresponding flake aluminum (2), and each flake aluminum (2) forms the rectangular seal chamber all around by what corresponding mounting clamp (18) was fixed on support baseboard (3) bottom.
4. the bridge detection robot based on negative-pressure adsorption according to claim 3, the effect that it is characterized in that sealed skirt (1) is that sealing adsorbent chamber and atmosphere outside are separated to come, sealed skirt (1) integral body is jointless structure, processed by wear resistant nylon cloth, the inner uniform filling soft elastic material of sealing skirt (1), the sealing of sealed skirt (1) highly exceeds movable pulley 2-3mm.
5. the bridge detection robot based on negative-pressure adsorption according to claim 1, it is characterized in that described depression generator comprises centrifugal pump body (10), impeller (22) is set in centrifugal pump body (10), pump drive motors (24) and motor-driven jackscrew (25), pump drive motors bearing (21) is fixed on support baseboard (3) centre position by screw (23), centrifugal pump body (10) is connected on the pump drive motors seat (21), through hole is set in the middle of the support baseboard (3), be covered with gas filtration net (20) between the through hole of pump drive motors bearing (21) and support baseboard (3), the pressure-sensitive flexible pipe of baroceptor (7) sees through the hole of gas filtration net (20) and stretches in the annular seal space, impeller (22) is installed on the pump drive motors seat (21), feature holes (26) and screwed hole (27) are set on the impeller (22), feature holes (26) is mutually vertical with the axis of screwed hole (27), the output shaft of pump drive motors (24) is inserted in the feature holes (26), and fixing tight by the motor-driven jackscrew (25) that is installed in the screwed hole (27), the output torque of pump drive motors (24) passes to impeller (22) by motor-driven jackscrew (25) thereby band moving vane coaxial rotating is discharged the gas in the annular seal space;
Baroceptor (7) detects in real time the pressure size in the annular seal space and feeds back to single-chip microcomputer master control borad (6), on the one hand, when running into rough bridge floor testing environment, may cause that annular seal space partly leaks enters gas so that absorption affinity diminishes, single-chip microcomputer master control borad (6) is each judges that the force value that detects is big or small, when less than 40N, single-chip microcomputer master control borad (6) can send pwm signal to pump drive motors (24), thereby increase deflation rate that motor speed makes centrifugal pump body (10) leakage rate in the annular seal space, therefore can produce larger pressure; On the other hand, sometimes the bridge floor testing environment is smooth when smooth, sealing effectiveness better can produce very large absorption affinity, the force value that detects when single-chip microcomputer master control borad (6) is during greater than 60N, can send pwm signal to pump drive motors (24), suitably reduce motor speed and be unlikely to make the robot absorption affinity excessive and can't move; Wireless instructions transport module (8) is transferred to single-chip microcomputer master control borad (6) with the pump startup instruction that receives by serial ports, single-chip microcomputer master control borad (6) is understood instruction and is converted to pwm signal and sends to pump drive motors (24), make centrifugal pump body (10) thus High Rotation Speed is discharged the sealing intracavity gas and is formed negative pressure cavity and produce pressure-acting and make it be adsorbed on the detection medium in robot.
6. the bridge detection robot based on negative-pressure adsorption according to claim 1, it is characterized in that lightweight outer casing (14) evenly arranges little rectangle steam vent (16) all around, the height of outer casing (14) a little more than the centrifugal pump body (10) that is installed in support baseboard (3) center highly, the center at outer casing (14) top arranges the ellipsoid cylinder (17) of projection, and this ellipsoid cylinder (17) arranges steam vent on every side.
7. the bridge detection robot based on negative-pressure adsorption according to claim 1, the image unit that it is characterized in that the disease detection module comprises high-definition camera (13) and wireless video storage sending module (15), aluminium matter pole (11) is fixed on the middle installing hole in support baseboard (3) forward position by screw (30), high-definition camera (13) is fixedly mounted on the upper edge of aluminium matter pole (11), and be miter angle with bar, so that the image of taking is positioned at the dead ahead of robot, on this aluminium matter pole (11) light source (12) is housed also, affects testing result thereby affect picture quality so that the light of testing environment is unlikely to dim; Wireless video storage sending module (15) is fixed on the outer casing (14), video and image that the storage high-definition camera is shot, and by being wirelessly transmitted to ground, observe and the image processing system processing for the testing staff, and live video and the image of storage can give over to the original in data of historical data and analysis expert;
The ground image processing unit of disease detection module comprises image processing host, image pick-up card and wireless video receiver module (35), one end of wireless video receiver module (35) and image pick-up card links to each other, and the other end of image pick-up card links to each other with the image processing host.
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