CN110082373A - A kind of flaw detection robot - Google Patents
A kind of flaw detection robot Download PDFInfo
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- CN110082373A CN110082373A CN201910470923.6A CN201910470923A CN110082373A CN 110082373 A CN110082373 A CN 110082373A CN 201910470923 A CN201910470923 A CN 201910470923A CN 110082373 A CN110082373 A CN 110082373A
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- 238000001514 detection method Methods 0.000 title claims abstract description 47
- 238000012806 monitoring device Methods 0.000 claims description 25
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- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
Abstract
The invention discloses a kind of flaw detection robots, the flaw detection robot climbs wall device and second including first and climbs wall device, described first climbs and is equipped with radiation-emitting device on wall device, described second climbs and is equipped with ray reception device on wall device, described second, which climbs wall device, climbs wall device with described first and moves synchronously, and the radiation-emitting device and the ray reception device are located at relative to position symmetrical inside and outside wall to be measured.Flaw detection robot in the present invention includes first to climb wall device and second and climb wall device, for carrying radiation-emitting device and ray reception device respectively, at work, it is equipped with the first of radiation-emitting device and climbs wall device and second climb wall device be equipped with ray reception device and move synchronously, and, radiation-emitting device and ray reception device are located at symmetrical position inside and outside wall to be measured, artificial weld seam detection is substituted so as to realize using automation means, protection cost is effectively reduced, improves detection efficiency.
Description
Technical field
The present invention relates to machine detection technique field more particularly to a kind of flaw detection robots.
Background technique
Large-scale storage tank is the storage facilities being commonly used in our industrial productions, in the row such as industry, national defence, petroleum, petrochemical industry
Various oil plants are stored through common large-scale oil storage tank in industry, and the medium of mostly inflammable, volatile and toxic etc. the properties of oil plant.Cause
This, unavoidably there is aging, corrosion in storage material, and large-scale oil storage tank is generally welding structural element, in making for charge of oil and emptying
In and in temperature and pressure variation, frequent varying stress is carried on its wall surface, is the region for being easy to appear crackle.For
The safe operation of maintenance large-scale oil storage tank, is just particularly important the safety detection of weld seam.
Existing weld inspection method is more, such as Magnetic testing, ultrasound examination, Liquid penetrant testing and ray detection etc..Its
Middle ray detection mode is using more popularizing in terms of can seam flaw detection, and there are many type of ray, wherein readily penetrating through substance
Have X-ray, gamma-rays, three kinds of neutron ray.These three rays are all used for non-destructive testing, and wherein X-ray and gamma-rays are wide
The general defects detection for boilers and pressure vessel weld seam and other industrial products, structural material, and neutron ray is only used for
Special occasions.The most important application of ray detection is the macroscopical geometrical defect (flaw detection) visited inside the test specimen of side.According to different characteristic
(such as using ray type, equipment, technique and the technical characterstic of record etc.) ray detection can be divided into many kinds it is different
Method.Film radiography, which refers to, penetrates test specimen with X-ray or gamma-rays, using film as the lossless inspection of the equipment of record information
Survey method.Wherein X-ray method is most basic, a kind of most widely used ray detection method.
Using x-ray inspection, intuitive, photographic negative is imaged can be with long-term preservation, very to thin-wall workpiece flaw detection sensitivity
It is high.To volume shape weld defect control, the plane distribution of defect image is true, dimensional measurement is accurate.Do not have to workpiece surface finish
It is strict with, material grains degree influences testing result less, to can be adapted for a variety of materials Inner Defect Testing.So pressing
It is used widely in force container Weld Quality Inspection.But there is also rays to be harmful to the human body, and protects disadvantage at high cost.
Therefore, it is imperative that artificial weld seam detection is substituted using automation means.
Summary of the invention
The embodiment of the present invention creatively provides a kind of flaw detection to effectively overcome drawbacks described above present in the prior art
Robot, the flaw detection robot include first climbing wall device and second and climbing wall device, and described first climbs on wall device and be equipped with
Radiation-emitting device, described second climbs and is equipped with ray reception device on wall device, and described second climbs wall device and described first
It climbs wall device to move synchronously, the radiation-emitting device and the ray reception device are located at relative to two inside and outside wall to be measured
The symmetrical position in side.
In an embodiment, the radiation-emitting device is located at described first with the ray reception device and climbs
Wall device and described second climbs position symmetrical on wall device, and the robot further includes first control device and the second control
Device, the first control device are installed on described first and climb on wall device, climb wall device along work for controlling described first
Face setting path is advanced；The second control device is installed on described second and climbs on wall device, climbs wall for controlling described second
Device is climbed wall device with described first and is moved synchronously, and makes described second to climb wall device and be located at that with described first to climb wall device opposite
In the symmetrical position of wall to be measured.
In an embodiment, the radiation-emitting device is equipped with identification piece, and the second control device includes figure
As identification device and control processor, described image identification device is connected with the ray reception device, the control processing
Device is connected with described image identification device, and described image identification device is used to calculate described the according to the projection of the identification piece
Two, which climb wall device and described first, climbs the position deviation of wall device, and is sent to control processor；The control processor is used for
The received position deviation is converted into drive control parameter and then second is climbed according to the drive control state modulator
The displacement of wall device.
In an embodiment, described image identification device and the ray reception device pass through wired or wireless side
Formula is connected, and the control processor is connected with described image identification device by wired or wireless mode.
In an embodiment, the identification piece is set at the launch window of the radiation-emitting device, the mark
Knowledge part is cross wire.
In an embodiment, the second control device climbs wall with described first by climbing wall device setting to second
The identical travelling route of device climbs wall device and climbs wall device with described first controlling described second and moves synchronously.
In an embodiment, the robot further includes monitoring device, and the monitoring device passes through wired or wireless
Mode wall device and second is climbed with described first respectively climb wall device and be connected, the monitoring device is for acquiring and handling institute
It states first and climbs wall device and described second and climb the coordinate information and image information of wall device.
In an embodiment, the monitoring device includes total station, the monitoring device by the total station come
It acquires described first and climbs wall device and described second and climb the location information of wall device.
In an embodiment, described first climbs wall device and/or second climbs wall and be set to permanent magnetism wall-climbing device device.
In an embodiment, the radiation-emitting device include X-ray emission device, gamma ray emitting device and in
One of sub- radiation-emitting device is a variety of.
To substitute artificial weld seam detection using automation means, the embodiment of the present invention provides a kind of flaw detection robot,
Flaw detection robot in the present invention includes first to climb wall device and second and climb wall device, for carrying radiation-emitting device respectively
And ray reception device is equipped with the first of radiation-emitting device and climbs wall device and be equipped with ray reception device at work
Second climb wall device and move synchronously, in this way, move synchronously radiation-emitting device also can with ray reception device.Also,
In the embodiment of the present invention, radiation-emitting device and ray reception device are located at symmetrical position inside and outside wall to be measured, in this way, making
The ray that launch from radiation-emitting device can vertically penetrate wall to be measured, when work regional area existing defects when, wear
The ray attenuation degree for crossing this defect area is different from normal region, and projection radiation intensity is caused to change, in this manner it is possible to
It is detected, and then is judged in workpiece for measurement with the presence or absence of scarce by the ray of the varying strength received to ray reception device
The information such as sunken and defect size.In the embodiment of the present invention, wall device and second can also be climbed by recording first in real time and climbed
The position of wall device and corresponding ray receive the variation of image, to judge the location information of defect.The present invention overcomes pass through
Harmful to human present in artificial detection protects disadvantage at high cost, realizes using automation means and substitutes artificial weld seam
Protection cost is effectively reduced in detection, improves detection efficiency.
Detailed description of the invention
The following detailed description is read with reference to the accompanying drawings, above-mentioned and other mesh of exemplary embodiment of the invention
, feature and advantage will become prone to understand.In the accompanying drawings, if showing by way of example rather than limitation of the invention
Dry embodiment, in which:
In the accompanying drawings, identical or corresponding label indicates identical or corresponding part.
Fig. 1 is a kind of a kind of composed structure schematic diagram of flaw detection robot provided by one embodiment of the invention；
Fig. 2 is a kind of another composed structure schematic diagram of flaw detection robot provided by one embodiment of the invention；
Fig. 3 is the composed structure schematic diagram that one kind first provided by one embodiment of the invention climbs wall device；
Fig. 4 is a kind of schematic diagram of ray reception image provided by one embodiment of the invention.
Specific embodiment
To keep the purpose of the present invention, feature, advantage more obvious and understandable, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
Fig. 1 is a kind of composed structure schematic diagram of flaw detection robot provided by one embodiment of the invention, please refers to Fig. 1.
The present invention provides a kind of flaw detection robot, and flaw detection robot climbs wall device 101 and second including first and climbs wall device
102, first climbs on wall device 101 and is equipped with radiation-emitting device 103, and second climbs on wall device 102 and be equipped with ray and receive dress
104 are set, second, which climbs wall device 102, climbs wall device 101 with first and move synchronously, radiation-emitting device 103 and ray reception device
104 are located at relative to symmetrical position inside and outside wall 105 to be measured.
To substitute artificial weld seam detection using automation means, the embodiment of the present invention provides a kind of flaw detection robot,
Flaw detection robot in the embodiment of the present invention includes first to climb wall device 101 and second and climb wall device 102, for carrying respectively
Radiation-emitting device 103 and ray reception device 104, at work, be equipped with radiation-emitting device 103 first climb wall device
101 second climb wall device 102 and move synchronously be equipped with ray reception device 104, in this way, making radiation-emitting device 103
It can also be moved synchronously with ray reception device 104.Also, in the embodiment of the present invention, radiation-emitting device 103 and ray are received and are filled
It sets 104 and is located at symmetrical position inside and outside wall 105 to be measured, in this way, making the ray launched from radiation-emitting device 103
Wall 105 to be measured can vertically be penetrated, when work regional area existing defects when, across this defect area ray attenuation degree with
Normal region is different, causes projection radiation intensity to change, in this manner it is possible to by receiving to ray reception device 104
The ray of varying strength detected, and then judge in workpiece for measurement with the presence or absence of information such as the sizes of defect and defect.
In the embodiment of the present invention, wall device 101 and second can also be climbed by recording first in real time and climb the position of wall device 102 and right
Ray is answered to receive the variation of image, to judge the location information of defect.The embodiment of the present invention overcomes is deposited by artificial detection
Harmful to human, protect disadvantage at high cost, realize using automation means and substitute artificial weld seam detection, be effectively reduced
Cost is protected, detection efficiency is improved.
In the embodiment of the present invention, radiation-emitting device 103 and ray reception device 104 are located at relative to wall to be measured
Symmetrical position inside and outside 105, and first climb wall device 101 and second climb wall device 102 equally and can be symmetrically positioned in it is to be measured
Inside and outside wall 105 or non complete symmetry is located at position inside and outside wall 105 to be measured.When 105 inside of wall to be measured or outside
Side surface is not clean or has barrier so that first climb wall device 101 and second climb wall device 102 can not be located at it is full symmetric
When position, it can be flexibly connected the first connector by climbing on wall device 101 first, the first connector is to connect ray hair
Injection device 103 is flexibly connected the second connector likewise, can climb on wall device 102 second, and the second connector is to connect
Ray reception device 104, in this way, climbing wall device 101 and second and climbing wall device 102 and can not be located at completely just symmetrical position when first
It, can also be by the first connector of control and the mobile certain angle of the second connector or length come so that radiation-emitting device when setting
103 and ray reception device 104 can be located at complete positive symmetric position.It allows the robot to adapt to automatic on various working faces
Change detection, is conducive to the practicability and reliability that improve robot.
In an embodiment, radiation-emitting device 103 and ray reception device 104 are located at first and climb wall device
101 and second climb position symmetrical on wall device 102, and robot further includes first control device and second control device, and
One control device is installed on first and climbs on wall device 101, climbs wall device 101 along working face setting path row for controlling first
Into；Second control device is installed on second and climbs on wall device 102, climbs wall device 102 and first for control second and climbs wall device
101 move synchronously, and make second to climb wall device 102 and be located at and with first climb wall device 101 relative to the symmetrical position of wall 105 to be measured
It sets.
In the embodiment of the present invention, robot is controlled first by first control device and second control device and climbs wall device
101 and second climb wall device 102 displacement, enable first climb wall device 101 and second climb wall device 102 be always positioned to
Symmetrical position inside and outside wall 105 is surveyed, and realizes and moves synchronously.As long as in this way, respectively by radiation-emitting device 103 and ray
Reception device 104, which is installed on first, climbs wall device 101 and second and climbs symmetric position on wall device 102, just can ray be sent out
Injection device 103 and ray reception device 104 are also just symmetrical relative to wall 105 to be measured always, stablize and accurately examine to realize
Brake.
In an embodiment, radiation-emitting device 103 is equipped with identification piece, and second control device includes image recognition
Device and control processor, pattern recognition device are connected with ray reception device 104, control processor and pattern recognition device
It is connected, pattern recognition device, which is used to climb wall device 102 and first according to the projection of identification piece calculating second, climbs wall device 101
Position deviation, and it is sent to control processor；Control processor is used to received position deviation being converted into drive control parameter
And then the displacement of wall device 102 is climbed according to drive control state modulator second.
In the embodiment of the present invention, by the way that identification piece is arranged on radiation-emitting device 103, so that radiation-emitting device 103
Because of the blocking of identification piece Strength Changes occur for the ray launched in middle identification piece region, and react on ray reception device
In 104, to be connected to the pattern recognition device of ray reception device 104, just it can be got the bid according to obtained ray image
Know part and relative to the offset in home position be calculated second and climb wall device 102 and first and climbs the position deviation of wall device 101,
And position deviation is sent to control processor.Control processor is calculated according to obtained position deviation, is driven
Control parameter, and according to drive control parameter control second and climb wall device 102 and be displaced, so that second climbs wall device
102 can remain at and climb the symmetrical position of wall device 101 with first, and then be advantageously implemented more accurate automation
Detection effect.
Wherein, after pattern recognition device receives the ray image of ray reception device 104, morphologic filtering pair is first passed through
Original image is pre-processed, the pure original image after obtaining eliminating other noises in picture；Then it is calculated by heredity
Method is split pure original image, obtains the initial segmentation image data of identification piece；Then to the initial segmentation of identification piece
The binary image of image data carries out edge extracting, obtains segmenting edge image；Finally segmenting edge is detected with Hough transform
Image obtains identification piece accurate location.After image procossing identification in this way, the position of identification piece can be accurately obtained,
To be conducive to improve wall device 102 and first is climbed to second climb the counting accuracy of position deviation between wall device 101.
In an embodiment, pattern recognition device passes through wired or wireless mode phase with ray reception device 104
Connection, control processor are connected with pattern recognition device by wired or wireless mode.
In the embodiment of the present invention, specifically, pattern recognition device and ray reception device 104 can directly pass through data line
It is attached, or is attached by way of wireless signal transmission, likewise, control processor and pattern recognition device
Can by be directly attached by data line etc. or by wireless signal transmission in a manner of be attached.That is, image is known
Other device and/or control processor can be not directly mounted to second and climb on wall device 102, can also be compounded in its of robot
Remote data transmission and processing are carried out on his device, to promote data processing performance, are convenient for remote control.
In an embodiment, identification piece is set at the launch window of radiation-emitting device 103, and identification piece is cross
Wire.Cross wire identification piece by being directly arranged in the launch window of radiation-emitting device 103 by the embodiment of the present invention
Place, so that crosshair image also appears on ray image, please refers to Fig. 4 when ray shines through the defect on part wall surface to be measured.
Also, when first, which climbs wall device 101, moves, cross wire is also moved synchronously, then climbing wall device second
It can judge that identification piece starts to offset out image center in 102 ray reception device 104, can then pass through image
Identification device and control processor adjust second device according to the position deviation of cross wire and carry out corresponding displacement, so that the
Two, which climb wall device 102, can climb wall device 101 with first and synchronize movement.Cross wire is set as identification piece, not only
Structure is simple, and mark is clear, is conducive to the Detection accuracy for improving robot.
In an embodiment, second control device climbs wall device with first by climbing the setting of wall device 102 to second
101 identical travelling routes climb wall device 102 and climb wall device 101 with first controlling second and move synchronously.The embodiment of the present invention
In, it with first can climb the identical travelling route of wall device 101 by directly being set using second control device and realize two
Climb the state that wall device moves synchronously.The case where this mode is simple, clear bright and clean suitable for working face.
In an embodiment, robot further includes monitoring device 106, and monitoring device 106 passes through wired or wireless
Mode climbs wall device 101 and second with first respectively and climbs wall device 102 and be connected, and monitoring device 106 is for acquiring and handling the
One, which climbs wall device 101 and second, climbs the coordinate information and image information of wall device 102.In the embodiment of the present invention, specifically, machine
The monitoring device 106 of people and first climbs wall device 101 and second and climbs wall device 102 and can pass through data line or wireless signal respectively
The mode of transmission is attached.First climbs wall device 101 can be by being sent to monitoring device for own coordinate information in real time
106, and second climbs wall device 102 in real time for own coordinate information and the ray image information real-time Transmission received extremely prison
Survey device 106 so that monitoring device 106, which is able to understand on part wall to be measured two, climbs the fact of wall device, and be conducive to data into
The further working process of row or preservation.Alternatively, monitoring device 106 can be by devices such as total stations 107 come self monitor position
Information.
Wherein, monitoring device 106 can be by being attached with first control device and second control device respectively come real
The acquisition of existing information data.Further, monitoring device 106 can it is wired or wireless electricity by way of and ray reception device
104 are connected, and the pattern recognition device for monitoring identification piece can connect in monitoring device 106, in this way, working as ray
When radiographic image data is sent in monitoring device 106 by reception device 104,106 one side of monitoring device can directly pass through
Pattern recognition device of the composite joint in monitoring device 106 carries out image procossing, accurately identifies the position deviation of identification piece,
Obtained position deviation is sent to the control processor for being connected to monitoring device 106 again, in this way, being conducive to improve monitoring dress
Set 106 integrated treatment function and the effect of remote real-time monitoring；On the other hand, monitoring device 106 can be by itself figure
As processing unit reprocesses radiographic image data transmitted by radiation-emitting device 103, defect area figure is accurately obtained
The data such as the position of picture and size effectively increase detection efficiency and realize visual defect area data.
Referring to FIG. 2, monitoring device 106 includes total station 107 in an embodiment, monitoring device 106 passes through complete
It stands instrument 107 and climbs wall device 101 and second acquiring first and climb the location information of wall device 102.In the embodiment of the present invention, work as flaw detection
Robot is monitored first by total station 107 and climbs wall device 101 and second when climbing the location information of wall device 102, can will
Total station 107 is arranged in tank interior to be measured, after each device of robot is connected, starts positioning function, real-time monitoring of tank
First climbs wall device 101 and second and climbs the coordinate position of wall device 102 on wall.
Referring to FIG. 3, in an embodiment, first climbs wall device 101 and/or second to climb wall device 102 be permanent magnetism
Wall-climbing device device.Permanent magnetism wall-climbing device device overall structure passes through linkage 109 by two independent high-performance magnet-wheels 108
It is connect with main body 110, when first climbs wall device 101 and second climbs wall device 102 and be permanent magnetism wall-climbing device device, ray hair
Injection device 103 and ray reception device 104 are located at position symmetrical on two permanent magnetism wall-climbing device apparatus main bodies 110.
Preferably, radiation-emitting device 103 and ray reception device 104 are located on two permanent magnetism wall-climbing device apparatus main bodies 110
Carrying on mechanism 111 on, with reinforce carry reliability.The permanent magnetism wall-climbing device device of the embodiment of the present invention may be implemented in circular arc
Outside wall surface is freely walked, and permanent magnetism wall-climbing device device is the high-intensitive permanent magnetic wheels made using rare-earth magnet, that is, is used
Existing accident power-off, will not occur the danger that car body aloft falls.Robot can reliably be adsorbed on steel body surface, can be with
The Scanning Detction of different shapes and other task executions such as horizontal, the vertical or even inversion of the progress of safety.In the embodiment of the present invention,
First climbs that wall device 101, second to climb wall device 102 be preferably permanent magnetism wall-climbing device device, and permanent magnetism wall-climbing device device vehicle body is small
Ingeniously, magnetic attraction is superpower, the scope of application is extremely wide, high-precision handling, compatible all nondestructiving detecting means, seperated vehicle body design,
Accurately laser positioning, high-performance power transmission etc..
In an embodiment, radiation-emitting device 103 include X-ray emission device, gamma ray emitting device and in
One of sub- radiation-emitting device is a variety of.The wherein easy penetrating material of these three rays of X-ray, gamma-rays, neutron ray,
It is often used in non-destructive testing, wherein X-ray and gamma-rays are widely used in boilers and pressure vessel weld seam and other industrial products, knot
The defects detection of structure material, and neutron ray is only used for some special occasions, can specifically be selected according to different application scenarios
Select corresponding suitable radiation-emitting device.
More than, only a specific embodiment of the invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with
Those skilled in the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of flaw detection robot, the flaw detection robot climbs wall device and second including first and climbs wall device, and described first climbs
Radiation-emitting device is installed, described second climbs and be equipped with ray reception device on wall device, and described second climbs wall on wall device
Device is climbed wall device with described first and is moved synchronously, and the radiation-emitting device and the ray reception device are located at relatively
The symmetrical position inside and outside wall to be measured.
2. robot according to claim 1, which is characterized in that the radiation-emitting device and the ray reception device
It is located at described first and climbs wall device and described second and climb position symmetrical on wall device, the robot further includes first
Control device and second control device, the first control device are installed on described first and climb on wall device, described for controlling
First climbs wall device advances along working face setting path；The second control device is installed on described second and climbs on wall device, uses
Climb wall device in control described second and climb wall device with described first and move synchronously, and make described second climb wall device positioned at and institute
It states first and climbs wall device relative to the symmetrical position of wall to be measured.
3. robot according to claim 2, which is characterized in that the radiation-emitting device is equipped with identification piece, described
Second control device includes pattern recognition device and control processor, described image identification device and the ray reception device phase
Connection, the control processor are connected with described image identification device, and described image identification device is used for according to the mark
The projection calculating described second of part climbs wall device and described first and climbs the position deviation of wall device, and is sent to control processor；
The control processor is used to the received position deviation be converted into drive control parameter and then according to the drive control
Second displacement for climbing wall device described in state modulator.
4. robot according to claim 3, which is characterized in that described image identification device and the ray reception device
It is connected by wired or wireless mode, the control processor and described image identification device pass through wired or wireless side
Formula is connected.
5. robot according to claim 3, which is characterized in that the identification piece is set to the radiation-emitting device
At launch window, the identification piece is cross wire.
6. robot according to claim 2, which is characterized in that the second control device is by climbing wall device to second
Setting, which with described first climbs the identical travelling route of wall device and climbs wall device and described first controlling described second, climbs wall device
It moves synchronously.
7. robot according to claim 1 or 2, which is characterized in that the robot further includes monitoring device, the prison
It surveys device and climbs wall device and second with described first respectively by wired or wireless mode and climb wall device and be connected, the monitoring
Device climbs the coordinate information and image information of wall device for acquiring and handling described first and climb wall device and described second.
8. robot according to claim 7, which is characterized in that the monitoring device includes total station, the monitoring dress
It sets through the total station to acquire described first and climb wall device and described second and climbs the location information of wall device.
9. robot according to claim 1 or 2, which is characterized in that described first climbs wall device and/or second climb wall
It is set to permanent magnetism wall-climbing device device.
10. robot according to claim 1 or 2, which is characterized in that the radiation-emitting device includes X-ray emission
One of device, gamma ray emitting device and neutron ray emitter are a variety of.
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