CN104484988B - Space structure automatic health monitoring system based on curved surface climbing robot sensor - Google Patents
Space structure automatic health monitoring system based on curved surface climbing robot sensor Download PDFInfo
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- 238000000034 method Methods 0.000 claims abstract description 15
- 230000008569 process Effects 0.000 claims abstract description 8
- 230000001360 synchronised effect Effects 0.000 claims abstract description 4
- 230000003044 adaptive effect Effects 0.000 claims description 22
- 238000004891 communication Methods 0.000 claims description 16
- 230000002068 genetic effect Effects 0.000 claims description 11
- 238000010521 absorption reaction Methods 0.000 claims description 5
- 238000010845 search algorithm Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 2
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Abstract
The invention discloses a kind of space structure automatic health monitoring system based on curved surface climbing robot sensor, it includes wireless senser subsystem, data acquisition subsystem, data administration subsystem and automatically analyzes terminal subsystem；Wireless senser subsystem by carrying Wireless Acceleration Sensor can climbing robot constitute, blockette synchronous acquisition acceleration information, and to data acquisition subsystem transmit data；Data acquisition subsystem transfer data to data administration subsystem to data carry out preliminary treatment, then pass to automatically analyze terminal subsystem carry out structural modal automatically analyze and early warning.The present invention realizes overall process wireless monitor, has avoided the problem of sensor wiring, reduces number of sensors using removable sensor, reduces monitoring cost；Manpower and time are saved using mode automatic recognition system, the engineer applied demands such as the wireless health detection of large-span space structure can be met.
Description
Technical field
The invention belongs to monitoring structural health conditions field, and in particular to a kind of based on the machine that can be moved freely on curved surface
People's wireless senser and the health monitoring systems that data progress overall process can be automatically analyzed.
Background technology
It is used as the public place of population collection, the safety clothes of the large-span space structure such as stadiums, railway station, terminal
Labour problem enjoys the concern of various circles of society.However, long-term damage accumulate sum Complicated Loads in the presence of large span space knot
The accident that structure failure is collapsed is of common occurrence, but due to a lack of more cost-effective technological means, the space structure of a large amount of active services is still
Reliable safe military service safeguard is not taken.The consequence caused is exactly the society that possible unsound space structure serves masses
In living, so that the life security of people and the economic asset of society are directly exposed among potential threaten.
It is the health monitoring of structure to ensure Main Means that space structure is on active service safely at this stage, i.e., by advance laying
The vibration data of static sensor system monitoring structure, then using these data, to being carried out in the modal parameter of operation structure
Identification and analysis, and then the security reliability of structure is estimated.However, due to large space, many rod members, multinode etc.
Feature, set up in large span network wired sensor vibration monitor system need more sensor node and laying it is long away from
From cable transmission line, its lay maintenance will expend substantial amounts of man power and material；On the other hand, due to large-span space structure number
Big according to amount, traditional modal idenlification technology needs the substantial amounts of artificial disturbance of brainstrust and control, and this usual process is time-consuming,
So as to hinder to the on-line monitoring in operation large-span space structure.Therefore, how to realize sensor effective arrangement and
Key issue of the automatic identification of structural modal into health monitoring systems field.
At present, the research of the health monitoring systems based on radio sensing network, wireless sense network have progressively been started in the world
A variety of functions such as information gathering, data processing and radio communication are integrated with, by cable transmission engineering test signal, it is applied
Cost can reduce half or so.On the basis of mobile wireless sensing network technology, use what can be moved freely on curved surface
Robot sensor, can not only save the quantity of sensor, to reduce the cost of monitoring structural health conditions, can also avoid artificial
The work of placement sensor, saves labour.On the other hand, structural modal automatic identification technology causes computer system not
In the case of needing artificial disturbance, surveyed data can be analyzed automatically, automatically identify the mode of structure to judge
The health status of structure, the development to Structural Health Monitoring for Space Structure has great importance.
The content of the invention
The purpose of the present invention is to overcome shortcomings and deficiencies of the prior art, with reference to robot technology, wireless sensor technology
And intelligent automation technology, it is proposed that a kind of space structure automatic health monitoring system based on curved surface climbing robot sensor
System, can economically realize and carry out long-term health monitoring for the large-span space structure in operation.
The purpose of the present invention is achieved through the following technical solutions：A kind of space knot for carrying curved surface climbing robot sensor
Structure health monitoring system, it includes wireless senser subsystem, data acquisition subsystem, data administration subsystem and automatically analyzed
Terminal subsystem；Wherein, what wireless senser subsystem carried Wireless Acceleration Sensor in each block can wall-climbing device
People constitutes, the vibration acceleration data of blockette synchronous acquisition structure, and transmits data to data acquisition subsystem；Data acquisition
Subsystem is modulated to analog signal, handled and is converted to data signal, then transfers data to number by WLAN
According to management subsystem；By surveyed data are by noise jammings such as environment, data administration subsystem is received after data, and data are carried out
Filtering, Screening Treatment, then pass to and automatically analyze terminal subsystem；Terminal subsystem is automatically analyzed, first by empty with loom
Between method produce stable figure, then stable figure is divided automatically by combining the automatic search algorithm of genetic algorithm and fuzzy clustering
Analysis, detailed process is first one cluster centre number of arbitrary assumption, recycles genetic algorithm to initialize fuzzy clustering, with
Initial cluster center is obtained, finally this whole process for including genetic algorithm and fuzzy clustering is circulated, so that not
The true mode searched out in the case of artificial disturbance is needed, finally by the mode of measured structural modal and FEM model
Monitoring contrast in real time is carried out, so as to automatically analyze out the health status of structure.
It is described can wall-climbing device artificially there is the magnetic wheel type climbing robot of curved surface adaptive, it include having curved surface from
Adapt to mobile platform, Wireless Acceleration Sensor, wireless communication module, camera, camera bracket, the power supply and upper of absorption
Machine；Wherein, acceleration transducer, wireless communication module and camera bracket are each attached on mobile platform, and camera is arranged on
On camera bracket, camera, acceleration transducer are connected with wireless communication module, wireless communication module and host computer channel radio
Letter；It is described to include two curved surface adaptive vehicle frames and four magnetic drive wheel lists with the mobile platform that curved surface adaptive is adsorbed
Member；Two magnetic drive wheel units of fixed installation, two curved surface adaptive vehicle frames are arranged symmetrically on each curved surface adaptive vehicle frame
It is hinged by leaf hinge；The magnetic drive wheel unit includes motor, by motor-driven wheel hub, installed in hub outside surface
Elastic permanent magnetic suck layer.
The present invention has the advantages that relative to prior art：
（1）The healthy military service problem of large span spatial structure receives much concern always.Combine wireless movable climbing robot
The health detecting system of sensor, work load and the work that can mitigate monitoring personnel significantly is dangerous, with obvious warp
Ji property.
（2）Using the monitoring method of blockette synchronism detection, it is possible to use fewer number of movable sensor is simultaneously to whole
Individual structure is monitored, and improves the efficiency of monitoring and the accuracy of data, while reducing financial cost.
（3）, can be directly to acceleration monitoring using the stochastic subspace modal identification method for combining genetic algorithm for clustering
Data carry out on-line analysis, it is not necessary to artificial to participate in interference, save manpower.Structure can be differentiated according to the structural modal identified
Health status, reach the target of health monitoring.
（4）The present invention can realize the on-line monitoring of large-span space structure, and invention robot of institute movable sensor is especially
The spatial mesh structure that rod member surface is curved surface is adapted to, is that its regular maintenance and security protection provide and easily automate hand
Section, reduces financial cost, and can guarantee that structural health is safely run.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the flow chart for automatically analyzing terminal subsystem；
Fig. 3 blockette sensor arrangement schematic diagrames；
Fig. 4 wireless sensor network topological diagrams；
Fig. 5 is the composition frame chart of the magnetic wheel type climbing robot with curved surface adaptive；
Fig. 6 is the structure chart of the mobile platform with curved surface adaptive absorption in Fig. 5；
Fig. 7 is magnetic drive wheel unit composition figure in Fig. 6；
Fig. 8 is elastic permanent magnetic suck Rotating fields figure in Fig. 7；
Fig. 9 is elastic iron plate basic unit expanded view in Fig. 8；
Figure 10 is adaptively to adsorb schematic diagram with curved surface adaptive absorption mobile platform steel pipe；
Figure 11 is to adsorb operation principle schematic diagram of the mobile platform when going beyond ball node with curved surface adaptive；
Figure 12 is the acceleration information figure that removable sensor is obtained；
Figure 13 is the stable figure that Random Subspace Method draws structure；
Figure 14 is the stable figure in mode automatic recognition system；
In figure, magnetic drive wheel unit 1, curved surface adaptive vehicle frame 2, elastic permanent magnetic suck layer 10, permanent magnet 11, elastic iron
Piece 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 space structure automatic health monitoring system of the invention based on curved surface climbing robot sensor, bag
Include wireless senser subsystem, data acquisition subsystem, data administration subsystem and automatically analyze terminal subsystem；Wherein, nothing
Line sensor subsystem by carrying Wireless Acceleration Sensor can climbing robot constitute, blockette synchronous acquisition structure is shaken
Dynamic acceleration information, and transmit data to data acquisition subsystem；Data acquisition subsystem is modulated to analog signal, handled
And data signal is converted to, then data administration subsystem is transferred data to by WLAN；By surveyed data are by ring
The noise jammings such as border, data administration subsystem is received after data, data is filtered, Screening Treatment, then is passed to and divided automatically
Analyse terminal subsystem；As shown in Fig. 2 automatically analyze terminal subsystem produces stable figure by Random Subspace Method first, then
Automatically analyzed by the automatic search algorithm for combining genetic algorithm and fuzzy clustering to stablizing figure, detailed process is first any
It is assumed that a cluster centre number, recycles genetic algorithm to initialize fuzzy clustering, to obtain initial cluster center, most
This whole process for including genetic algorithm and fuzzy clustering is circulated afterwards, so that in the case where not needing artificial disturbance
The true mode searched out, finally carries out monitoring in real time by the mode of measured structural modal and FEM model and contrasts, from
And automatically analyze out the health status of structure.
As shown in figure 5, it is described can wall-climbing device artificially there is the magnetic wheel type climbing robot of curved surface adaptive, it includes
Mobile platform, Wireless Acceleration Sensor, wireless communication module, camera, camera bracket with curved surface adaptive absorption,
Power supply and host computer；Wherein, acceleration transducer, wireless communication module and camera bracket are each attached on mobile platform, are taken the photograph
As head be arranged on camera bracket on, camera, acceleration transducer are connected with wireless communication module, wireless communication module with it is upper
Position machine radio communication.As shown in fig. 6, described include two curved surface adaptive vehicle frames with the mobile platform that curved surface adaptive is adsorbed
2 and four magnetic drive wheel units 1；Two magnetic drive wheel lists of fixed installation are arranged symmetrically on each curved surface adaptive vehicle frame 2
Member 1, two curved surface adaptive vehicle frames 2 are hinged by leaf hinge 21.As shown in fig. 7, the magnetic drive wheel unit 1 includes motor
14, the wheel hub 13 driven by motor 14, the elastic permanent magnetic suck layer 10 installed in the outer surface of wheel hub 13.As shown in figure 8, the bullet
Property permanent magnetic suck layer 10 include the permanent magnet 11 uniformly pasted in elastic iron plate basic unit 12 and elastic iron plate basic unit 12.The permanent magnetism
Iron 11 uses Nd-Fe-B rare-earth permanent magnet iron.As shown in figure 9, the elastic iron plate basic unit 12 is added by flexible 0.1mm iron plates
Work is formed.The host computer, as ordinary PC.The camera, it is real-time for operating personnel using pin industry camera
The motion state of monitoring system.Figure 10 show mobile platform and adaptively adsorbed on the steel pipe 100 of 60mm calibers.Shown in Figure 11
Intersect wall transition in the node of 100/ steel ball of steel pipe 200 for mobile platform.
For Responses of Long-Span Spatial Lattice Structures, when health monitoring is embodied, using blockette Simultaneous Monitoring, to save
Number of sensors.As shown in figure 3, taking the rack plan of a quarter, a carrying is set in 1/16th area's lattice
Wireless Acceleration Sensor can climbing robot.After terminal system starts, flow is monitored according to default each Area Node, it is right
Robot mode of operation selects straight-going mode first, and robot, to forward position straight-line travelling, is surveyed with constant speed when robot is reached
When measuring destination, measurement pattern is adjusted to, host computer sends the Wireless Acceleration Sensor in stop signal, and start machine people,
Start the vibration acceleration of measurement wall, and measurement data is sent to data acquisition subsystem, adopting for the measuring point is completed with this
Sample is measured.In this way, having surveyed a node, next node and then is moved to along the tube wall of structure, when reaching measurement point,
Restart measurement pattern, measure the node vibrations acceleration magnitude, so until completing the data monitoring of one's respective area interdependent node（Such as
Figure 10, shown in 11, the mobile robot can be moved freely in steel pipe curved surface）.
In Practical Project, grid structure span is big, required measuring node is more, using from minor node to host node, then to number
According to the transfer mode of transmission subsystem, the efficiency of transmission of data is improved.Wherein, the networking mode of WLAN uses such as Fig. 4
The data of collection are transmitted to by shown ring topology, each minor node wireless senser subsystem by wireless communication module
Host node, then be uniformly processed by host node and reach data acquisition subsystem.
Data acquisition subsystem is modulated to analog signal, handled and is converted to data signal, then passes through wireless local
Net transfers data to data administration subsystem.Automatically analyze terminal subsystem and obtain the data from data administration subsystem
（As shown in figure 12）Afterwards, start that structural modal is identified, drawing the stable of structure by Random Subspace Method first schemes（As schemed
Shown in 13）, the automatic search algorithm of recycling combination genetic algorithm and fuzzy clustering algorithm divided stable figure automatically
Analysis, searches out true limit（As shown in figure 14）, the mode of structure is identified, and carry out in fact with the structural modal of FEM model
When monitoring contrast, so as to automatically analyze out the health status of structure.
Claims (1)
1. a kind of Structural Health Monitoring for Space Structure system for carrying curved surface climbing robot sensor, it is characterised in that it includes nothing
Line sensor subsystem, data acquisition subsystem, data administration subsystem and automatically analyze terminal subsystem；Wherein, it is wireless to pass
Sensor subsystem by carrying Wireless Acceleration Sensor can climbing robot constitute, the vibration of blockette synchronous acquisition structure adds
Speed data, and transmit data to data acquisition subsystem；Data acquisition subsystem is modulated to analog signal, handled and turns
Data signal is changed to, then data administration subsystem is transferred data to by WLAN；Data administration subsystem receives number
According to rear, data are filtered, Screening Treatment, then pass to and automatically analyze terminal subsystem；Automatically analyze terminal subsystem first
First pass through Random Subspace Method and produce stable figure using mode order as ordinate, by abscissa of frequency, be then converted to
MAC is ordinate, the stable figure by abscissa of frequency, by the automatic search algorithm for combining genetic algorithm and fuzzy clustering
Automatically analyzed to stablizing figure, so as to determine the true mode of institute's geodesic structure in the case where not needing artificial disturbance, finally
The mode of measured structural modal and FEM model is subjected to monitoring contrast in real time, so as to automatically analyze out the health of structure
Situation；
The combination genetic algorithm and the automatic search algorithm of fuzzy clustering are specially：First one cluster centre number of arbitrary assumption
Mesh, recycles genetic algorithm to initialize fuzzy clustering, to obtain initial cluster center, finally whole including losing to this
Propagation algorithm and the process of fuzzy clustering are circulated, untill the true mode searched out is stable；
It is described can wall-climbing device artificially there is the magnetic wheel type climbing robot of curved surface adaptive, it includes having curved surface adaptive
Mobile platform, Wireless Acceleration Sensor, wireless communication module, camera, camera bracket, power supply and the host computer of absorption；
Wherein, acceleration transducer, wireless communication module and camera bracket are each attached on mobile platform, and camera is arranged on shooting
On head bracket, camera, acceleration transducer are connected with wireless communication module, wireless communication module and host computer radio communication；
It is described to include two curved surface adaptive vehicle frames and four magnetic drive wheel units with the mobile platform that curved surface adaptive is adsorbed；Often
Two magnetic drive wheel units of fixed installation are arranged symmetrically on individual curved surface adaptive vehicle frame, two curved surface adaptive vehicle frames are by loose-leaf
Hinge is hinged；The magnetic drive wheel unit includes motor, by motor-driven wheel hub, installed in hub outside surface elasticity forever
Magnetic suck layer.
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| CN105643399B (en) * | 2015-12-29 | 2018-06-26 | 沈阳理工大学 | The complex-curved automatic grinding-polishing system of robot and processing method based on Shared control |
| CN106936530B (en) * | 2017-03-28 | 2019-03-01 | 浙江大学 | A kind of wireless sensing wind load monitoring system for realizing multi-measuring point synchronous acquisition |
| CN107330937B (en) * | 2017-06-28 | 2021-05-18 | 联想(北京)有限公司 | Data processing system and method |
| CN107908841B (en) * | 2017-11-03 | 2020-10-20 | 南京邮电大学 | Three-dimensional wall surface graspable position discrimination algorithm |
| CN110927485B (en) * | 2019-11-18 | 2020-12-08 | 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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| JPH10170448A (en) * | 1996-12-06 | 1998-06-26 | Touden Kogyo Kk | Robot for inspecting inside of iron pipe |
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