CN104484988A - Automatic space structure health monitoring system based on curved-surface wall-climbing robot sensor - Google Patents
Automatic space structure health monitoring system based on curved-surface wall-climbing robot sensor Download PDFInfo
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- CN104484988A CN104484988A CN201410659464.3A CN201410659464A CN104484988A CN 104484988 A CN104484988 A CN 104484988A CN 201410659464 A CN201410659464 A CN 201410659464A CN 104484988 A CN104484988 A CN 104484988A
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Abstract
The invention discloses an automatic space structure health monitoring system based on a curved-surface wall-climbing robot sensor. The automatic space structure health monitoring system comprises a wireless sensor subsystem, a data acquisition subsystem, a data management subsystem and an automatic analysis terminal subsystem, wherein the wireless sensor subsystem consists of the wall-climbing robot with a wireless acceleration sensor, the acceleration data is synchronously acquired in different blocks, and the data is transmitted to the data acquisition subsystem; the data acquisition subsystem transmits the data to the data management subsystem so as to primarily process the data, and then the data is transmitted to the automatic analysis terminal subsystem, so that the automatic analysis for the structural modality and the early warning can be carried out. By adopting the automatic space structure health monitoring system, the wireless monitoring in the whole process can be realized, the wire distribution difficulty of the sensor can be avoided, the quantity of the sensor can be reduced by utilizing the movable sensor, and the monitoring cost is reduced; by utilizing the automatic mode recognition system, the manpower and the time can be saved, and the application requirement of projects such as wireless health detection of a large-span space structure can be met.
Description
Technical field
The invention belongs to monitoring structural health conditions field, be specifically related to a kind of robot wireless senser based on moving freely on curved surface and the health monitoring systems of overall process automatic analysis can be carried out data.
Background technology
As the public place of population collection, the safety military service problem of the large-span space structures such as stadiums, railway station, terminal enjoys the concern of various circles of society.But, long-term damage accumulation and Complicated Loads effect under the lost efficacy accident of collapsing of large-span space structure of common occurrence, but for want of more cost-effective technological means, safe safeguard of being on active service reliably not yet taked by the space structure of a large amount of active service.The consequence caused is exactly to serve in popular social life by unsound space structure, thus the economic asset of the life security of people and society is directly exposed among potential threat.
The Main Means that present stage guarantee space structure is on active service safely is the health monitoring of structure, namely by the vibration data of the static sensor system monitoring structure of laying in advance, then these data are utilized, identification and analysis is carried out to the modal parameter in operation structure, and then the safe reliability of structure is assessed.But, owing to having the features such as large space, many rod members, multinode, in large span network, set up the cable transmission line that wired sensor vibration monitor system needs more sensor node and lays long distance, it is laid and safeguards the man power and material of at substantial; On the other hand, because large-span space structure data volume is large, the artificial interference that traditional modal idenlification technology needs brainstrust a large amount of and control, usually this process very time-consuming, thus hinder the on-line monitoring at operation large-span space structure.Therefore, effective layout of sensor and the key issue being automatically identified as health monitoring systems field of structural modal how is realized.
At present, progressively start the research of the health monitoring systems based on radio sensing network in the world, wireless sense network is integrated with the several functions such as information acquisition, data processing and radio communication, by cable transmission engineering test signal, about its application cost can reduce half.On basis in conjunction with mobile wireless Sensor Network technology, use the robot sensor that can move freely on curved surface, not only can save the quantity of sensor, to reduce the cost of monitoring structural health conditions, the work of artificial placement sensor can also be avoided, save labour.On the other hand, structural modal automatic identification technology makes computer system when not needing artificial interference, can automatically to surveyed data analysis, the mode automatically identifying structure, to judge the health status of structure, has great importance to the development of Structural Health Monitoring for Space Structure.
Summary of the invention
The object of the invention is for overcoming shortcomings and deficiencies of the prior art, in conjunction with Robotics, wireless sensor technology and intelligent automation technology, propose a kind of space structure automatic health monitoring system based on curved surface climbing robot sensor, can realize economically long-term health monitoring is carried out for the large-span space structure in operation.
Object of the present invention is achieved through the following technical solutions: a kind of Structural Health Monitoring for Space Structure system of carrying curved surface climbing robot sensor, and it comprises wireless senser subsystem, data acquisition subsystem, data administration subsystem and automatic analysis terminal subsystem, wherein, wireless senser subsystem by carrying can forming by climbing robot of Wireless Acceleration Sensor in each block, the vibration acceleration data of blockette synchronous acquisition structure, and to data acquisition subsystem transmission data, data acquisition subsystem is modulated simulating signal, process and be converted to digital signal, then transfers data to data administration subsystem by WLAN (wireless local area network), because surveyed data are by the noise such as environment, after data administration subsystem receives data, data to be filtered, Screening Treatment, then pass to automatic analysis terminal subsystem, automatic analysis terminal subsystem, first stability diagram is produced by Random Subspace Method, then by the automatic search algorithm in conjunction with genetic algorithm and fuzzy clustering, automatic analysis is carried out to stability diagram, detailed process is first arbitrary assumption cluster centre number, recycling genetic algorithm carries out initialization to fuzzy clustering, to obtain initial cluster center, finally this whole process comprising genetic algorithm and fuzzy clustering is circulated, thus the true mode searched out when not needing artificial interference, finally the mode of measured structural modal and finite element model is carried out Real-Time Monitoring contrast, thus automatic analysis goes out the health status of structure.
Described can wall-climbing device people be the magnetic wheel type climbing robot with curved surface adaptive, and it comprises mobile platform, Wireless Acceleration Sensor, wireless communication module, camera, camera bracket, power supply and the host computer with curved surface adaptive absorption; Wherein, acceleration transducer, wireless communication module and camera bracket are all fixing on a mobile platform, and camera is arranged on camera bracket, and camera, acceleration transducer are connected with wireless communication module, wireless communication module and host computer radio communication; The described mobile platform with curved surface adaptive absorption comprises two curved surface adaptive vehicle frames and four magnetic drive wheel units; Each curved surface adaptive vehicle frame is arranged symmetrically with fixed installation two magnetic drive wheel units, two curved surface adaptive vehicle frames are hinged by leaf hinge; Described magnetic drive wheel unit comprises motor, by motor-driven wheel hub, is arranged on the elasticity permanent magnetic suck layer of hub outside surface.
The present invention, relative to prior art, has following beneficial effect:
(1) the health military service problem of large span spatial structure receives much concern always.Combine the health detecting system of wireless movable climbing robot sensor, work load and the work that greatly can alleviate monitoring personnel are dangerous, have obvious economy.
(2) adopt the monitoring method of blockette synchronism detection, the movable sensor of fewer number of can be utilized simultaneously to monitor total, improve the efficiency of monitoring and the accuracy of data, reduce financial cost simultaneously.
(3) adopt the stochastic subspace modal identification method in conjunction with genetic algorithm for clustering, directly can carry out on-line analysis to acceleration monitoring data, do not need artificially to participate in interference, save manpower.The health status of structure can be differentiated according to the structural modal identified, reach the target of health monitoring.
(4) the present invention can realize the on-line monitoring of large-span space structure, invention robot of institute movable sensor especially can adapt to the spatial mesh structure that rod member surface is curved surface, for its daily servicing and security protection provide robotization means easily, reduce financial cost, and can ensure that structural health runs safely.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the process flow diagram of automatic analysis terminal subsystem;
Schematic diagram arranged by Fig. 3 blockette sensor;
Fig. 4 wireless sensor network topological diagram;
Fig. 5 is the composition frame chart of the magnetic wheel type climbing robot with curved surface adaptive;
Fig. 6 is the structural drawing of the mobile platform in Fig. 5 with curved surface adaptive absorption;
Fig. 7 is magnetic drive wheel unit composition diagram in Fig. 6;
Fig. 8 is Fig. 7 Elastic permanent magnetic suck Rotating fields figure;
Fig. 9 is Fig. 8 Elastic iron plate basic unit stretch-out view;
Figure 10 is for having curved surface adaptive absorption mobile platform steel pipe self-adaptation absorption schematic diagram;
Figure 11 has the principle of work schematic diagram of curved surface adaptive absorption mobile platform when going beyond ball node;
Figure 12 is the acceleration information figure that removable sensor obtains;
Figure 13 is the stability diagram that Random Subspace Method draws structure;
Figure 14 is the stability diagram in mode automatic recognition system;
In figure, magnetic drive wheel unit 1, curved surface adaptive vehicle frame 2, elasticity permanent magnetic suck layer 10, permanent magnet 11, elasticity iron plate basic unit 12, wheel hub 13, motor 14, leaf hinge 21, steel pipe 100, steel ball 200.
Embodiment
Below by drawings and Examples, the present invention is described in further detail.
As shown in Figure 1, the present invention is based on the space structure automatic health monitoring system of curved surface climbing robot sensor, comprise wireless senser subsystem, data acquisition subsystem, data administration subsystem and automatic analysis terminal subsystem, wherein, wireless senser subsystem by carrying can forming by climbing robot of Wireless Acceleration Sensor, the vibration acceleration data of blockette synchronous acquisition structure, and to data acquisition subsystem transmission data, data acquisition subsystem is modulated simulating signal, process and be converted to digital signal, then transfers data to data administration subsystem by WLAN (wireless local area network), because surveyed data are by the noise such as environment, after data administration subsystem receives data, data to be filtered, Screening Treatment, then pass to automatic analysis terminal subsystem, as shown in Figure 2, first automatic analysis terminal subsystem produces stability diagram by Random Subspace Method, then by the automatic search algorithm in conjunction with genetic algorithm and fuzzy clustering, automatic analysis is carried out to stability diagram, detailed process is first arbitrary assumption cluster centre number, recycling genetic algorithm carries out initialization to fuzzy clustering, to obtain initial cluster center, finally this whole process comprising genetic algorithm and fuzzy clustering is circulated, thus the true mode searched out when not needing artificial interference, finally the mode of measured structural modal and finite element model is carried out Real-Time Monitoring contrast, thus automatic analysis goes out the health status of structure.
As shown in Figure 5, described can wall-climbing device people be the magnetic wheel type climbing robot with curved surface adaptive, and it comprises mobile platform, Wireless Acceleration Sensor, wireless communication module, camera, camera bracket, power supply and the host computer with curved surface adaptive absorption; Wherein, acceleration transducer, wireless communication module and camera bracket are all fixing on a mobile platform, and camera is arranged on camera bracket, and camera, acceleration transducer are connected with wireless communication module, wireless communication module and host computer radio communication.As shown in Figure 6, the mobile platform described in curved surface adaptive absorption comprises two curved surface adaptive vehicle frames 2 and four magnetic drive wheel units 1; Each curved surface adaptive vehicle frame 2 is arranged symmetrically with fixed installation two magnetic drive wheel units 1, two curved surface adaptive vehicle frames 2 hinged by leaf hinge 21.As shown in Figure 7, described magnetic drive wheel unit 1 comprises motor 14, the wheel hub 13 driven by motor 14, is arranged on the elasticity permanent magnetic suck layer 10 of wheel hub 13 outside surface.As shown in Figure 8, described elasticity permanent magnetic suck layer 10 comprises the permanent magnet 11 that elasticity iron plate basic unit 12 and elasticity iron plate basic unit 12 evenly paste.Described permanent magnet 11 adopts Nd-Fe-B rare-earth permanent magnet iron.As shown in Figure 9, described elasticity iron plate basic unit 12 processes by having flexible 0.1mm iron plate.Described host computer, is ordinary PC.Described camera, adopts pin industry camera, for the motion state of operating personnel's real-time monitoring system.Figure 10 shows that mobile platform self-adaptation absorption on the steel pipe 100 of 60mm caliber.Figure 11 shows that mobile platform intersects wall transition at steel pipe 100/ steel ball 200 node.
For Responses of Long-Span Spatial Lattice Structures, when concrete enforcement health monitoring, adopt blockette Simultaneous Monitoring, to save number of sensors.As shown in Figure 3, get the rack planimetric map of 1/4th, arrange in district's lattice of 1/16th one carry Wireless Acceleration Sensor can climbing robot.After terminal system starts, according to each Area Node monitoring flow process preset, first select straight-going mode to robot mode of operation, robot linearly travels forward with constant speed, when robot arrives measurement destination, be adjusted to measurement pattern, host computer sends stop signal, and the Wireless Acceleration Sensor on people that starts the machine, start the vibration acceleration measuring wall, and measurement data is sent to data acquisition subsystem, the sampled measurements of this measuring point is completed with this.So, survey a node, and then the tube wall along structure moves to next node, when arriving measurement point, restart measurement pattern, measure this node vibrations accekeration, so until the data monitoring completing one's respective area interdependent node is (as Figure 10, shown in 11, this mobile robot can move freely at steel pipe curved surface).
In Practical Project, large, the required measured node of grid structure span is many, adopts from minor node to host node, then arrives the transfer mode of data transmission sub-system, improves the transfer efficiency of data.Wherein, the networking mode of WLAN (wireless local area network) adopts ring topology as shown in Figure 4, and the data of collection are passed to host node by wireless communication module by each minor node wireless senser subsystem, then unifies process by host node and reach data acquisition subsystem.
Data acquisition subsystem is modulated simulating signal, process and be converted to digital signal, then transfers data to data administration subsystem by WLAN (wireless local area network).Automatic analysis terminal subsystem obtains from after the data (as shown in figure 12) of data administration subsystem, start to identify structural modal, first the stability diagram (as shown in figure 13) of structure is drawn by Random Subspace Method, recycling carries out automatic analysis in conjunction with the automatic search algorithm of genetic algorithm and fuzzy clustering algorithm to stability diagram, search out true limit (as shown in figure 14), identify the mode of structure, and carry out Real-Time Monitoring contrast with the structural modal of finite element model, thus automatic analysis goes out the health status of structure.
Claims (2)
1. carry a Structural Health Monitoring for Space Structure system for curved surface climbing robot sensor, it is characterized in that, it comprises wireless senser subsystem, data acquisition subsystem, data administration subsystem and automatic analysis terminal subsystem; Wherein, wireless senser subsystem by carrying can forming by climbing robot of Wireless Acceleration Sensor, the vibration acceleration data of blockette synchronous acquisition structure, and to data acquisition subsystem transmission data; Data acquisition subsystem is modulated simulating signal, process and be converted to digital signal, then transfers data to data administration subsystem by WLAN (wireless local area network); Data administration subsystem receives after data, filters, Screening Treatment to data, then passes to automatic analysis terminal subsystem; First automatic analysis terminal subsystem produces stability diagram by Random Subspace Method, then by the automatic search algorithm in conjunction with genetic algorithm and fuzzy clustering, automatic analysis is carried out to stability diagram, thus the true mode of institute's geodesic structure is determined when not needing artificial interference, finally the mode of measured structural modal and finite element model is carried out Real-Time Monitoring contrast, thus automatic analysis goes out the health status of structure;
Described can wall-climbing device people be the magnetic wheel type climbing robot with curved surface adaptive, and it comprises mobile platform, Wireless Acceleration Sensor, wireless communication module, camera, camera bracket, power supply and the host computer with curved surface adaptive absorption; Wherein, acceleration transducer, wireless communication module and camera bracket are all fixing on a mobile platform, and camera is arranged on camera bracket, and camera, acceleration transducer are connected with wireless communication module, wireless communication module and host computer radio communication; The described mobile platform with curved surface adaptive absorption comprises two curved surface adaptive vehicle frames and four magnetic drive wheel units; Each curved surface adaptive vehicle frame is arranged symmetrically with fixed installation two magnetic drive wheel units, two curved surface adaptive vehicle frames are hinged by leaf hinge; Described magnetic drive wheel unit comprises motor, by motor-driven wheel hub, is arranged on the elasticity permanent magnetic suck layer of hub outside surface.
2. a kind of Structural Health Monitoring for Space Structure system of carrying curved surface climbing robot sensor according to claim 1, it is characterized in that, the described automatic search algorithm in conjunction with genetic algorithm and fuzzy clustering is specially: first arbitrary assumption cluster centre number, recycling genetic algorithm carries out initialization to fuzzy clustering, to obtain initial cluster center, finally this whole process comprising genetic algorithm and fuzzy clustering is circulated, until the true mode searched out is stablized.
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| CN105643399A (en) * | 2015-12-29 | 2016-06-08 | 沈阳理工大学 | Automatic lapping and polishing system for complex surface of compliant control-based robot and machining method |
| CN106936530A (en) * | 2017-03-28 | 2017-07-07 | 浙江大学 | A kind of wireless sensing wind load monitoring system for realizing multi-measuring point synchronous acquisition |
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| CN107908841A (en) * | 2017-11-03 | 2018-04-13 | 南京邮电大学 | Three-dimensional wall can crawl position distinguished number |
| CN110927485A (en) * | 2019-11-18 | 2020-03-27 | 华中科技大学 | Linear motion system health monitoring method based on spatial domain information |
| CN111398432A (en) * | 2020-03-11 | 2020-07-10 | 上海睿中实业股份公司 | Mobile building roof plate structure health detection method |
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| CN107908841B (en) * | 2017-11-03 | 2020-10-20 | 南京邮电大学 | Three-dimensional wall surface graspable position discrimination algorithm |
| CN110927485A (en) * | 2019-11-18 | 2020-03-27 | 华中科技大学 | Linear motion system health monitoring method based on spatial domain information |
| CN111398432A (en) * | 2020-03-11 | 2020-07-10 | 上海睿中实业股份公司 | Mobile building roof plate structure health detection method |
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