CN110816702B - Close type bridge crack detection robot with combined wing wheels - Google Patents
Close type bridge crack detection robot with combined wing wheels Download PDFInfo
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- CN110816702B CN110816702B CN201911111045.5A CN201911111045A CN110816702B CN 110816702 B CN110816702 B CN 110816702B CN 201911111045 A CN201911111045 A CN 201911111045A CN 110816702 B CN110816702 B CN 110816702B
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- 238000001514 detection method Methods 0.000 title claims abstract description 70
- 238000004891 communication Methods 0.000 claims abstract description 22
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- 238000005259 measurement Methods 0.000 claims description 13
- 238000005507 spraying Methods 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 7
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 4
- 239000004917 carbon fiber Substances 0.000 claims description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical group C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 239000012780 transparent material Substances 0.000 claims description 3
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- 238000012423 maintenance Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 239000011248 coating agent Substances 0.000 description 3
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- 230000002493 climbing effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses a wing wheel combined approach type bridge crack detection robot, which belongs to the technical field of robots and comprises a movable trolley, a rotor wing mechanism, a control system and a mobile terminal, wherein the movable trolley is arranged on the movable trolley; the rotor wing mechanism is provided with two propellers, and the two propellers rotate reversely under the driving of the two rotating motors; the control system comprises a control module, a detection module, a motor driving module, a power supply module and a wireless communication module; the camera of the detection module is used for collecting image information of the surface of the bridge and transmitting the image information to the control module, and the control module analyzes according to the image information and judges whether cracks exist on the surface of the bridge or not; the distance meter of the detection module is used for measuring the size of the crack; the wireless communication module is used for carrying out information interaction with the mobile terminal; the invention solves the problem that the existing automatic detection equipment for detecting the bridge cracks has accuracy which cannot meet the detection requirement.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wing wheel combined approach type bridge crack detection robot.
Background
In recent years, a large amount of infrastructure in China enters a later management and maintenance period, an important structure, namely a bridge, is the key point of management and maintenance of the infrastructure, and the main technical means of management and maintenance is to regularly detect the bridge so as to know the disease condition of the bridge and evaluate the operation state of the bridge. At present, the detection period of bridge structures in China is generally 3 years. Because the number of bridges is huge in China, the workload of bridge detection is very large. For concrete bridges, the damage which has the greatest influence on the safety and durability of the structure is structural cracks, so the cracks are the detection key points of the bridges, the trend, the length and the width of the cracks (the precision requirement is 0.01mm) need to be measured at the same time, the cracks of partial bridges are very large, and the detection workload is also huge.
At present, the concrete bridge crack is mainly detected by adopting the technical means of manual detection, unmanned detection, remote camera shooting identification and the like. The manual detection can achieve the precision of measuring the width by 0.01mm, but people need to be carried to the crack by various means, for a long and large bridge, the carrying economic cost is very high, the detection efficiency is very low, the safety risk is very high, and a plurality of parts (such as high piers and bridge tower space arch ribs) cannot reach the detection. The automatic unmanned methods such as unmanned detection, remote camera identification and the like can solve the problems of high personnel carrying cost, low detection efficiency, large risk and incapability of reaching, and can realize automatic unmanned detection on bridge cracks, but because the two methods are non-contact and relatively remote measurement methods, the measurement on the length and the trend of the cracks can meet the detection precision requirement, but the measurement on the width of the cracks can only reach the precision of 0.1mm at most, and the detection precision requirement cannot be completely met. Therefore, an automatic, unmanned, high-precision and high-efficiency bridge crack detection technical means is sought to solve the problems encountered in the current detection.
Disclosure of Invention
In view of the above, there is a need for a near-type bridge crack detection robot with combined wing wheels, which is used to solve the problem that the existing automatic detection equipment for detecting bridge cracks has accuracy that does not meet the detection requirement.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a wing wheel combined approach type bridge crack detection robot comprises a mobile trolley, a rotor wing mechanism, a control system and a mobile terminal; the movable trolley comprises a trolley body and four wheels symmetrically arranged on the left side and the right side of the trolley body, each wheel is connected with a driving motor, and the driving motors are fixedly connected with the trolley body;
the rotor wing mechanism comprises two propellers, two rotating motors and a fixed shaft; the middle part of the moving trolley is provided with a rotor wing assembling hole, and the fixed shaft is arranged in the rotor wing assembling hole and is coaxial with the rotor wing assembling hole; the fixed shaft is fixedly connected with the vehicle body through a connecting rod; the two rotating motors are respectively arranged at two ends of the fixed shaft, and output shafts of the two rotating motors are coaxial with the fixed shaft; the two propellers are respectively and fixedly connected with output shafts of the two rotating motors, the two rotating motors respectively drive the two propellers to rotate, and the rotating directions of the two propellers are opposite;
the control system comprises a control module, a detection module, a motor driving module, a power supply module and a wireless communication module; the control module, the motor driving module, the power supply module and the wireless communication module are all arranged in the vehicle body; the detection module comprises a camera and a distance meter which are arranged on the front side of the vehicle body, and the motor driving module comprises four first motor drivers and two second motor drivers; the camera, the range finder, the four first motor drivers, the two second motor drivers, the power supply module and the wireless communication module are all connected with the control module; the four first motor drivers are respectively connected with four driving motors, and the two second motor drivers are respectively connected with two rotating motors; the four first motor drivers and the two second motor drivers are connected with the power supply module; the wireless communication module is in wireless connection with the mobile terminal;
the camera is used for collecting image information of the surface of the bridge and transmitting the image information to the control module, and the control module analyzes according to the image information and judges whether cracks exist on the surface of the bridge or not; the control module also sends the image information to the mobile terminal through the wireless communication module; the distance meter is used for measuring the size of the crack and sending the measurement data to the control module, and the control module also sends the measurement data to the mobile terminal through the wireless communication module.
Preferably, the control system further comprises a GPS positioning module arranged in the vehicle body, and the GPS positioning module is connected with the control module.
Preferably, the control system further comprises a path planning module arranged in the vehicle body and an obstacle avoidance sensor arranged on the front side of the vehicle body, and the path planning module and the obstacle avoidance sensor are both connected with the control module.
Preferably, the control system further comprises a gyroscope arranged in the vehicle body, and the gyroscope is connected with the control module; the gyroscope is used for detecting whether the advancing direction of the mobile trolley has an angle deviation compared with the path planned by the path planning module; if the angle deviation occurs, the control module controls the corresponding driving motor to act through the first motor driver, and the advancing direction of the moving trolley is corrected.
Preferably, the power supply module is a detachable lithium battery.
Preferably, the material of the vehicle body is carbon fiber.
Preferably, the wheel is sleeved with an anti-slip silica gel pad.
Preferably, a spraying device is arranged on the vehicle body; the spraying device comprises a micro pressure pump and two paint bottles; the micro pressure pump is arranged in the vehicle body and is connected with the power supply module through a relay, and the control end of the relay is connected with the control module; the two paint bottles are symmetrically arranged on the left side and the right side of the middle part of the car body, and each paint bottle comprises a bottle cap, a bottle body, an atomizing spray head, a liquid guide hose and a gravity ball; the bottle body is connected with the vehicle body, paint which is obviously different from the color of the surface of the bridge is loaded in the bottle body, and the bottle cap is arranged at the top of the bottle body and is in threaded connection with the bottle body; the atomizing nozzle is arranged at the bottom of the bottle body, the liquid guide hose is arranged in the bottle body, one end of the liquid guide hose is connected with the atomizing nozzle, and the other end of the liquid guide hose is provided with the gravity ball; the air outlet of the micro pressure pump is respectively communicated with the inner cavities of the two bottle bodies through two air pipes.
Preferably, the bottle body is made of a transparent material, and the bottle body is provided with a volume scale.
Preferably, a sealing ring is arranged between the bottle body and the bottle cap.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. the invention integrates two power structures of a rotor wing mechanism and wheels, wherein the rotor wing mechanism provides lateral pressure or lift force, and a driving motor connected with the wheels provides movement driving force. The lateral pressure or the lifting force presses the robot to the surface, the side surface or the bottom surface of the bridge structure. When the robot is positioned on the side surface of the structure, the side pressure provides contact pressure between the wheels and the surface of the structure, so that the structure generates static friction force on the wheels of the robot, and when the friction force is balanced with the self weight of the robot, the robot can freely climb and walk on the side surface of the structure. When the robot is positioned on the bottom surface of the structure, the rotor wing mechanism provides lift force to balance the dead weight of the robot, and the robot can freely walk close to the bottom surface of the structure to form a wall climbing effect. The high-precision camera and the range finder are arranged on the robot, so that the high-precision detection on the length, the width and the trend of the bridge crack is realized. The robot can cling to the bridge, the side surface of the bridge pier, the bottom surface and the side surface of the superstructure to freely move and crawl, the approach type high-precision detection of the crack of the bridge structure is realized, and the detection precision of the crack meets the precision requirement of the detection specification. The robot can reach any designated position of a bridge, the detection cost is obviously lower than that of manual detection, the robot can also reach the bridge position which cannot be reached by conventional manual detection, and great convenience is brought to detection personnel.
2. The rotor wing mechanism is provided with the two propellers, the two propellers are coaxially arranged in the vehicle body, the rotating directions of the two propellers are opposite, the problem of unbalanced torque generated by rotation of a single propeller is solved, and compared with a conventional structure with a plurality of propellers arranged externally, the rotor wing mechanism is provided with the structure with the propellers arranged internally, so that the whole structure of the robot is simpler and smaller, and the robot can walk on the surface of a bridge and perform measurement work conveniently.
3. The control system is provided with a path planning module, a path planning algorithm is embedded in the path planning module, so that the robot has a function of intelligently planning a route, and the obstacle avoidance sensor is arranged, so that the robot can automatically avoid obstacles in the traveling process; due to the arrangement of the gyroscope, the robot can automatically correct the advancing direction, and the detection task is ensured to be smoothly carried out.
4. The control system is provided with the GPS positioning module, so that detection personnel can conveniently position the robot and the position of a bridge crack, and in addition, the robot is also provided with a spraying device for spraying a mark near the crack, so that bridge maintenance personnel can conveniently treat the crack subsequently; when the robot finds a crack, the robot automatically walks to the side of the crack for measurement, meanwhile, the control module controls the micro pressure pump to work through the relay, the air pressure in the paint bottle is increased, and the extrusion paint is sprayed out through the liquid guide hose and the atomizing nozzle; when the robot drives away from the crack, the control module controls the micro pressure pump to stop working through the relay; because the color of the coating is obviously different from the color of the surface of the bridge, two marked marks can be left near the positions of the cracks by the two atomizing nozzles, and bridge maintenance personnel can quickly find the cracks according to the marks so as to carry out crack repairing work.
Drawings
FIG. 1 is a schematic diagram of an external structure of a proximity bridge crack detection robot according to an embodiment of the present invention;
figure 2 is a schematic view of an installation of a rotor mechanism provided by an embodiment of the present invention;
FIG. 3 is a schematic view showing the internal structure of a paint bottle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of electrical connections of the approach bridge crack detection robot according to the embodiment of the present invention;
the main reference symbols in the drawings are as follows:
in the attached drawing, 1-vehicle body, 2-wheel, 3-driving motor, 4-rotor mechanism, 5-rotor assembly hole, 6-propeller, 7-rotating motor, 8-fixed shaft, 9-connecting rod, 10-paint bottle, 11-bottle cap, 12-bottle body, 13-atomizing spray head, 14-liquid guide hose, 15-gravity ball, 16-control module, 17-detection module, 18-camera, 19-distance meter, 20-motor driving module, 21-first motor driver, 22-second motor driver, 23-power supply module, 24-wireless communication module, 25-GPS positioning module, 26-path planning module, 27-obstacle avoidance sensor, 28-gyroscope, 29-micro pressure pump, 30-relay, 31-mobile terminal.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The drawings are only for purposes of illustration and are not intended to be limiting, certain elements of the drawings may be omitted, enlarged or reduced to better illustrate the embodiments of the present invention, and do not represent the size of the actual product, and it is understood that some well-known structures, elements and descriptions thereof in the drawings may be omitted for persons skilled in the art.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Examples
As shown in fig. 1-4, a wing-wheel combined approach type bridge crack detection robot includes a mobile cart, a rotor mechanism 4, a control system, and a mobile terminal 31. The travelling car includes that automobile body 1 and symmetry locate the four wheels 2 of the 1 left and right sides of automobile body, and each wheel 2 all is connected with a driving motor 3, and driving motor 3 fixed connection automobile body 1, driving motor 3 drive wheel 2 rotates. The material of the vehicle body 1 is carbon fiber, and the carbon fiber has strong mechanical strength and can effectively reduce the self weight of the vehicle body 1. The wheel 2 is sleeved with the anti-skidding silica gel pad, so that the friction force between the wheel 2 and the surface of the bridge is enhanced, and the wheel 2 can walk on the surface of the bridge more conveniently.
The rotor mechanism 4 includes two propellers 6, two rotating electrical machines 7, and a fixed shaft 8. Rotor pilot hole 5 has been seted up at travelling car's middle part, and fixed axle 8 is located in rotor pilot hole 5 to with the coaxial setting of rotor pilot hole 5. The fixed shaft 8 is fixedly connected with the vehicle body 1 through a connecting rod 9, the two rotating motors 7 are respectively arranged at two ends of the fixed shaft 8, and the output shaft of the rotating motors is coaxial with the fixed shaft 8. The two propellers 6 are respectively and fixedly connected with output shafts of the two rotating motors 7, the two rotating motors 7 respectively drive the two propellers 6 to rotate, and the rotating directions of the two propellers 6 are opposite. The two propellers 6 are coaxially arranged in the vehicle body 1, the rotating directions of the two propellers 6 are opposite, the problem that unbalanced torque is generated due to the rotation of a single propeller 6 is solved, and compared with a conventional structure with a plurality of propellers 6 arranged externally, the robot has the advantages that the overall structure of the robot is simpler and smaller, and the robot is more convenient to walk on the surface of a bridge and execute measurement work due to the fact that the structure with the propellers 6 arranged internally is adopted.
The control system comprises a control module 16, a detection module 17, a motor driving module 20, a power supply module 23, a wireless communication module 24, a GPS positioning module 25, a path planning module 26, an obstacle avoidance sensor 27 and a gyroscope 28. In this embodiment, control module 16 is the singlechip, and power module 23 is detachable lithium cell, makes things convenient for the measurement personnel to carry out the power change operation to the robot, ensures that detection achievement is not interrupted. The control module 16, the motor driving module 20, the power supply module 23, the wireless communication module 24, the GPS positioning module 25, the path planning module 26 and the gyroscope 28 are all arranged in the vehicle body 1, and the obstacle avoidance sensor 27 is arranged on the front side of the vehicle body 1. The detection module 17 comprises a camera 18 and a distance meter 19 which are arranged on the front side of the vehicle body 1, and the motor driving module 20 comprises four first motor drivers 21 and two second motor drivers 22. The camera 18, the distance measuring instrument 19, the four first motor drivers 21, the two second motor drivers 22, the power supply module 23, the wireless communication module 24, the GPS positioning module 25, the path planning module 26, the obstacle avoidance sensor 27 and the gyroscope 28 are all connected with the control module 16. The four first motor drivers 21 are respectively connected with the four driving motors 3, the two second motor drivers 22 are respectively connected with the two rotating motors 7, and the four first motor drivers 21 and the two second motor drivers 22 are both connected with the power supply module 23. The wireless communication module 24 is wirelessly connected with the mobile terminal 31. In this embodiment, the mobile terminal 31 is a notebook computer, and the inspector performs information interaction with the wireless communication module 24 on the mobile cart through the notebook computer.
The camera 18 is configured to collect image information of the bridge surface and transmit the image information to the control module 16, and the control module 16 performs analysis according to the image information to determine whether there is a crack on the bridge surface. The control module 16 also transmits the image information to the mobile terminal 31 through the wireless communication module 24 for the inspection person to view. The distance meter 19 is used for measuring the size of the crack and sending the measurement data to the control module 16, and the control module 16 also sends the measurement data to the mobile terminal 31 through the wireless communication module 24. The path planning module 26 embeds a path planning algorithm, so that the robot has a function of intelligently planning a route. The obstacle avoidance sensor 27 is arranged, so that the robot can automatically avoid obstacles in the process of traveling. In this embodiment, the obstacle avoidance sensor 27 is an ultrasonic sensor. The GPS positioning module 25 is convenient for the detection personnel to position the robot and the crack of the bridge. The gyroscope 28 is used for detecting whether the advancing direction of the mobile trolley has an angle deviation compared with the path planned by the path planning module 26; if the angle deviation occurs, the control module 16 controls the corresponding driving motor 3 to act through the first motor driver 21, so as to correct the advancing direction of the mobile trolley. The gyroscope 28 is arranged, so that the robot can automatically correct the advancing direction, and the detection task is ensured to be smoothly carried out.
In addition, the vehicle body 1 is provided with a painting device including a micro pressure pump 29 and two paint bottles 10. The micro pressure pump 29 is arranged in the vehicle body 1 and is connected with the power supply module 23 through a relay 30, and the control end of the relay 30 is connected with the control module 16. Two paint bottles 10 are symmetrically arranged on the left and right sides of the middle part of the vehicle body 1, and each paint bottle 10 comprises a bottle cap 11, a bottle body 12, an atomizing nozzle 13, a liquid guide hose 14 and a gravity ball 15. The bottle body 12 is made of transparent materials, the bottle body 12 is provided with capacity scales, the bottle body 12 is connected with the vehicle body 1, and paint which is obviously different from the surface color of the bridge is loaded in the bottle body 12. The bottle cap 11 is arranged on the top of the bottle body 12 and is in threaded connection with the bottle body 12, and a sealing ring is arranged between the bottle body 12 and the bottle cap 11 to ensure the sealing performance between the bottle body 12 and the bottle cap 11. The atomizer 13 is arranged at the bottom of the bottle body 12, the liquid guiding hose 14 is arranged in the bottle body 12, one end of the liquid guiding hose 14 is connected with the atomizer 13, the other end of the liquid guiding hose 14 is provided with a gravity ball 15, and the gravity ball 15 is used for sinking one end of the liquid guiding hose 14, which is far away from the atomizer 13, into the coating. The air outlet of the micro pressure pump 29 is respectively communicated with the inner cavities of the two bottle bodies 12 through two air pipes. In this embodiment, the two air pipes are both provided with one-way air valves, so that air can only enter the bottle body 12 in one way, and the liquid in the bottle body 12 is prevented from flowing backwards.
The spraying device is used for spraying marks near the cracks, so that bridge maintenance personnel can conveniently treat the cracks subsequently; when the robot finds a crack, the robot automatically walks to the side of the crack for measurement, and meanwhile, the control module 16 controls the micro pressure pump 29 to work through the relay 30, so that the air pressure in the paint bottle 10 is increased, and the paint is extruded to be sprayed out through the liquid guide hose 14 and the atomizing spray head 13; when the robot drives away from the crack, the control module 16 controls the micro pressure pump 29 to stop working through the relay 30. Because the color of the coating is obviously different from the color of the surface of the bridge, two marked marks can be left near the positions of the cracks by the two atomizing nozzles 13, and bridge maintenance personnel can quickly find the cracks according to the marks so as to carry out crack repairing work.
The invention integrates two power structures of the rotor wing mechanism 4 and the wheels 2, the rotor wing mechanism 4 provides lateral pressure or lift force, and the driving motor 3 connected with the wheels 2 provides movement driving force. The lateral pressure or the lifting force presses the robot to the surface, the side surface or the bottom surface of the bridge structure. When the robot is positioned on the side surface of the structure, the side pressure provides contact pressure between the wheels 2 and the surface of the structure, so that the structure generates static friction force on the wheels 2 of the robot, and when the friction force is balanced with the self weight of the robot, the robot can freely climb and walk on the side surface of the structure. When the robot is positioned on the bottom surface of the structure, the rotor wing mechanism 4 provides lift force to balance the self weight of the robot, and the robot can freely walk close to the bottom surface of the structure to form a wall climbing effect. And a high-precision camera 18 and a distance meter 19 which are arranged on the robot realize high-precision detection of the length, width and trend of the bridge crack. The robot can cling to the bridge, the side surface of the bridge pier, the bottom surface and the side surface of the superstructure to freely move and crawl, the approach type high-precision detection of the crack of the bridge structure is realized, and the detection precision of the crack meets the precision requirement of the detection specification. The robot can reach any designated position of a bridge, the detection cost is obviously lower than that of manual detection, the robot can also reach the bridge position which cannot be reached by conventional manual detection, and great convenience is brought to detection personnel.
The above description is intended to describe in detail the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the claims of the present invention, and all equivalent changes and modifications made within the technical spirit of the present invention should fall within the scope of the claims of the present invention.
Claims (10)
1. The utility model provides a close formula bridge crack detection robot that approaches that wing wheel combines, includes the travelling car, the travelling car includes that automobile body and symmetry are located the four wheels of the automobile body left and right sides, each wheel all is connected with a driving motor, driving motor fixed connection the automobile body, its characterized in that: the system also comprises a rotor wing mechanism, a control system and a mobile terminal;
the rotor wing mechanism comprises two propellers, two rotating motors and a fixed shaft; the middle part of the moving trolley is provided with a rotor wing assembling hole, and the fixed shaft is arranged in the rotor wing assembling hole and is coaxial with the rotor wing assembling hole; the fixed shaft is fixedly connected with the vehicle body through a connecting rod; the two rotating motors are respectively arranged at two ends of the fixed shaft, and output shafts of the two rotating motors are coaxial with the fixed shaft; the two propellers are respectively and fixedly connected with output shafts of the two rotating motors, the two rotating motors respectively drive the two propellers to rotate, and the rotating directions of the two propellers are opposite;
the control system comprises a control module, a detection module, a motor driving module, a power supply module and a wireless communication module; the control module, the motor driving module, the power supply module and the wireless communication module are all arranged in the vehicle body; the detection module comprises a camera and a distance meter which are arranged on the front side of the vehicle body, and the motor driving module comprises four first motor drivers and two second motor drivers; the camera, the range finder, the four first motor drivers, the two second motor drivers, the power supply module and the wireless communication module are all connected with the control module; the four first motor drivers are respectively connected with four driving motors, and the two second motor drivers are respectively connected with two rotating motors; the four first motor drivers and the two second motor drivers are connected with the power supply module; the wireless communication module is in wireless connection with the mobile terminal;
the camera is used for collecting image information of the surface of the bridge and transmitting the image information to the control module, and the control module analyzes according to the image information and judges whether cracks exist on the surface of the bridge or not; the control module also sends the image information to the mobile terminal through the wireless communication module; the distance meter is used for measuring the size of the crack and sending the measurement data to the control module, and the control module also sends the measurement data to the mobile terminal through the wireless communication module.
2. The wing-wheel-combined approach type bridge crack detection robot as claimed in claim 1, wherein: the control system further comprises a GPS positioning module arranged in the vehicle body, and the GPS positioning module is connected with the control module.
3. The wing-wheel-combined approach type bridge crack detection robot as claimed in claim 2, wherein: the control system further comprises a path planning module arranged in the vehicle body and an obstacle avoidance sensor arranged on the front side of the vehicle body, and the path planning module and the obstacle avoidance sensor are connected with the control module.
4. The wing-wheel-combined approach type bridge crack detection robot as claimed in claim 3, wherein: the control system also comprises a gyroscope arranged in the vehicle body, and the gyroscope is connected with the control module; the gyroscope is used for detecting whether the advancing direction of the mobile trolley has an angle deviation compared with the path planned by the path planning module; if the angle deviation occurs, the control module controls the corresponding driving motor to act through the first motor driver, and the advancing direction of the moving trolley is corrected.
5. The wing-wheel-combined approach type bridge crack detection robot as claimed in claim 1, wherein: the power supply module is a detachable lithium battery.
6. The wing-wheel-combined approach type bridge crack detection robot as claimed in claim 1, wherein: the material of the car body is carbon fiber.
7. The wing-wheel-combined approach type bridge crack detection robot as claimed in claim 6, wherein: the wheel is sleeved with an anti-slip silica gel pad.
8. The wing-wheel-combined approach type bridge crack detection robot as claimed in claim 1, wherein: a spraying device is arranged on the vehicle body; the spraying device comprises a micro pressure pump and two paint bottles; the micro pressure pump is arranged in the vehicle body and is connected with the power supply module through a relay, and the control end of the relay is connected with the control module; the two paint bottles are symmetrically arranged on the left side and the right side of the middle part of the car body, and each paint bottle comprises a bottle cap, a bottle body, an atomizing spray head, a liquid guide hose and a gravity ball; the bottle body is connected with the vehicle body, paint which is obviously different from the color of the surface of the bridge is loaded in the bottle body, and the bottle cap is arranged at the top of the bottle body and is in threaded connection with the bottle body; the atomizing nozzle is arranged at the bottom of the bottle body, the liquid guide hose is arranged in the bottle body, one end of the liquid guide hose is connected with the atomizing nozzle, and the other end of the liquid guide hose is provided with the gravity ball; the air outlet of the micro pressure pump is respectively communicated with the inner cavities of the two bottle bodies through two air pipes.
9. The wing-wheel-coupled approach bridge crack detection robot of claim 8, wherein: the bottle body is made of transparent materials, and the bottle body is provided with capacity scales.
10. The wing-wheel-coupled approach bridge crack detection robot of claim 9, wherein: and a sealing ring is arranged between the bottle body and the bottle cap.
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| CN115387214A (en) * | 2022-06-07 | 2022-11-25 | 长沙理工大学 | Ground penetrating radar automatic detection device with wall climbing and face changing crawling functions and detection method |
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