CN109794945A - A kind of automatic percussion robot detection system for building structure flaw detection - Google Patents
A kind of automatic percussion robot detection system for building structure flaw detection Download PDFInfo
- Publication number
- CN109794945A CN109794945A CN201910055866.5A CN201910055866A CN109794945A CN 109794945 A CN109794945 A CN 109794945A CN 201910055866 A CN201910055866 A CN 201910055866A CN 109794945 A CN109794945 A CN 109794945A
- Authority
- CN
- China
- Prior art keywords
- unit
- wheel
- robot
- magnet
- detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 88
- 238000009527 percussion Methods 0.000 title claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 12
- 238000006243 chemical reaction Methods 0.000 claims abstract description 9
- 239000000969 carrier Substances 0.000 claims abstract description 4
- 239000004411 aluminium Substances 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 description 7
- 238000010079 rubber tapping Methods 0.000 description 7
- 239000010959 steel Substances 0.000 description 7
- 238000010276 construction Methods 0.000 description 5
- 230000005294 ferromagnetic effect Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000009435 building construction Methods 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000005291 magnetic effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
A kind of automatic percussion robot detection system for building structure flaw detection, including mobile module, control module, electromagnetism percussive damage check module and laser range sensor, the mobile module includes a vehicle frame, two wheel carriers, four groups of magnet-wheels, two groups of batteries and battery fixinig plate, and every group of magnet-wheel includes eight bar magnets, a wheel, a right angle motor and an encoder；The electromagnetism percussive damage check module includes a direct current generator, push rod, push rod spring, a push-pull electromagnet, two guiding L plates, nut set, screw rod, stop screw, a sensor stand and sound transducer；The control module includes AD conversion unit, main control unit, wireless communication unit, GPS unit, electric-motor drive unit, solid-state relay and inertial navigation unit.The present invention has the characteristics that flexible detection mode, small in size, mobility strong, detection more fully.
Description
Technical field
The invention belongs to robot fields, and in particular to a kind of automatic percussion robot detection 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 based on
The building structure health detection technology of wireless sensor network needs to solve powerup issue and signal when system works long hours
The integrity problem of transmission.There is check frequency and detection not since sensor position is fixed in both above detection modes
Comprehensive problem.
Summary of the invention
It is at high cost in order to overcome the erroneous for installation of conventional building construction detection mode, detect the deficiencies of not comprehensive, the present invention
A kind of automatic percussion robot detection system for building structure flaw detection is provided, which can be moved to area to be detected
Domain, and the electromagnetism percussive damage check module carried by it carries out the work of steel construction damage check, tool to measured surface
There is the features such as flexible detection mode, small in size, mobility strong, detect more fully.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of automatic percussion robot detection system for building structure flaw detection, including mobile module, control module, electricity
Magnetic percussive damage check module and laser range sensor, the mobile module include a vehicle frame, two wheel carriers, four
Group magnet-wheel, two groups of batteries and battery fixinig plate, every group of magnet-wheel include eight bar magnets, a wheel, a right angle motor and
One encoder；The electromagnetism percussive damage check module includes a direct current generator, push rod, push rod spring, a push-and-pull
Formula electromagnet, two guiding L plates, nut set, screw rod, stop screw, a sensor stand and sound transducer；The control
Module include AD conversion unit, main control unit, wireless communication unit, GPS unit, electric-motor drive unit, solid-state relay and
Inertial navigation unit.
Further, in the mobile module, the vehicle frame is for installing wheel carrier, battery fixinig plate, direct current generator, control
Module, electromagnetism percussive damage check module, control module are fixed on vehicle frame by four columns, and one group of battery is located at control
Below module, battery is fixed on above vehicle frame by battery fixinig plate, is four right angle motors and direct current generator power supply, and in addition one
Group battery is fixed on the second half section of vehicle frame by battery fixinig plate, is control module, the electromagnetism percussive detection module of robot
And the power supply of each sensor, laser range sensor is fixed on wheel carrier, the top of four groups of magnet-wheels, for acquiring around robot
Environmental information.
Further, four groups of magnet-wheels wrap up one Zhou Zucheng of wheel by bar magnet, and the right angle motor of magnet-wheel passes through spiral shell
Nail is fixed on wheel carrier, and the drive shaft of right angle motor is fixedly connected with magnet-wheel, one magnet-wheel of each right angle motor driven；
Right angle motor control line is connected with electric-motor drive unit, and encoder is fixed on wheel carrier between wheel and right angle motor, uses
In the rotary speed information of measurement magnet-wheel, and feed back to control module.
Further, in the control module, the AD conversion unit, GPS unit, electric-motor drive unit, solid-state after
Electric appliance and inertial navigation unit 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 right angle motor by electric-motor drive unit and drives magnet-wheel movement；
Wireless communication unit, GPS unit and inertial navigation unit pass through universal asynchronous receiver and sender interface and main control unit phase
Connection, the traveling posture of inertial navigation unit control detection robot, GPS unit carries out target positioning to detection robot, main
Controlling unit, unit and ground-based server transmit wireless signal by wireless communication；One end of solid-state relay and the number of main control unit
Word amount signal output port is connected, and the other end of solid-state relay is connected with the power supply line of push-pull electromagnet, therefore master control list
Member controls the energization of sucked type electromagnet and off-position by solid-state relay.
In the electromagnetism percussive damage check module, guiding L plate is bolted on the lower section of vehicle frame, for limiting
The freedom degree of nut set；Direct current generator is fixed on above vehicle frame, and motor shaft and screw rod are extended downwardly across vehicle frame, screw rod and nut
Set is connected through a screw thread, and the end of screw rod is equipped with stop screw, prevents nut set abjection；Push-pull electromagnet is fixed on nut
In set, push rod is placed downwards；Sensor stand is the aluminium sheet of 30 ° of an inclination, for placing sound transducer close to push rod end.
Technical concept of the invention are as follows: the small in size, mobility strong using technology of wireless sensing network and wheeled robot
Advantage, it is intended to solve the problems, such as that previous large-scale steel structure building detection efficiency is low, detection is incomplete, can effectively save construction
Time saves cost of labor.And the automatic cost for tapping robot detection system of building structure flaw detection is not high, so that entire machine
Device people's detection system totle drilling cost is more much lower than the cost of traditional static detection system.Simultaneously as most steel building
Material all has stronger ferromagnetic property, and building structure inspection robot can be in all building with ferromagnetic surface's material
It is climbed above building structure, and completes structural health detection.
The present invention provides a kind of automatic percussion robot detection system for building structure flaw detection, the detection robots
When carrying out operation, can be adsorbed on measured surface when climbing the building structure of ferromagnetic surface's material by magnet-wheel, and
It is realized by the electromagnetism percussive damage check module that it is carried and is worked the damage check of steel building, there is good ring
Border adaptability, detection mode is flexible, and at low cost, easy to carry, can realize complete detection to building structure.
Compared with prior art, the present invention having the advantage that
1) at low cost: since the automatic robot detection system structure that taps of building structure flaw detection is simple, entire testing agency
Overall cost is much lower compared to traditional static detection network cost.
2) small in size: detection machine human body product is small, light-weight, easy to carry.
3) mobility strong: the detection robot is suitble to carry out on all building structure with ferromagnetic surface's material
Structural damage detection operation.
4) detection efficiency is high: electromagnetism percussive damage check module entrained by the detection robot, can be in robot
The a series of actions such as decline-percussion-sound collection-rising are quickly completed when reaching area to be tested, and damage check is rapidly completed
Afterwards, robot can go to next test point immediately.
5) mobile wireless transmits: building structure flaw detection is automatic to tap robot detection system unit by wireless communication, can
To carry out data transmission with ground control terminal, the transmission of data can also be carried out with other detection robots, realizes robot
Smart collaboration.
6) number of nodes is few: using the mobility of wheeled robot, each robot can detecte multiple positions, to subtract
The quantity of few robot.
7) environmental suitability is strong: the detection robot can carry out intelligent recognition to ambient enviroment, have good environment
Adaptability.
8) cruising ability is lasting: when not enough power supply, which can be charged with automatic moving to base station, to solve to supply
Electric problem.
Detailed description of the invention
Fig. 1 is the automatic overall structure diagram for tapping robot detection system of building structure flaw detection.
Fig. 2 is the automatic control module scheme of installation for tapping robot detection system of building structure flaw detection.
Fig. 3, which is that building structure flaw detection is automatic, taps robot detection system autonomous showing in building structure inspection region
It is intended to.
Fig. 4 is that the automatic electromagnetism percussive damage check modular structure for tapping robot detection system of building structure flaw detection is shown
It is intended to.
Fig. 5, which is that building structure flaw detection is automatic, taps the work of robot detection system in the signal of building structure Surface testing
Figure.
Marginal data: 1. bar magnets；2. wheel；3. sensor stand；4. laser range sensor；5. wheel carrier；6.
Vehicle frame；7. battery fixinig plate；8. battery；9. direct current generator；10. control module；11. right angle motor；12. encoder；13. vertical
Column；14. AD conversion unit；15. main control unit；16. antenna；17. wireless communication unit；18.GPS unit；19. motor driven
Unit；20. solid-state relay；21. inertial navigation unit；22. push rod；23. sound transducer；24. area to be tested；25. pushing away
Bar spring；26. push-pull electromagnet；27. being oriented to L plate；28. nut set；29. screw rod；30. stop screw；31. sensor branch
Frame.
Specific embodiment
Structure is further described with reference to the accompanying drawings of the specification.
Referring to Fig.1~Fig. 5, a kind of automatic percussion robot detection system for building structure flaw detection, including mobile mould
Block, control module 10, electromagnetism percussive damage check module and laser range sensor 4, mobile module include a vehicle frame
6, two wheel carriers, 5, four groups of magnet-wheels, two groups of batteries 8 and battery fixinig plate 7, every group of magnet-wheel include eight bar magnet 1, one
2, right angle motors 11 of wheel and an encoder 12, the vehicle frame 6 of mobile module is for installing wheel carrier 5, battery fixinig plate
7, direct current generator 9, control module 10, electromagnetism percussive damage check module, four groups of magnet-wheels of mobile module are wrapped by bar magnet 1
2 one Zhou Zucheng of wheel is wrapped up in, the right angle motor 11 of magnet-wheel is fixed on wheel carrier 5 by screw, the driving of right angle motor 11
Axis is fixedly connected with magnet-wheel, and each right angle motor 11 drives a magnet-wheel, right angle motor control line and 19 phase of electric-motor drive unit
Even, main control unit 16 issues control signal, by electric-motor drive unit 19 control the direction of rotation of right angle motor 11 and magnet-wheel with
Revolving speed, so that robot realizes the movement such as advance, retreat, turn, stop；Encoder 12 is between wheel 2 and right angle motor 11
It is fixed on wheel carrier 5, for measuring the rotary speed information of magnet-wheel, and feeds back to control module 10, laser range sensor 4 is fixed
On wheel carrier 5, the top of four groups of magnet-wheels, for acquiring the environmental information around robot.
The automatic control module 10 for tapping robot detection system of building structure flaw detection as shown in Figure 2 passes through four columns
13 are fixed on vehicle frame 6, and one group of battery 8 is located at 10 lower section of control module, and battery 8 is fixed on vehicle frame 6 by battery fixinig plate 7
Side is that four right angle motors 11 and direct current generator 9 are powered, after another set battery is fixed on vehicle frame 6 by battery fixinig plate 7
Half section, be control module 10, electromagnetism percussive detection module and the power supply of each sensor of robot；Control module 10 includes modulus
Converting unit 14, main control unit 15, wireless communication unit 17, GPS unit 18, electric-motor drive unit 19,20 and of solid-state relay
Inertial navigation unit 21；AD conversion unit 14 is connected by high speed serialization Peripheral Interface with main control unit 15, main control unit
15 issue pulse-width signal, control right angle motor 11 by electric-motor drive unit 19 and drive magnet-wheel movement.Wireless communication unit
17, GPS unit 18 is connected with inertial navigation unit 21 by universal asynchronous receiver and sender interface and main control unit 15,
The traveling posture of the control detection of inertial navigation unit 21 robot, 18 pairs of detection robots of GPS unit carry out target positioning, master control
Unit 17 and ground-based server transmit wireless signal to unit 15 by wireless communication；One end of solid-state relay 20 and main control unit
15 digital quantity signal output port is connected, and the other end of solid-state relay 20 is connected with the power supply line of push-pull electromagnet 26,
Therefore main control unit 15 can control the energization of sucked type electromagnet 26 and off-position by solid-state relay 20.
By Fig. 3 and Fig. 4 as it can be seen that electromagnetism percussive damage check module includes a direct current generator 9, push rod 22, push rod bullet
The guiding of push-pull electromagnet 26, two of spring 25, one L plate 27, nut cover 28,30, screw rod 29, stop screw sensor branch
Frame 31 and sound transducer 23, the guiding L plate 27 of the module is bolted on the lower section of vehicle frame 6, for limiting nut
The freedom degree of set 28；Direct current generator 9 is fixed on 6 top of vehicle frame, and motor shaft passes through vehicle frame 6 with screw rod and extends downwardly, screw rod and spiral shell
Mother set is connected through a screw thread, and the end of screw rod is equipped with stop screw 30, prevents 28 abjection of nut set；Push-pull electromagnet 26 is solid
It is scheduled in nut set 28, push rod 22 is placed downwards.Sensor stand 31 is the aluminium sheet of 30 ° of an inclination, for close to push rod end
Place sound transducer 23.
The automatic working principle for tapping robot detection system of building structure flaw detection of the present invention is as shown in figure 5, work as
When detection robot is accommodated to building structure surface 24 to be detected, the starting detection program of control module 10, direct current generator 9 drives spiral shell
Bar acts, nut set decline, when dropping to certain altitude, 9 stopping of direct current generator movement, at this point, main control unit 15 passes through admittedly
State relay 20 controls the switching electricity condition of push-pull electromagnet 26, and when energization, electromagnetic coil releases push rod 22, push rod 22
Tap steel building surface 24 to be detected；When power-off, push rod spring 25 retracts push rod 22, such switching electrical alternations, generates
Lasting percussion voice signal is acquired for sound transducer 23.When detection robot completes the damage check to a region to be checked
After work, 26 stopping of push-pull electromagnet movement, direct current generator 9, which reversely rotates, drives nut set 28 to rise to initial position.This
When detection robot start four right angle motors 11 and drive magnet-wheels movement, robot leaves the region detected, and passes through GPS
Unit 18 positions next area to be tested target position.
The automatic ability for tapping robot detection system and there is intelligent environment identification of building structure flaw detection.It is logical to detect robot
It crosses GPS unit 18 and realizes that the positioning to detection target passes through inertial navigation list by the rotary speed information of the measurement magnet-wheel of encoder 12
Member 21 detects the attitudes vibration of robot, and posture information is fed back to control module 10 and is adjusted in real time.Detect robot
The laser range sensor 4 of carrying, laser can be emitted by laser range sensor 4 come judge with body structure surface it is opposite away from
From.When detecting that robot deviates scheduled route or will encounter body structure surface, main control unit 15 passes through motor driven
Unit 19 issue control signal, the speed of each right angle motor 11 is controlled so that detection robot return to projected route or
Person avoids building structure obstacle.When four right angle motors of robot are in different rotating speeds combination, before robot can realize
Into, retreat, turning, stop etc. movement so that robot is smoothly moved to target position and is accurately positioned.
Claims (5)
1. a kind of automatic percussion robot detection system for building structure flaw detection, which is characterized in that the detection system packet
Including mobile module, control module, electromagnetism percussive damage check module and laser range sensor, the mobile module includes
One vehicle frame, two wheel carriers, four groups of magnet-wheels, two groups of batteries and battery fixinig plate, every group of magnet-wheel include eight bar magnets, one
A wheel, a right angle motor and an encoder；The electromagnetism percussive damage check module includes a direct current generator, pushes away
Bar, push rod spring, a push-pull electromagnet, two guiding L plates, nut set, screw rod, stop screw, a sensor stands
And sound transducer；The control module includes AD conversion unit, main control unit, wireless communication unit, GPS unit, motor
Driving unit, solid-state relay and inertial navigation unit.
2. a kind of automatic percussion robot detection system for building structure flaw detection as described in claim 1, feature exist
In in the mobile module, the vehicle frame strikes for installing wheel carrier, battery fixinig plate, direct current generator, control module, electromagnetism
Formula damage check module is hit, control module is fixed on vehicle frame by four columns, and one group of battery is located at below control module, electricity
Pond is fixed on above vehicle frame by battery fixinig plate, is that four right angle motors and direct current generator are powered, another set battery passes through
Battery fixinig plate is fixed on the second half section of vehicle frame, is control module, electromagnetism percussive detection module and each sensor of robot
Power supply, laser range sensor is fixed on wheel carrier, the top of four groups of magnet-wheels, for acquiring the letter of the environment around robot
Breath.
3. a kind of automatic percussion robot detection system for building structure flaw detection as claimed in claim 2, feature exist
In four groups of magnet-wheels wrap up one Zhou Zucheng of wheel by bar magnet, and the right angle motor of magnet-wheel is fixed on vehicle by screw
On wheel carrier, the drive shaft of right angle motor is fixedly connected with magnet-wheel, one magnet-wheel of each right angle motor driven；Right angle motor control line
It is connected with electric-motor drive unit, encoder is fixed on wheel carrier between wheel and right angle motor, for measuring turning for magnet-wheel
Fast information, and feed back to control module.
4. a kind of automatic percussion robot detection system for building structure flaw detection as described in one of claims 1 to 3,
It is characterized in that, in the control module, the AD conversion unit, GPS unit, electric-motor drive unit, solid-state relay and used
Property navigation elements connect with the main control unit, AD conversion unit is connected by high speed serialization Peripheral Interface with main control unit
It connects, main control unit issues pulse-width signal, controls right angle motor by electric-motor drive unit and drives magnet-wheel movement；Wireless communication
Unit, GPS unit are connected with inertial navigation unit by universal asynchronous receiver and sender interface and main control unit, inertia
The traveling posture of navigation elements control detection robot, GPS unit carry out target positioning to detection robot, and main control unit passes through
Wireless communication unit and ground-based server transmit wireless signal；One end of solid-state relay and the digital quantity signal of main control unit are defeated
Exit port is connected, and the other end of solid-state relay is connected with the power supply line of push-pull electromagnet, therefore main control unit passes through solid-state
Relay controls the energization of sucked type electromagnet and off-position.
5. a kind of automatic percussion robot detection system for building structure flaw detection as described in one of claims 1 to 3,
It is characterized in that, in the electromagnetism percussive damage check module, guiding L plate is bolted on the lower section of vehicle frame, for limiting
The freedom degree of nut set processed；Direct current generator is fixed on above vehicle frame, and motor shaft and screw rod are extended downwardly across vehicle frame, screw rod and spiral shell
Mother set is connected through a screw thread, and the end of screw rod is equipped with stop screw, prevents nut set abjection；Push-pull electromagnet is fixed on spiral shell
In mother set, push rod is placed downwards；Sensor stand is the aluminium sheet of 30 ° of an inclination, for placing sound sensor close to push rod end
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055866.5A CN109794945A (en) | 2019-01-22 | 2019-01-22 | A kind of automatic percussion robot detection system for building structure flaw detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055866.5A CN109794945A (en) | 2019-01-22 | 2019-01-22 | A kind of automatic percussion robot detection system for building structure flaw detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109794945A true CN109794945A (en) | 2019-05-24 |
Family
ID=66559806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910055866.5A Pending CN109794945A (en) | 2019-01-22 | 2019-01-22 | A kind of automatic percussion robot detection system for building structure flaw detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109794945A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110148395A (en) * | 2019-06-18 | 2019-08-20 | 湖南普奇地质勘探设备研究院（普通合伙) | A kind of sound generating apparatus for pipeline location system |
| CN110722553A (en) * | 2019-08-24 | 2020-01-24 | 湖南桥康智能科技有限公司 | Automatic detection system for bridge box body |
| CN112147219A (en) * | 2020-08-25 | 2020-12-29 | 中南大学 | Highway subgrade empty foundation array detection probe, detection system and detection equipment |
| CN112433058A (en) * | 2020-11-20 | 2021-03-02 | 迈克医疗电子有限公司 | Magnetic bead detection control method and device, terminal equipment and medium |
| CN112917483A (en) * | 2021-01-19 | 2021-06-08 | 山东大学 | Wall-climbing robot system and method for rapid nondestructive testing of concealed defects of culvert gate |
| CN113109011A (en) * | 2021-03-29 | 2021-07-13 | 太仓众擎机械设备有限公司 | Comprehensive detection device for steel structure frame |
| CN113371092A (en) * | 2021-07-01 | 2021-09-10 | 江苏省特种设备安全监督检验研究院 | Laser-guided multi-degree-of-freedom damage detection wall-climbing robot device |
| JP2021148735A (en) * | 2020-03-23 | 2021-09-27 | Ｊｆｅスチール株式会社 | Device and method for hitting sound inspection |
| JP2022171948A (en) * | 2020-03-23 | 2022-11-11 | Ｊｆｅスチール株式会社 | Hammering test device and hammering test method |
| CN117589171A (en) * | 2023-11-21 | 2024-02-23 | 中国石油大学(华东) | Novel automatic nondestructive test robot system of steel sheet |
| US12072298B2 (en) | 2021-01-19 | 2024-08-27 | Shandong University | Wall-climbing robot system and method for rapid nondestructive inspection of hidden defects in culverts and sluices |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012145346A (en) * | 2011-01-07 | 2012-08-02 | Eda Tokushu Bosui Kogyo Kk | Outer wall lifting detection system, outer wall lifting detection method and moving flight vehicle for detecting outer wall lifting |
| JP2015189325A (en) * | 2014-03-28 | 2015-11-02 | 株式会社小川優機製作所 | Vertical plane travel device |
| CN105823552A (en) * | 2016-05-06 | 2016-08-03 | 简燕梅 | Intelligent detection robot car for architectural structure vibration |
| CN207300979U (en) * | 2017-09-05 | 2018-05-01 | 李亮 | Construction wall hollowing and sound insulation detection device |
| CN108254440A (en) * | 2018-02-01 | 2018-07-06 | 湖南大学 | It is a kind of to detect robot and the method using detection robot detection concrete filled steel tube pouring quality |
| JP2018128278A (en) * | 2017-02-06 | 2018-08-16 | 公益財団法人鉄道総合技術研究所 | Hammer sound inspector and hammer sound system |
| CN209919897U (en) * | 2019-01-22 | 2020-01-10 | 浙江工业大学 | Automatic knocking robot detection system for building structure flaw detection |
-
2019
- 2019-01-22 CN CN201910055866.5A patent/CN109794945A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012145346A (en) * | 2011-01-07 | 2012-08-02 | Eda Tokushu Bosui Kogyo Kk | Outer wall lifting detection system, outer wall lifting detection method and moving flight vehicle for detecting outer wall lifting |
| JP2015189325A (en) * | 2014-03-28 | 2015-11-02 | 株式会社小川優機製作所 | Vertical plane travel device |
| CN105823552A (en) * | 2016-05-06 | 2016-08-03 | 简燕梅 | Intelligent detection robot car for architectural structure vibration |
| JP2018128278A (en) * | 2017-02-06 | 2018-08-16 | 公益財団法人鉄道総合技術研究所 | Hammer sound inspector and hammer sound system |
| CN207300979U (en) * | 2017-09-05 | 2018-05-01 | 李亮 | Construction wall hollowing and sound insulation detection device |
| CN108254440A (en) * | 2018-02-01 | 2018-07-06 | 湖南大学 | It is a kind of to detect robot and the method using detection robot detection concrete filled steel tube pouring quality |
| CN209919897U (en) * | 2019-01-22 | 2020-01-10 | 浙江工业大学 | Automatic knocking robot detection system for building structure flaw detection |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110148395A (en) * | 2019-06-18 | 2019-08-20 | 湖南普奇地质勘探设备研究院（普通合伙) | A kind of sound generating apparatus for pipeline location system |
| CN110722553A (en) * | 2019-08-24 | 2020-01-24 | 湖南桥康智能科技有限公司 | Automatic detection system for bridge box body |
| JP2021148735A (en) * | 2020-03-23 | 2021-09-27 | Ｊｆｅスチール株式会社 | Device and method for hitting sound inspection |
| JP7315081B2 (en) | 2020-03-23 | 2023-07-26 | Ｊｆｅスチール株式会社 | Hammering sound inspection device and hammering sound inspection method |
| JP7173076B2 (en) | 2020-03-23 | 2022-11-16 | Ｊｆｅスチール株式会社 | Hammering sound inspection device and hammering sound inspection method |
| JP2022171948A (en) * | 2020-03-23 | 2022-11-11 | Ｊｆｅスチール株式会社 | Hammering test device and hammering test method |
| CN112147219A (en) * | 2020-08-25 | 2020-12-29 | 中南大学 | Highway subgrade empty foundation array detection probe, detection system and detection equipment |
| CN112433058A (en) * | 2020-11-20 | 2021-03-02 | 迈克医疗电子有限公司 | Magnetic bead detection control method and device, terminal equipment and medium |
| CN112433058B (en) * | 2020-11-20 | 2023-09-15 | 迈克医疗电子有限公司 | Method, device, terminal equipment and medium for detecting and controlling magnetic beads |
| CN112917483A (en) * | 2021-01-19 | 2021-06-08 | 山东大学 | Wall-climbing robot system and method for rapid nondestructive testing of concealed defects of culvert gate |
| US12072298B2 (en) | 2021-01-19 | 2024-08-27 | Shandong University | Wall-climbing robot system and method for rapid nondestructive inspection of hidden defects in culverts and sluices |
| CN113109011A (en) * | 2021-03-29 | 2021-07-13 | 太仓众擎机械设备有限公司 | Comprehensive detection device for steel structure frame |
| CN113371092A (en) * | 2021-07-01 | 2021-09-10 | 江苏省特种设备安全监督检验研究院 | Laser-guided multi-degree-of-freedom damage detection wall-climbing robot device |
| CN117589171A (en) * | 2023-11-21 | 2024-02-23 | 中国石油大学(华东) | Novel automatic nondestructive test robot system of steel sheet |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109794945A (en) | A kind of automatic percussion robot detection system for building structure flaw detection | |
| CN109795571A (en) | A kind of climbing robot detection system for the flaw detection of planar architectural structure | |
| CN102735686B (en) | Steel structure health monitoring system based on movable wireless sensor | |
| CN109773804A (en) | A kind of robot detection system based on steel construction ultrasonic examination | |
| CN101393246B (en) | Mini robot for detecting internal failure of power transformer | |
| CN107508390A (en) | A kind of crusing robot wireless charging system and method | |
| CN105823552A (en) | Intelligent detection robot car for architectural structure vibration | |
| CN104165636A (en) | Transformer substation patrol robot positioning and navigation system | |
| CN102963827A (en) | Tower crane safety management system | |
| CN103070699A (en) | Wireless intelligent charger of micro intestinal robot | |
| CN205067744U (en) | Mobile terminal control type obstacle detection system with adjustable scope | |
| CN210148107U (en) | Indoor inspection robot | |
| CN210513402U (en) | Railway contact net vibration frequency detection device | |
| CN207256220U (en) | A kind of omnidirectional of substation crusing robot | |
| CN207164584U (en) | Full-automatic unmanned runtime for AGV dollies | |
| CN206982655U (en) | A kind of steam turbine stator blade flaw detection robot | |
| CN105856188A (en) | Movable detection robot for flexible building structure | |
| CN206459622U (en) | Gardens town road traffic survey tool | |
| CN206773125U (en) | A kind of online inspection device of failure wave-recording | |
| CN202966472U (en) | Intelligent electromagnetic climbing robot | |
| CN203366398U (en) | Temperature inspection tour trolley for operation equipment of transformer station | |
| CN202502070U (en) | High-voltage transmission line eddy current testing robot system | |
| CN209919897U (en) | Automatic knocking robot detection system for building structure flaw detection | |
| CN208568504U (en) | A kind of steel reinforced concrete pole Damage detection device | |
| CN102887187A (en) | Electromagnetic-type intelligent climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |