CN107416061A - A kind of autonomous type restructural climbing robot detecting system and its application method - Google Patents
A kind of autonomous type restructural climbing robot detecting system and its application method Download PDFInfo
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- CN107416061A CN107416061A CN201710507401.XA CN201710507401A CN107416061A CN 107416061 A CN107416061 A CN 107416061A CN 201710507401 A CN201710507401 A CN 201710507401A CN 107416061 A CN107416061 A CN 107416061A
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- climbing robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/025—Modular vehicles
Abstract
The invention discloses a kind of autonomous type restructural climbing robot detecting system and its application method, including robot body, tele-control system, wireless communication apparatus a and wireless communication apparatus b, tele-control system and wireless communication apparatus a wireless connections, wireless communication apparatus a electrically connects with wireless communication apparatus b, wireless communication apparatus b and tele-control system wireless connection, robot body includes the small-sized joint of at least one, and small-sized joint includes housing, bottom plate, drive mechanism, absorbing unit and/or head and/or universal wheel.The present invention makes the communication information between wireless communication apparatus B and wireless communication apparatus A be transmitted by wireless communication apparatus a and wireless communication apparatus b, can greatly enhance conveying signal；In addition, the present invention effectively improves magnetic energy utilization rate, reduces the processing weight and difficulty of processing of robot body by the way of absorbing unit is respectively provided with movable pulley both sides.
Description
Technical field
The present invention relates to a kind of autonomous type restructural climbing robot detecting system and its application method, belong to robot and
Detection technique field.
Background technology
The automatic machinery people that climbing robot can be climbed and fulfiled assignment in perpendicular walls.Such robot is to move
One important branch in mobile robot field, it combines ground mobile robot technology with adsorption technology, can be
Attachment is creeped in vertical walls, and can be carried instrument and be completed certain job task, greatly expands the application of robot.
At present, climbing robot is mainly used in nuclear industry, petrochemical industry, shipbuilding industry, fire department and investigation etc., such as to high building
Outside wall surface is cleaned, and the storing tank wall in petroleum chemical enterprise is detected and safeguarded, large-area steel plate is painted, with
And rescue and relief work etc. is carried out in high building accident.
Climbing robot possesses absorption and mobile two basic functions, and common suction type has negative pressure of vacuum to adsorb, forever
Magnetic suck, thrust absorption several ways.Wherein, negative pressure of vacuum mode can be adsorbed in wall by producing negative pressure in sucker
On, do not limited by wall surface material；Magnetic suck mode then has permanent magnet and electromagnet two ways, is only applicable to adsorb magnetic conductivity
Wall；Thrust absorption is to produce suitable thrust using propeller or ducted fan, is robot stabilized absorption in wall
On, the humanoid robot points to wall all the time due to thrust, it is difficult to realizes right angle obstacle detouring.
Climbing robot is by locomotive function point mainly sucked type, wheel type and crawler type.Sucked type can cross over very little
Obstacle, but translational speed is slow.Wheel type translational speed is fast, control is flexible, but maintains certain absorption affinity more difficult.Crawler type pair
Wall strong adaptability, the area that lands is big, but is not easy to turn.And the obstacle crossing ability of these three move modes is all very weak, it is impossible to
Adapt to the operation of creeping at wall and top inside and outside container.
At present, as container plays more and more important effect, existing packaging in cargoes imported and exported transportation
Detection method is mainly personnel to scene in case, and article carrying is handled, and takes out of and detected, because technical staff's quantity has
Limit, and container quantity is numerous, only low with maintenance personal's micro-judgment, efficiency, effect is poor, needs device fabrication in many cases
Enterprise or expert provide technical support.Therefore, suitable for container climbing robot and its detection technique for improving itself
Security, reliability and validity, it is all significant to reduce economic loss.
It is an object of the present invention to provide a kind of autonomous type restructural climbing robot detecting system and its application method,
The detection efficiency for article in container and the validity of detection can be effectively improved.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
A kind of autonomous type restructural climbing robot detecting system, one kind in can carrying welding or polishing or detecting is certainly
Dynamicization mechanical device；Including robot body, tele-control system, wireless communication apparatus a and wireless communication apparatus b, long-range control
System processed and wireless communication apparatus a wireless connections, wireless communication apparatus a electrically connect with wireless communication apparatus b, wireless communication apparatus
B and tele-control system wireless connection, robot body include the small-sized joint of at least one, small-sized joint including housing, bottom plate,
Drive mechanism, absorbing unit and/or head and/or universal wheel, drive mechanism are arranged in the inner panel of bottom plate, absorbing unit
It is arranged on the outer side panel of bottom plate, universal wheel is arranged on the outer side panel of bottom plate, and head is arranged on housing, housing and bottom
Plate connects.Drive mechanism is used to drive movable pulley to rotate, and is the mobile offer power in small-sized joint.When robot body is including more
During individual small-sized joint, it is attached between adjacent small-sized joint using articulated manner, to ensure robot across container
Or the continuity on wall wall during corrugation.
In a kind of foregoing autonomous type restructural climbing robot detecting system, the small-sized joint also includes control dress
Put, control device is arranged in the inner panel of bottom plate, and head electrically connects with control device.
In a kind of foregoing autonomous type restructural climbing robot detecting system, on the small-sized joint of the robot body
Be provided with universal wheel, the universal wheel is arranged on the outer side panel of bottom plate, can 360 degree rotation, for ensure robot start,
The stability of motion in stopped process, universal wheel can be but be not limited to ball wheel or ox horn or universal caster wheel etc..
In a kind of foregoing autonomous type restructural climbing robot detecting system, the small-sized joint also includes wireless telecommunications
Device B, wireless communication apparatus B electrically connect with control device, wireless communication apparatus B also with wireless communication apparatus b wireless connections.
In a kind of foregoing autonomous type restructural climbing robot detecting system, the small-sized joint is provided with to be filled with control
Put the three-axis gyroscope, accelerometer and at least one ultrasonic radar distance measuring sensor of electrical connection；Lead between multiple small-sized joints
Cross articulated structure connection.
Three-axis gyroscope, the spatial attitude and speed of the real-time recorder human body of accelerometer energy, ultrasonic ranging pass
Sensor can measure to distance around, under known surrounding space situation, can pass through spatial attitude and range measurement
Judge robot in the position of known spatial.
In a kind of foregoing autonomous type restructural climbing robot detecting system, the head includes the first motor, a
Support frame, b support frames, the second motor, the 3rd motor and image collecting device, the support and shell of the first motor
Body is connected, and the body of the first motor is connected with one end of a support frames, and the other end of a support frames and the second motor connect
Connect, the second motor is also connected with b support frames one end, and the other end of b support frames is connected with the 3rd motor, IMAQ
Device is arranged on the drive end of the 3rd motor, and image collecting device electrically connects with control device, a support frames and b supports
The L-shaped shape of frame.
First motor, the second motor and the 3rd motor may each be brushless DC servomotor, brushless
Motor or stepper motor.First motor, the second motor and the 3rd motor ensure that photographing module can be around
X, Y, Z axis is rotated, and photographing module is adjusted shooting angle according to actual conditions, while can be according to robot body's appearance
The overall angle of state adjustment head, is shot, and ensure the stability of shooting picture in specific angle.
In a kind of foregoing autonomous type restructural climbing robot detecting system, the tele-control system includes control
Device, display and wireless communication apparatus A, display and wireless communication apparatus A are electrically connected with the controller, wireless communication apparatus A
With wireless communication apparatus a wireless connections.
In a kind of foregoing autonomous type restructural climbing robot detecting system, 2 shiftings are provided with the small-sized joint
Driving wheel, and the both sides of each movable pulley are provided with absorbing unit；Absorbing unit includes yoke and magnet, and yoke is fixed on bottom plate
On, magnet is fixed on yoke；And opposite polarity between adjacent magnet.Adsorbed by being set in the both sides of each movable pulley
Unit, robot body can be made preferably to adsorb on container or wall wall；Meanwhile in the magnetic energy utilization for ensureing magnet
In the case that rate is higher, the processing weight and difficulty of processing of robot body are reduced.
In a kind of foregoing autonomous type restructural climbing robot detecting system, the drive mechanism include power motor,
Decelerator, motor supporting base, shaft coupling and wheel shaft, the output shaft of power motor are connected with decelerator, and decelerator connects with shaft coupling
Connect, shaft coupling is connected with wheel axis connection, wheel shaft with movable pulley.The inside of wheel shaft is provided with bearing, and wheel shaft passes through bearing and movable pulley
Connection.
In a kind of foregoing autonomous type restructural climbing robot detecting system, described image harvester is that monocular is infrared
Camera or binocular infrared camera, image collecting device is by the image information of acquisition by electric signal transmission to control device, control
After device processed is filtered processing, edge detection process and image binaryzation processing to the image information received, Classification and Identification
The determinand gone out in region to be detected, then demarcates determinand, forms corresponding detection image.Image collecting device is used to collect
Image information in detection zone, and image information is transmitted to the control device being arranged on small-sized joint, then pass through control
Device, wireless communication apparatus b and wireless communication apparatus a are transmitted to the display of tele-control system.
A kind of application method of autonomous type restructural climbing robot detecting system, including wireless communication apparatus a is fixed
In the outside of container, wireless communication apparatus b is fixed on to the inside of container, believed by operating tele-control system and will control
Number wireless communication apparatus a is sent to, control signal is passed to wireless communication apparatus b, wireless communication apparatus by wireless communication apparatus a
B sends control signals to robot body again；Robot body is by the information collected successively through wireless communication apparatus b, nothing
Line communication device a is sent to tele-control system, and is shown on the display of tele-control system.
Compared with prior art, wireless communication apparatus a of the invention is connected with wireless communication apparatus b by circuit, and
In use, one is placed in outside container, another is placed in internal container so that wireless communication apparatus B and wireless telecommunications dress
The communication information put between A is transmitted by wireless communication apparatus a and wireless communication apparatus b, can greatly enhance conveying signal,
The signal shielding that container is formed is prevented to cause signal transmission not smooth；In addition, the present invention is using equal in movable pulley both sides
The mode of absorbing unit is set, and yoke is combined with magnet, so as to effectively improve magnetic energy utilization rate, and is reduced
The processing weight and difficulty of processing of robot body；Using autonomous type restructural climbing robot detecting system of the present invention and its
Application method detects to article in container, can effectively improve the detection efficiency for article in container and detection
Validity.
Brief description of the drawings
Fig. 1 is a kind of operation principle schematic diagram of embodiment of the present invention；
Fig. 2 is Fig. 1 partial enlarged drawing；
Fig. 3 is a kind of schematic diagram of the structure side of embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of the structure opposite side of embodiment of the present invention；
Fig. 5 is a kind of internal structure schematic diagram of embodiment of the present invention；
Fig. 6 is a kind of structural representation of embodiment of drive mechanism of the present invention；
Fig. 7 is a kind of structural representation of embodiment of head of the present invention；
Fig. 8 is a kind of embodiment of combination of robot body of the present invention；
Fig. 9 is a kind of embodiment for climbing wall of the present invention；
Figure 10 is a kind of embodiment of articulation joint part of the present invention；
Figure 11 is the structural representation of absorbing unit of the present invention；
Figure 12 is the connection diagram of tele-control system interior arrangement of the present invention.
Reference：The small-sized joints of 1-；2- movable pulleys；3- wireless communication apparatus B；4- heads；5-b support frames；6- is adsorbed
Unit；7- control devices；8- drive mechanisms；9- power motors；10- decelerators；11- motor supporting bases；12- shaft couplings；13- takes turns
Axle；The motors of 14- first；15-a support frames；The motors of 16- second；The motors of 17- the 3rd；18- image collectors
Put；19- accelerometers；20- ultrasonic radar distance measuring sensors；21- articulated structures；22- magnet；23- yokes；24- channel radios
Interrogate device A；25- sleeves；26- sleeves are pitched；27- tele-control systems；28- wireless communication apparatus a；29- wireless communication apparatus b；
30- robot bodies, 31- housings, 32- bottom plates, 33- drive ends, 34- controllers, 35- displays, 36- universal wheels.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Embodiment
Embodiments of the invention 1：A kind of autonomous type restructural climbing robot detecting system, welding or polishing can be carried
Or a kind of automated machine device in detection, and may be mounted on the small-sized joint 1 of diverse location.
The system includes robot body 30, tele-control system 27, wireless communication apparatus a28 and wireless communication apparatus
B29, tele-control system 27 and wireless communication apparatus a28 wireless connections, wireless communication apparatus a28 and wireless communication apparatus b29
Electrical connection, wireless communication apparatus b29 and the wireless connection of tele-control system 27, robot body 30 include 1 small-sized joint 1,
Small-sized joint 1 includes housing 31, bottom plate 32, drive mechanism 8, absorbing unit 6, head 4 and universal wheel 36, and drive mechanism 8 is set
In in the inner panel of bottom plate 32, absorbing unit 6 is arranged on the outer side panel of bottom plate 32, and universal wheel 36 is arranged at bottom plate 32
On outer side panel, head 4 is arranged on housing 31, and housing 31 is connected with bottom plate 32.
Embodiments of the invention 2：A kind of autonomous type restructural climbing robot detecting system, welding or polishing can be carried
Or a kind of automated machine device in detection, and may be mounted on the small-sized joint 1 of diverse location.
The system includes robot body 30, tele-control system 27, wireless communication apparatus a28 and wireless communication apparatus
B29, tele-control system 27 and wireless communication apparatus a28 wireless connections, wireless communication apparatus a28 and wireless communication apparatus b29
Electrical connection, wireless communication apparatus b29 and the wireless connection of tele-control system 27, robot body 30 include multiple small-sized joints 1,
Small-sized joint 1 includes housing 31, bottom plate 32, drive mechanism 8, absorbing unit 6, head 4 and universal wheel 36, the small-sized joint of head end
Head 4 is provided with 1, drive mechanism 8 is arranged in the inner panel of bottom plate 32, and absorbing unit 6 is arranged at the outside of bottom plate 32
On panel, head 4 is arranged on housing 31, and housing 31 is connected with bottom plate 32, and universal wheel 36 is arranged at the outer side panel of bottom plate 32
On.
Further, small-sized joint 1 also includes control device 7, and control device 7 is arranged in the inner panel of bottom plate 32,
Head 4 electrically connects with control device 7.
Further, small-sized joint 1 also includes wireless communication apparatus B3, and wireless communication apparatus B3 is electrically connected with control device 7
Connect, wireless communication apparatus B3 also with wireless communication apparatus b29 wireless connections.
Further, small-sized joint 1 is provided with the three-axis gyroscope electrically connected with control device 7, accelerometer 19 and extremely
Few 1 ultrasonic radar distance measuring sensor 20；Connected between multiple small-sized joints 1 by articulated structure 21.Pass through articulated structure
21 connections, to ensure continuity of robot when across corrugation on container or wall wall.
Articulated structure 21 includes sleeve 25, sleeve fork 26 and sliding bearing 27, and at least 1 is provided with each small-sized joint 1
Individual sleeve 25, sleeve 25 are connected with sleeve fork 26, are connected between the sleeve fork 26 to connect by sliding bearing 27.
There is relative sliding relation between sleeve 25 and sleeve fork 26, ensure that certain ductility；Sleeve fork 26 is with sliding
Bearing 26 is connected, and forms the structure of universal joint, ensure that continuity of each joint when turning；Because each joint passes through
Be hinged form is attached, and therefore, in the case where ensureing that magnetic energy utilization rate is higher, improves robot body 30 to difference
The adaptability of wall.
Further, head 4 includes the first motor 14, a support frames 15, b support frames 5, the second motor 16, the
Three motors 17 and image collecting device 18, the support of the first motor 14 are connected with housing 31, the first motor 14
Body be connected with one end of a support frames 15, the other end of a support frames 15 is connected with the second motor 16, second driving electricity
Machine 16 is also connected with the one end of b support frames 5, and the other end of b support frames 5 is connected with the 3rd motor 17, image collecting device 18
It is arranged on the drive end 33 of the 3rd motor 17, image collecting device 18 electrically connects with control device 7, a support frames 15 and b
The L-shaped shape of support frame 5.
Further, tele-control system 27 includes controller 34, display 35 and wireless communication apparatus A24, display
35 and wireless communication apparatus A24 electrically connects with controller 34, and wireless communication apparatus A24 wirelessly connects with wireless communication apparatus a28
Connect.
Further, 2 movable pulleys 2 are provided with small-sized joint 1, and the both sides of each movable pulley 2 are provided with absorption
Unit 6；Absorbing unit 6 includes yoke 23 and magnet 22, and yoke 23 is fixed on bottom plate 32, and magnet 22 is fixed on yoke 23；
And opposite polarity between adjacent magnet 22.Magnet 22 is permanent magnet.
Movable pulley 2 can be common rubber wheel, for increasing friction force, improve obstacle climbing ability, can increase ditch in tyre surface
Groove；Absorbing unit 6 is set in the both sides of movable pulley 2, and makes opposite polarity between adjacent magnet 22, it is ensured that magnetic energy utilization rate is more
In the case of height, the overall weight and difficulty of processing of robot body 30 are reduced.
Further, drive mechanism 8 includes power motor 9, decelerator 10, motor supporting base 11, shaft coupling 12 and wheel shaft
13, the output shaft of power motor 9 is connected with decelerator 10, and decelerator 10 is connected with shaft coupling 12, and shaft coupling 12 connects with wheel shaft 13
Connect, wheel shaft 13 is connected with movable pulley 2.
When robot body 30 turns to, differential is carried out by the driving structure 8 being arranged on the both sides of robot body 30
Preliminary steering is realized in motion, is then driven bottom plate 32 to turn to, due to being arranged with permanent magnet on each small-sized joint 1, be ensure that
The adsorption capacity in each small-sized joint 1 and the load capacity of robot body 30.
The image collecting device 18 being arranged on small-sized joint 1 is monocular infrared camera or binocular infrared camera, image
Harvester 18 believes the image received the image information of acquisition by electric signal transmission to control device 7, control device 7
Cease after being filtered processing, edge detection process and image binaryzation processing, the determinand that Classification and Identification goes out in region to be detected,
Then determinand is demarcated, forms corresponding detection image.
The embodiment of the present invention 3：A kind of application method of autonomous type restructural climbing robot detecting system, including with lower section
Method：First, wireless communication apparatus a28 is fixed on to the outside of container, then, wireless communication apparatus b29 is fixed on packaging
The inside of case, wireless communication apparatus a28, wireless communication apparatus are sent control signals to by operating tele-control system 27
Control signal is passed to wireless communication apparatus b29 by a28, and wireless communication apparatus b29 sends control signals to robot sheet again
Body 30, so as to the operation of each device and mechanism on control machine human body 30；Robot body 30 by the information collected according to
It is secondary to be sent to tele-control system 27 through wireless communication apparatus b29, wireless communication apparatus a28, and in tele-control system 27
Shown on display 35.Because container is by metallic material, it can form barrier to wireless signal, influence system just
Often operation, the system ensure system by setting wireless communication apparatus a28 and wireless communication apparatus b29 to overcome this problem
The normal operation of system.
The present invention is not limited to detect container, can also detect the inner chamber of the metal structure object such as hull, specifically, machine
The testing process of device human body 30 is as follows：
S1：Control machine human body 30 is moved to the position to be detected specified；
S2：The crucial point coordinates or space structure in region to be detected are inputted in the control terminal of tele-control system 27,
And detection zone and detection mode are set, record a video, fixed point is taken pictures；
S3：Calculated according to program and treat detection zone progress contexture by self detection path；
S4：Control machine human body 30 advances along path planning, and enters according to detection workflow video set in advance
Row detection；
S5：Control terminal-pair detection data are gathered in real time, are analyzed and are watched for operator；
S6:Operator can carry out manual control by interventional systems to total system at any time.
Claims (10)
1. a kind of autonomous type restructural climbing robot detecting system, it is characterised in that welding or polishing or detection can be carried
In a kind of automated machine device；Including robot body (30), tele-control system (27), wireless communication apparatus a (28)
With wireless communication apparatus b (29), the tele-control system (27) and wireless communication apparatus a (28) wireless connection, wireless telecommunications
Device a (28) electrically connects with wireless communication apparatus b (29), the wireless communication apparatus b (29) and tele-control system (27) nothing
Line connects, and the robot body (30) includes the small-sized joint of at least one (1), the small-sized joint (1) including housing (31),
Bottom plate (32), drive mechanism (8), absorbing unit (6) and/or head (4) and/or universal wheel (36), the drive mechanism (8) set
It is placed in the inner panel of bottom plate (32), absorbing unit (6) is arranged on the outer side panel of bottom plate (32), and universal wheel (36) is set
In on the outer side panel of bottom plate (32), the head (4) is arranged on housing (31), and housing (31) is connected with bottom plate (32).
2. a kind of autonomous type restructural climbing robot detecting system according to claim 1, it is characterised in that described small
Type joint (1) also includes control device (7), and the control device (7) is arranged in the inner panel of bottom plate (32), the head
(4) electrically connected with control device (7).
3. a kind of autonomous type restructural climbing robot detecting system according to claim 2, it is characterised in that described small
Type joint (1) also includes wireless communication apparatus B (3), and the wireless communication apparatus B (3) electrically connects with control device (7), described
Wireless communication apparatus B (3) also with wireless communication apparatus b (29) wireless connection.
4. a kind of autonomous type restructural climbing robot detecting system according to claim 2, it is characterised in that described small
Type joint (1) is provided with the three-axis gyroscope electrically connected with the control device (7), accelerometer (19) and at least one ultrasound
Ripple radar range finding sensor (20)；Connected between multiple small-sized joints (1) by articulated structure (21).
A kind of 5. autonomous type restructural climbing robot detecting system according to claim 2, it is characterised in that the cloud
Platform (4) includes the first motor (14), a support frames (15), b support frames (5), the second motor (16), the 3rd driving electricity
Machine (17) and image collecting device (18), the support of first motor (14) are connected with housing (31), the first driving electricity
The body of machine (14) is connected with one end of a support frames (15), and the other end and the second motor (16) of a support frames (15) are even
Connect, second motor (16) is also connected with b support frames (5) one end, the other end of b support frames (5) and the 3rd driving electricity
Machine (17) is connected, and described image harvester (18) is arranged on the drive end (33) of the 3rd motor (17), IMAQ
Device (18) electrically connects with control device (7), a support frames (15) and the L-shaped shape of b support frames (5).
6. a kind of autonomous type restructural climbing robot detecting system according to claim 1, it is characterised in that described remote
Process control system (27) includes controller (34), display (35) and wireless communication apparatus A (24), display (35) and channel radio
News device A (24) electrically connects with controller (34), and the wireless communication apparatus A (24) is wireless with wireless communication apparatus a (28)
Connection.
A kind of 7. autonomous type restructural climbing robot detecting system according to claim 1, it is characterised in that small-sized pass
2 movable pulleys (2) are provided with section (1), and the both sides of each movable pulley (2) are provided with absorbing unit (6)；Absorbing unit
(6) yoke (23) and magnet (22) are included, yoke (23) is fixed on bottom plate (32), and magnet (22) is fixed on yoke (37)；
And opposite polarity between adjacent magnet (22).
A kind of 8. autonomous type restructural climbing robot detecting system according to claim 1, it is characterised in that the drive
Motivation structure (8) includes power motor (9), decelerator (10), motor supporting base (11), shaft coupling (12) and wheel shaft (13), described
The output shaft of power motor (9) is connected with decelerator (10), and decelerator (10) is connected with shaft coupling (12), shaft coupling (12) and wheel
Axle (13) connects, and the wheel shaft (13) is connected with movable pulley (2).
A kind of 9. autonomous type restructural climbing robot detecting system according to claim 5, it is characterised in that the figure
As harvester (18) is monocular infrared camera or binocular infrared camera, image collecting device (18) is by the image information of acquisition
Control device (7) is given by electric signal transmission, control device (7) is filtered processing, edge inspection to the image information received
After surveying processing and image binaryzation processing, determinand that Classification and Identification goes out in region to be detected, determinand is then demarcated, form phase
The detection image answered.
A kind of 10. user of autonomous type restructural climbing robot detecting system according to claim any one of 1-9
Method, it is characterised in that including following methods：Wireless communication apparatus a (28) is fixed on to the outside of container, wireless telecommunications are filled
The inside that b (29) is fixed on container is put, wireless telecommunications dress is sent control signals to by operating tele-control system (27)
A (28) is put, control signal is passed to wireless communication apparatus b (29), wireless communication apparatus b (29) by wireless communication apparatus a (28)
Robot body (30) is sent control signals to again；Robot body (30) fills the information collected through wireless telecommunications successively
Put b (29), wireless communication apparatus a (28) is sent to tele-control system (27), and in the display of tele-control system (27)
(35) shown on.
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| CN104925159A (en) * | 2015-07-05 | 2015-09-23 | 北京工业大学 | Reconnaissance type obstacle-surmounting machine snake |
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Application publication date: 20171201 |