CN109773803A - A kind of quadrotor robot detection system for building structure flaw detection - Google Patents
A kind of quadrotor robot detection system for building structure flaw detection Download PDFInfo
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- CN109773803A CN109773803A CN201910051406.5A CN201910051406A CN109773803A CN 109773803 A CN109773803 A CN 109773803A CN 201910051406 A CN201910051406 A CN 201910051406A CN 109773803 A CN109773803 A CN 109773803A
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Abstract
A kind of quadrotor robot detection system for building structure flaw detection, including quadrotor flight module, control module, electromagnetic adsorption type damage check module and a light stream sensor, quadrotor flight module includes a rack, four groups of rotor horns, two pieces of batteries and battery fixinig plate, every group of rotor horn includes that a cantilever, a motor cabinet, a brshless DC motor, a rotor and a T-type support column, one end of the cantilever of four groups of rotor horns are fixed between I-shaped support block and rack lower plate；Electromagnetic adsorption type damage check module includes a sucked type electromagnet, a sleeve, an acceleration transducer, a spring, the first fixinig plate and the second fixinig plate；Control module includes AD conversion unit, main control unit, GPS unit, electric-motor drive unit, inertial navigation unit, image processing unit, wireless communication unit and solid-state relay.Detection mode of the present invention is flexible, small in size, mobility strong, detects more comprehensively.
Description
Technical field
The invention belongs to robot fields, and in particular to a kind of quadrotor robot detection system for building structure flaw detection
System.
Background technique
As economic construction of China is grown rapidly, various complex large-sized steel buildings are continuously emerged.Wherein, steel construction quilt
It is widely used in large bridge, large space structure, skyscraper, Large-scale Railway transport hub, petroleum pipeline, nuclear power station etc..
Since these building structure are more demanding for structural health, reinforce building structure health detection, repairs in time aobvious
It obtains particularly important.
What application was wide at present is that specific position places wired or wireless sensor node, this detection side under construction
Method is since sensor position is fixed, and there are check frequencies and difficult in maintenance, needs to spend a large amount of manpower and material resources cost；It is another
Kind detection method is will test and is combined with sensor with mobile robot trolley using mobile sensor node, this side
Method overcomes the deficiency of fixed sensor, but in the building structure of some large sizes, since place to be detected is located at high-altitude or climbs
Climb that difficulty is not easy to reach or area to be tested is steel construction when rest part is non-steel construction, existing detection mode has
It is to be modified.
Summary of the invention
At high cost in order to overcome the erroneous for installation of conventional building construction detection mode, place to be detected is not easy the deficiencies of reaching,
The present invention provides a kind of quadrotor robot detection system for building structure flaw detection, which can be arrived with autonomous flight
Area to be tested, then steel construction damage check work is carried out to measured surface by the electromagnetic adsorption type damage check module that it is carried
Make, has the characteristics that flexible detection mode, small in size, mobility strong, detection more fully.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of quadrotor robot detection system for building structure flaw detection, including quadrotor flight module, control mould
Block, electromagnetic adsorption type damage check module and a light stream sensor, the quadrotor flight module include rack, four
Group rotor horn, two pieces of batteries and battery fixinig plate, every group of rotor horn include a cantilever, a motor cabinet, one it is brushless
Direct current generator, a rotor and a T-type support column, one end of the cantilever of four groups of rotor horns are fixed on I-shaped support
Between block and rack lower plate, the installation direction of four groups of cantilevers is successively in 90 ° of distributions；The electromagnetic adsorption type damage check module packet
Containing a sucked type electromagnet, a sleeve, an acceleration transducer, a spring, the first fixinig plate and the second fixinig plate；
The control module includes AD conversion unit, main control unit, GPS unit, electric-motor drive unit, inertial navigation unit, image
Processing unit, wireless communication unit and solid-state relay.
Further, in the quadrotor flight module, rack includes rack upper plate, rack lower plate and I-shaped support block,
For rack lower plate for installing control module, battery, electromagnetic adsorption type damage check module, light stream sensor, rack upper plate can be with
Reinforce the structural strength of quadrotor robot, and control module is protected, rack upper plate passes through screw and I-shaped support
Block is connected and fixed, and rack lower plate is connected and fixed with cantilever by screw and I-shaped support block；The control module passes through four
Column is fixed in rack lower plate, and two batteries are located at below control module, and battery is fixed under rack by battery fixinig plate
Above plate, wherein a batteries are that four brshless DC motors and sucked type electromagnet are powered, in addition a batteries are quadrotor
The control module of robot and the power supply of each sensor, light stream sensor is fixed on the lower section of rack lower plate, for acquiring quadrotor
Environmental information around robot.
Further, motor cabinet is installed, brshless DC motor is pacified by screw on the cantilever other end of the rotor horn
On motor cabinet, the drive shaft of the brshless DC motor is fixedly connected with rotor by screw, in four rotors there are two
Positive rotor and two inverse rotors, forward and inverse rotor interval installation, each brshless DC motor drive a rotor, brushless dc
Machine control line is connected with electric-motor drive unit, and T-type support column, the landing branch as quadrotor robot are fixedly mounted below cantilever
Support point.
Further, in the control module, the AD conversion unit, GPS unit, electric-motor drive unit, inertia are led
Boat unit, image processing unit and solid-state relay are connect with the main control unit, and AD conversion unit passes through high speed serialization
Peripheral Interface is connected with main control unit, and main control unit issues pulse-width signal, is controlled by electric-motor drive unit brushless straight
Galvanic electricity machine drives rotor to rotate；Wireless communication unit, inertial navigation unit and GPS unit pass through universal asynchronous receiver
It is connected with sender interface with main control unit, inertial navigation unit controls the flight attitude of quadrotor robot, GPS unit pair
Quadrotor robot airbound target is positioned, and unit and ground-based server transmit wireless communication to main control unit by wireless communication
Number；Image processing unit is connected to read image information with light stream sensor by parallel data bus line, by synchronous serial outside
If interface is connect with main control unit, the real-time Transmission of image data is carried out；One end of solid-state relay and the number of main control unit
It measures signal output port to be connected, the other end of solid-state relay is connected with the power supply line of sucked type electromagnet, the main control unit
The energization of sucked type electromagnet and off-position can be controlled by solid-state relay.
In the electromagnetic adsorption type damage check module, second fixinig plate is bolted under rack lower plate
Side, one end of spring are fixed on the first fixinig plate, and the other end of spring is fixed on the second fixinig plate, and the first fixinig plate passes through
Screw is fixed on sucked type electromagnet；Sucked type electromagnet is placed in sleeve, and the acceleration transducer is pacified by screw
Below sucked type electromagnet, a part of acceleration transducer is stretched out in the lower section of sleeve；The electromagnetic adsorption type damage
The sleeve of detection module is bolted below rack lower plate, and sucked type electromagnet is pressed in sleeve by spring, to suction
Coiled electrical magnet generates pretightning force.
Technical concept of the invention are as follows: the small in size, mobility strong using technology of wireless sensing network and rotor craft
Advantage, it is intended to solve the problem of that previous large-scale steel structure building detection efficiency is low or labyrinth building can not climb,
The construction time can be effectively saved, save cost of labor.And the cost of building structure flaw detection quadrotor robot detection system
It is not high, so that entire robot detection system totle drilling cost is more much lower than the cost of traditional static detection system.Meanwhile the building knot
Structure flaw detection quadrotor robot detection system can also detect that only area to be tested is steel construction and rest part is non-steel knot
The building of structure, robot autonomous can fly in building, and complete building structure damage check.
The present invention provides a kind of quadrotor robot detection system for building structure flaw detection, the quadrotor robots
It, can be in the building structure of autonomous flight to ferromagnetic surface's material, and by being located at quadrotor flight mould when carrying out operation
Electromagnetic adsorption type damage check module below block, which is realized, works to the damage check of steel building, has good environment suitable
Ying Xing, detection mode is flexible, and at low cost, easy to carry, can realize complete detection to building structure.
Quadrotor has the features such as compact-sized, small in size, noise is small and superpower mobility, can fly
It is higher aerial, cross the non-steel structure division in building, and can the VTOL in narrow space, therefore, as
A kind of novel building structure flaw detection robot, compared to existing fixed sensor detection node, mobile detection node, building
Structure flaw detection quadrotor robot detection system can reach some existing robots and be not easy the high-altitude reached building or be not easy
In the building structure of climbing, quick, accurately and efficiently data acquisition and transmission is carried out.And this quadrotor robot cost
It is low, detection efficiency is high, maneuverability, is suitable for various adverse circumstances, alternative artificial, reduce danger of the personnel in high altitude operation
It is dangerous, reduce the labor intensity of staff, shorten the activity duration, greatly improves working efficiency.
Compared with prior art, the present invention having the advantage that
1) at low cost: since building structure flaw detection quadrotor robot detection system structure is simple, entire testing agency is total
Body cost is much lower compared to traditional static detection network cost.
2) small in size: the quadrotor robot is small in size, light-weight, easy to carry.
3) mobility strong: the quadrotor robot be suitble on all building structure with ferromagnetic surface's material into
Row structural damage detection operation, and for large-scale building structure, which can reach rapidly measuring point to be checked.
4) detection efficiency is high: the electromagnetic adsorption type damage check module installed below the quadrotor robot, can be in machine
Device people's detection module bottom surface generates rapidly magnetic attraction when touching detection surface, and accelerometer is closely attached to steel construction table
Face after damage check is rapidly completed, breaks magnetic attraction, and robot can go to next test point immediately.
5) mobile wireless transmits: building structure is detected a flaw quadrotor robot detection system unit by wireless communication, can be with
Carry out data transmission with ground control terminal, the transmission of data can also be carried out with other detection robots, realizes the intelligence of robot
It can cooperation.
6) number of nodes is few: using the ultrahigh maneuverability of quadrotor robot, each robot can detecte multiple positions,
To reduce the quantity of robot.
7) environmental suitability is strong: the quadrotor robot can carry out intelligent recognition to ambient enviroment, have good ring
Border adaptability, which can also detect that only area to be tested is steel construction and rest part is non-steel construction
Building.
8) cruising ability is lasting: when not enough power supply, which can be charged with autonomous flight to base station, thus
Solve powerup issue.
Detailed description of the invention
Fig. 1 is the overall structure diagram of building structure flaw detection quadrotor robot detection system.
Fig. 2 is the control module scheme of installation of building structure flaw detection quadrotor robot detection system.
Fig. 3 is building structure flaw detection quadrotor robot detection system autonomous flight in building structure inspection overlying regions
Schematic diagram.
Fig. 4 is the electromagnetic adsorption type damage check modular structure signal of building structure flaw detection quadrotor robot detection system
Figure.
Fig. 5 is schematic diagram of the building structure flaw detection quadrotor robot detection system work in building structure Surface testing.
Marginal data: 1. battery fixinig plates；2. battery；3. rack lower plate；4.T type support column；5. motor cabinet；6. brushless straight
Galvanic electricity machine；7. screw；8. rotor；9. cantilever；10. control module；11. I-shaped support block；12. rack upper plate；13. at image
Manage unit；14. antenna；15. wireless communication unit；16. main control unit；17.GPS unit；18. AD conversion unit；19. motor
Driving unit；20. inertial navigation unit；21. solid-state relay；22. column；23. acceleration transducer；24. sleeve；25. light
Flow sensor；26. area to be tested；27. sucked type electromagnet；28. the first fixinig plate；29. spring；30. the second fixinig plate.
Specific embodiment
Structure is further described with reference to the accompanying drawings of the specification.
Referring to Fig.1~Fig. 5, a kind of quadrotor robot detection system for building structure flaw detection, including quadrotor fly
Row module, control module 10, electromagnetic adsorption type damage check module and a light stream sensor 25, the quadrotor flight mould
Block includes a rack, four groups of rotor horns, two pieces of batteries 2 and battery fixinig plate 1, and rack includes under rack upper plate 12, rack
Plate 3 and I-shaped support block 11, rack upper plate 12 are connected and fixed by screw with I-shaped support block 11, rack lower plate 3 with hang
Arm 9 is connected and fixed by screw with I-shaped support block 11, and every group of rotor horn includes 9, motor cabinets 5, one of a cantilever
Pacified by screw one end of 6, rotors 8 of a brshless DC motor and a T-type support column 4, the cantilever 9 of four groups of rotor horns
Dress is fixed between I-shaped support block 11 and rack lower plate 3, and the installation direction of four groups of cantilevers 9 is successively in 90 ° of distributions.
Motor cabinet 5 is installed, brshless DC motor 6 is mounted on electricity by screw on 9 other end of cantilever of the rotor horn
On base 5, the drive shaft of the brshless DC motor 6 is fixedly connected with rotor 8 by screw 7, and there are two just in four rotors 8
Rotor and two inverse rotors, forward and inverse rotor interval installation, each brshless DC motor 6 drive a rotor 8；Brushless dc
Machine control line is connected with electric-motor drive unit 19, and main control unit 16 issues control signal, controls electricity by electric-motor drive unit 19
The direction of rotation and revolving speed of machine 6 and rotor 8, so that robot realizes the movement such as up and down, turning, hovering, translation.Cantilever 9
T-type support column 4, the floor-type support point as quadrotor robot is fixedly mounted in lower section.
The control module 10 of building structure flaw detection quadrotor robot detection system as shown in Figure 2 passes through four columns 22
It is fixed in rack lower plate 3, two batteries 2 are located at 10 lower section of control module, and battery 2 is fixed on rack by battery fixinig plate 1
3 top of lower plate, wherein a batteries are that four brshless DC motors 6 and sucked type electromagnet 27 are powered, in addition a batteries are
The control module 10 of quadrotor robot and the power supply of each sensor；Control module 10 includes AD conversion unit 18, main control unit
16, GPS unit 17, electric-motor drive unit 19, inertial navigation unit 20, image processing unit 13, wireless communication unit 15 and solid
State relay 21；AD conversion unit 18 is connected by high speed serialization Peripheral Interface with main control unit 16, and main control unit 16 is sent out
Pulse-width signal out controls brshless DC motor 6 by electric-motor drive unit 19 and rotor 8 is driven to rotate；Channel radio
Believe that unit 15, inertial navigation unit 20 and GPS unit 17 pass through universal asynchronous receiver and sender interface and main control unit 16
It is connected, inertial navigation unit 20 controls the flight attitude of quadrotor robot, and GPS unit 17 is to quadrotor robot flight mesh
Mark is positioned, and unit 15 and ground-based server transmit wireless signal to main control unit 16 by wireless communication；Image processing unit
13 are connected with light stream sensor 25 by parallel data bus line to read image information, and synchronous serial Peripheral Interface and master control are passed through
Unit 16 connects, and carries out the real-time Transmission of image data；One end of solid-state relay 21 and the digital quantity signal of main control unit 16
Output port is connected, and the other end of solid-state relay 21 is connected with the power supply line of sucked type electromagnet 27, and main control unit 16 passes through
Solid-state relay 21 controls the energization of sucked type electromagnet 27 and off-position.
By Fig. 3 and Fig. 4 as it can be seen that electromagnetic adsorption type damage check module includes 27, sleeves of a sucked type electromagnet
24,23, springs 29 of an acceleration transducer, the first fixinig plate 28 and the second fixinig plate 30.The second of the module is solid
Stator 30 is bolted on the lower section of rack lower plate 3, and one end of spring 29 is fixed on the first fixinig plate 28, spring 29
The other end is fixed on the second fixinig plate 30, and the first fixinig plate 28 is fixed by screws on sucked type electromagnet 27.Sucked type
Electromagnet 27 is placed in sleeve 24, and the acceleration transducer 23 is mounted on 27 lower section of sucked type electromagnet by screw, is added
A part of velocity sensor 23 is stretched out in the lower section of sleeve 24.Sleeve 24 is bolted on 3 lower section of rack lower plate, spring
29 are pressed on sucked type electromagnet 27 in sleeve 24, generate pretightning force to sucked type electromagnet 27.Light stream sensor 25 is fixed
In the lower section of rack lower plate 3, for acquiring the environmental information around quadrotor robot.
The working principle of building structure flaw detection quadrotor robot detection system of the present invention is as shown in figure 5, when four
When rotor robot is accommodated to building structure surface 26 to be detected, acceleration transducer 23 connects with detected steel structure surface 26
Touching, at this point, main control unit 16 makes sucked type electromagnet 27 be in energized state, sucked type electromagnet 27 by solid-state relay 21
Electromagnetic adsorption power is generated to steel construction measured surface 26, acceleration transducer 23 is made closely to be attached to body structure surface 26 to be detected,
Carry out damage check operation.After quadrotor robot completes to work to the damage check in region to be checked, by solid-state after
Electric appliance 21 makes sucked type electromagnet 27 be in off-position, and sucked type electromagnet 27 cannot generate electricity to steel construction measured surface 26
Magnetic adsorbability, quadrotor robot starts four drive rotors 8 of brshless DC motors 6 and acts at this time, and quadrotor robot is flown away from
The region detected, and flight positioning is carried out to next area to be tested target position by GPS unit 17.
Building structure flaw detection quadrotor robot detection system has the ability of intelligent environment identification.Quadrotor robot is logical
It crosses GPS unit 17 and realizes positioning to airbound target, the attitudes vibration of robot and real-time is detected by inertial navigation unit 20
It is adjusted.The light stream sensor 25 that quadrotor robot carries can generate ultrasonic wave by light stream sensor 25 to judge
With the relative distance of body structure surface, the image information of ambient enviroment is obtained by light stream sensor 25, passes through image processing unit
13 and main control unit 16 analytical calculation is carried out to image information and location information, so that robot is obtained the three-dimensional coordinate of ambient enviroment
Map.When detecting that robot deviates scheduled route or will encounter body structure surface, main control unit 16 is driven by motor
Moving cell 19 issue control signal, the speed of each brshless DC motor 6 is controlled so that quadrotor robot return to it is predetermined
Route avoids building structure obstacle.When four motors of robot are in different rotating speeds combination, robot can be realized
The movement such as up and down, turning, hovering, translation, so that robot smoothly flies to target position and is accurately positioned.
Building structure flaw detection quadrotor robot detection system also has the ability by face with complex.To some big
When type Structure in Complex Structure is detected, it is steel construction and rest part that quadrotor robot, which is likely encountered only area to be tested,
For the building of non-steel construction.At this moment, so that it may using the advantage of quadrotor robot, leap non-steel structural region, reach to be checked
The target position in region is surveyed, structural damage detection operation is carried out.
Claims (5)
1. a kind of quadrotor robot detection system for building structure flaw detection, which is characterized in that the detection system includes
Quadrotor flight module, control module, electromagnetic adsorption type damage check module and a light stream sensor, the quadrotor fly
Row module includes a rack, four groups of rotor horns, two pieces of batteries and battery fixinig plate, and every group of rotor horn includes one outstanding
Arm, a motor cabinet, a brshless DC motor, a rotor and a T-type support column, the one of the cantilever of four groups of rotor horns
End is fixed between I-shaped support block and rack lower plate, and the installation direction of four groups of cantilevers is successively in 90 ° of distributions；The electricity
Magnetic adsorption type damage check module include a sucked type electromagnet, a sleeve, an acceleration transducer, a spring,
First fixinig plate and the second fixinig plate；The control module includes AD conversion unit, main control unit, GPS unit, motor driven
Unit, inertial navigation unit, image processing unit, wireless communication unit and solid-state relay.
2. a kind of quadrotor robot detection system for building structure flaw detection as described in claim 1, which is characterized in that
In the quadrotor flight module, rack includes rack upper plate, rack lower plate and I-shaped support block, and rack lower plate is for installing
Control module, battery, electromagnetic adsorption type damage check module, light stream sensor, rack upper plate can reinforce quadrotor robot
Structural strength, and control module is protected, rack upper plate is connected and fixed by screw and I-shaped support block, under rack
Plate is connected and fixed with cantilever by screw and I-shaped support block；The control module is fixed on rack lower plate by four columns
On, two batteries are located at below control module, and battery is fixed on above rack lower plate by battery fixinig plate, wherein a batteries
It powers for four brshless DC motors and sucked type electromagnet, in addition a batteries are the control module of quadrotor robot and each
Sensor power supply, light stream sensor is fixed on the lower section of rack lower plate, for acquiring the environmental information around quadrotor robot.
3. a kind of quadrotor robot detection system for building structure flaw detection as claimed in claim 2, which is characterized in that
Motor cabinet is installed on the cantilever other end of the rotor horn, brshless DC motor is mounted on motor cabinet by screw, described
The drive shaft of brshless DC motor is fixedly connected with rotor by screw, and there are two positive rotors and two inverse rotations in four rotors
The wing, forward and inverse rotor interval installation, each brshless DC motor drive a rotor, and brshless DC motor control line and motor drive
Moving cell is connected, and T-type support column, the floor-type support point as quadrotor robot are fixedly mounted below cantilever.
4. a kind of quadrotor robot detection system for building structure flaw detection as described in one of claims 1 to 3, special
Sign is, in the control module, the AD conversion unit, GPS unit, electric-motor drive unit, inertial navigation unit, image
Processing unit and solid-state relay are connect with the main control unit, and AD conversion unit passes through high speed serialization Peripheral Interface and master
Control unit is connected, and main control unit issues pulse-width signal, controls brshless DC motor by electric-motor drive unit and drives rotation
The wing rotates；Wireless communication unit, inertial navigation unit and GPS unit pass through universal asynchronous receiver and sender interface
It is connected with main control unit, inertial navigation unit controls the flight attitude of quadrotor robot, and GPS unit is to quadrotor robot
Airbound target is positioned, and unit and ground-based server transmit wireless signal to main control unit by wireless communication；Image procossing list
Member is connected with light stream sensor by parallel data bus line to read image information, and synchronous serial Peripheral Interface and master control list are passed through
Member connection, carries out the real-time Transmission of image data；One end of solid-state relay and the digital quantity signal output port of main control unit
Be connected, the other end of solid-state relay is connected with the power supply line of sucked type electromagnet, the main control unit can by solid-state after
Electrical equipment control sucked type electromagnet is powered and off-position.
5. a kind of quadrotor robot detection system for building structure flaw detection as described in one of claims 1 to 3, special
Sign is, in the electromagnetic adsorption type damage check module, second fixinig plate is bolted under rack lower plate
Side, one end of spring are fixed on the first fixinig plate, and the other end of spring is fixed on the second fixinig plate, and the first fixinig plate passes through
Screw is fixed on sucked type electromagnet；Sucked type electromagnet is placed in sleeve, and the acceleration transducer is pacified by screw
Below sucked type electromagnet, a part of acceleration transducer is stretched out in the lower section of sleeve；The electromagnetic adsorption type damage
The sleeve of detection module is bolted below rack lower plate, and sucked type electromagnet is pressed in sleeve by spring, to suction
Coiled electrical magnet generates pretightning force.
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