CN112874648A - Wall crack detection robot based on ducted fan adsorption type - Google Patents
Wall crack detection robot based on ducted fan adsorption type Download PDFInfo
- Publication number
- CN112874648A CN112874648A CN202011644781.XA CN202011644781A CN112874648A CN 112874648 A CN112874648 A CN 112874648A CN 202011644781 A CN202011644781 A CN 202011644781A CN 112874648 A CN112874648 A CN 112874648A
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- ducted fan
- crack detection
- steering
- wheel
- load plate
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- 238000001514 detection method Methods 0.000 title claims abstract description 17
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 9
- 238000010191 image analysis Methods 0.000 claims abstract description 5
- 238000004458 analytical method Methods 0.000 claims abstract description 4
- 230000009467 reduction Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
The invention discloses a ducted fan adsorption type wall surface crack detection robot, which effectively solves the problem of inconvenience in wall surface crack detection of the existing large building; the robot comprises a robot main body, a motion control system, an image acquisition system and an image analysis system, wherein the robot main body comprises two planet wheels and a load plate, the planet wheels are respectively arranged on two sides of the load plate, two steering engines are arranged on the top end of the load plate, the two steering engines respectively control the motion of the planet wheels on the corresponding sides, a ducted fan is arranged on the top end of the load plate, the image acquisition system and the analysis system are arranged at the bottom end of the load plate, and the motion control system mainly adopts an AVR framework single chip microcomputer to control the ducted fan and the steering engines.
Description
Technical Field
The invention belongs to the technical field of robot design, and particularly relates to a ducted fan adsorption type wall surface crack detection robot.
Background
With the rapid development of economy, the detection and maintenance requirements of the outer walls of a plurality of large buildings are increasing day by day; the large building is different from the tank body and the pipeline, and the surface of the large building is provided with a plurality of connecting transition parts, so that the detection and maintenance difficulty is greatly increased; at present, the work is mainly replaced by manpower, the danger degree is high, and the efficiency is very low.
Disclosure of Invention
The invention aims to provide a ducted fan adsorption type wall surface crack detection robot, which effectively solves the problem that the wall surface crack detection of the existing large building is inconvenient.
The technical scheme adopted by the invention is as follows:
the utility model provides a wall crack detection robot based on ducted fan adsorbs formula, includes the robot main part, and motion control system, image acquisition system and image analysis system, the robot main part includes planet wheel and load board, and the planet wheel has two, and installs respectively in the both sides of load board, and two steering engines are installed to load board top, and two steering engines control its planet wheel motion that corresponds the side respectively, and the ducted fan is installed on load board top, and image acquisition system and analysis system install in the load board bottom, motion control system has mainly adopted AVR framework singlechip to control ducted fan and steering engine.
Preferably, the two planet wheels adopt single-arm two-stage gears, and are in a two-stage meshed special-shaped wheel structure, and the outer sides of the two planet wheels are wrapped by sponge.
Preferably, the number of the ducted fans is four, and the four ducted fans are respectively fixed on the load plate through elastic rubber rings.
Preferably, the steering engine is fixedly connected with the load plate through a steering engine bracket.
Preferably, the lower end of the load plate is provided with a spherical wheel.
Preferably, the motion control system comprises a model airplane battery, an electric regulator, a brushless motor control module, a voltage reduction module, a steering engine control module and a Bluetooth module, the electric regulator is four and is in one-to-one correspondence with the ducted fans respectively, the model airplane battery supplies power for the electric regulator, the electric regulator controls the ducted fans to rotate through the brushless motor module, the model airplane battery reduces the voltage to the voltage which can be used by the steering engine through the voltage reduction module and supplies power for the two steering engines, the Bluetooth module receives signals of a mobile phone end, the steering engine control module is output according to the received signals of the mobile phone end, and the steering engine control module controls the steering engine to move.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the invention, the ducted fan adsorbs the robot main body on the wall surface, the steering engine controls the planet wheel to drive the robot main body to move, and the robot main body drives the image acquisition system and the image analysis system to shoot and transmit the wall surface, so that the participation degree of workers is reduced, the safety of the workers is improved, and the working efficiency of detection personnel is improved.
2. According to the invention, due to the arrangement of the sponge, the contact area between the planet wheel and the wall is increased, the friction coefficient between the planet wheel and the wall is improved, and the stability of the robot body to move is increased.
3. According to the invention, the movement control system is arranged, so that the robot body can be remotely operated to move conveniently, the moving range of the robot body is improved, and the working difficulty of operators is reduced.
Drawings
Fig. 1 is an isometric view of the present invention.
Fig. 2 is a right side view of the present invention.
The labels in the figure are: the robot comprises a robot main body 1, a motion control system 2, planet wheels 101, a load plate 102, a steering engine 3, a ducted fan 4, sponge 5, an elastic rubber ring 6, a steering engine support 7, spherical wheels 8 and a model airplane battery 9.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments.
Example 1:
the robot comprises a robot main body 1, a motion control system 2, an image acquisition system and an image analysis system, wherein the robot main body 1 comprises planet wheels 101 and a load plate 102, the planet wheels 101 are two and are respectively installed on two sides of the load plate 102, two steering engines 3 are installed at the top end of the load plate 102, the two steering engines 3 respectively control the planet wheels 101 on the corresponding sides to move, the ducted fan 4 is installed at the top end of the load plate 102, the image acquisition system and the analysis system are installed at the bottom end of the load plate 102, and the motion control system 2 mainly adopts an AVR framework single chip microcomputer to control the ducted fan 4 and the steering engines 3.
The working principle is as follows: the control system is used for controlling the ducted fan 4 to rotate, the robot main body 1 is fixed on the wall surface, the control system is used for controlling the two steering engines 3 to move, the two steering engines 3 respectively drive the planet wheels 101 on the corresponding sides to rotate, the planet wheels 101 drive the load plates 102 to move, and therefore the whole robot main body 1 moves.
Example 2:
in this embodiment, on the basis of the embodiment, preferably, as shown in the figure, the two planetary wheels 101 adopt a single-arm two-stage gear, and through a two-stage meshed special-shaped wheel structure, the outer sides of the two planetary wheels 101 are wrapped by the sponge 5. The contact area with the wall is increased, the friction coefficient is improved, and the robot main body 1 is convenient to drive to move.
Example 3:
in this embodiment, preferably, four ducted fans 4 are fixed on the load plate 102 through elastic rubber rings 6, so that the suction force of the ducted fans 4 is increased, and the robot body 1 can be fixed on a wall conveniently.
Example 4:
in this embodiment, it is preferable that the lower end of the load plate 102 is provided with a spherical wheel 8. The spherical wheel 8 can offset the pitching degree of freedom of the robot body, and the control difficulty of the robot is reduced.
Example 5:
this embodiment is on the basis of the embodiment, and is preferred, is given by the figure, motion control system 2 include model aeroplane and model ship battery 9, electricity accent, brushless motor control module, step-down module, steering engine control module and bluetooth module, electricity accent has four, and respectively with duct fan 4 one-to-one, model aeroplane and model ship battery 9 gives electricity accent power supply, electricity accent is rotated through brushless motor module control duct fan 4, model aeroplane and model ship battery 9 is through step-down module with voltage drop to steering engine 3 usable voltage and for two steering engine 3 power supplies, bluetooth module receives the signal of cell-phone end, according to the steering engine control module of the cell-phone end signal output that receives, steering engine control module control steering engine 3 motion.
The working principle is as follows: model aeroplane and model ship battery 9 is for electricity to transfer the power supply, electricity is transferred and is rotated through brushless motor module control duct fan 4, duct fan 4 fixes robot main part 1 on the wall, and simultaneously, model aeroplane and model ship battery 9 is through voltage reduction module with voltage reduction to the usable voltage of steering wheel 3 and for two steering wheel 3 power supplies, receives the signal of cell-phone end as bluetooth module, according to the cell-phone end signal output who receives to steering wheel control module, 3 movements of steering wheel control module control steering wheel, for example: when the bluetooth module received signal "1", steering wheel control module control steering wheel 3 drives robot main part 1 low-speed removal, and when bluetooth module received signal "F", steering wheel control module control steering wheel 3 drives robot main part 1 and moves forward.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. The utility model provides a wall crack detection robot based on ducted fan adsorbs formula, includes robot main part (1), motion control system (2), image acquisition system and image analysis system, a serial communication port, robot main part (1) includes planet wheel (101) and load board (102), and planet wheel (101) have two, and install respectively in the both sides of load board (102), and two steering wheel (3) are installed on load board (102) top, and its planet wheel (101) motion that corresponds the side is controlled respectively in two steering wheel (3), and ducted fan (4) are installed on load board (102) top, and image acquisition system and analysis system install in load board (102) bottom, motion control system (2) have mainly adopted AVR framework singlechip to control ducted fan (4) and steering wheel (3).
2. The ducted fan adsorption type wall surface crack detection robot is characterized in that the two planet wheels (101) are single-arm two-stage gears, the two planet wheels (101) are of a two-stage meshed special-shaped wheel structure, and the outer sides of the two planet wheels (101) are wrapped by sponge (5).
3. The ducted fan adsorption-based wall crack detection robot according to claim 1, wherein four ducted fans (4) are respectively fixed on the load plate (102) through elastic rubber rings (6).
4. The ducted fan adsorption type wall crack detection robot based on the claim 1 is characterized in that the steering engine (3) is fixedly connected with the load plate (102) through a steering engine support.
5. The ducted fan suction type wall crack detection robot according to claim 1, wherein the lower end of the load plate (102) is provided with a spherical wheel (8).
6. The wall surface crack detection robot based on the ducted fan adsorption type is characterized in that the motion control system (2) comprises a model airplane battery (9), an electric regulator, a brushless motor control module, a voltage reduction module, a steering engine control module and Bluetooth modules, the number of the electric regulators is four, the electric regulators correspond to the ducted fans (4) one by one, the model airplane battery (9) supplies power to the electric regulators, the electric regulators control the ducted fans (4) to rotate through the brushless motor modules, the model airplane battery (9) reduces the voltage to the voltage which can be used by the steering engines (3) through the voltage reduction module and supplies power to the two steering engines (3), the Bluetooth modules receive signals of mobile phone ends, the signals are output to the steering engine control module according to the received mobile phone end signals, and the steering engine control module controls the steering engines (3) to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011644781.XA CN112874648A (en) | 2020-12-31 | 2020-12-31 | Wall crack detection robot based on ducted fan adsorption type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011644781.XA CN112874648A (en) | 2020-12-31 | 2020-12-31 | Wall crack detection robot based on ducted fan adsorption type |
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| CN112874648A true CN112874648A (en) | 2021-06-01 |
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| CN202011644781.XA Pending CN112874648A (en) | 2020-12-31 | 2020-12-31 | Wall crack detection robot based on ducted fan adsorption type |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130024067A1 (en) * | 2011-07-18 | 2013-01-24 | The Boeing Company | Holonomic Motion Vehicle for Travel on Non-Level Surfaces |
| CN109203842A (en) * | 2017-06-29 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | Three planetary gear mechanisms of one kind, robot chassis and robot |
| CN110194228A (en) * | 2019-06-24 | 2019-09-03 | 哈尔滨工业大学 | A kind of pressure adsorption formula climbing level robot |
| US20190269567A1 (en) * | 2018-03-01 | 2019-09-05 | Daniel Kao | Driving device capable of walking and stair-climbing by electric power |
| CN211388791U (en) * | 2019-07-31 | 2020-09-01 | 西安交通大学 | Double-vision fused ducted fan type cable corridor inspection robot |
-
2020
- 2020-12-31 CN CN202011644781.XA patent/CN112874648A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130024067A1 (en) * | 2011-07-18 | 2013-01-24 | The Boeing Company | Holonomic Motion Vehicle for Travel on Non-Level Surfaces |
| CN109203842A (en) * | 2017-06-29 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | Three planetary gear mechanisms of one kind, robot chassis and robot |
| US20190269567A1 (en) * | 2018-03-01 | 2019-09-05 | Daniel Kao | Driving device capable of walking and stair-climbing by electric power |
| CN110194228A (en) * | 2019-06-24 | 2019-09-03 | 哈尔滨工业大学 | A kind of pressure adsorption formula climbing level robot |
| CN211388791U (en) * | 2019-07-31 | 2020-09-01 | 西安交通大学 | Double-vision fused ducted fan type cable corridor inspection robot |
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Application publication date: 20210601 |