CN113371092B - Laser-guided multi-degree-of-freedom damage detection wall-climbing robot device - Google Patents
Laser-guided multi-degree-of-freedom damage detection wall-climbing robot device Download PDFInfo
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- CN113371092B CN113371092B CN202110742851.3A CN202110742851A CN113371092B CN 113371092 B CN113371092 B CN 113371092B CN 202110742851 A CN202110742851 A CN 202110742851A CN 113371092 B CN113371092 B CN 113371092B
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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
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The invention relates to a wall climbing robot, in particular to a laser-guided multi-degree-of-freedom damage detection wall climbing robot device. The automobile comprises an automobile body, a guide module is installed on one side of the automobile body, a power supply module is installed at the position, close to the guide module, of the upper side of the automobile body, a wireless transmission module is installed on the automobile body on one side of the power supply module, a detection module is installed at the position, at the middle part of the lower side of the automobile body, magnetic wheel adsorption modules are installed at the positions, close to the guide module, of the detection module in a bilateral symmetry mode, movement modules are installed at the positions, far away from the guide module, of the detection module in a bilateral symmetry mode, a coupling agent spraying module is installed at the side, far away from the guide module, of the automobile body. According to the invention, the modules are built together, so that the building of various elements before the device is used is avoided, the working efficiency of detection is improved, meanwhile, the movement of the vehicle body is controlled through the wireless transmission module, manual detection is avoided, the working intensity of detection is reduced, and the personal safety of detection personnel is ensured.
Description
Technical Field
The invention relates to a wall climbing robot, in particular to a laser-guided multi-degree-of-freedom damage detection wall climbing robot device.
Background
The research directions at home and abroad mainly focus on the research of the wall-climbing robot body and the research and development of nondestructive testing technology, and mainly show that: the automation technology and the nondestructive testing technology are not effectively integrated, the testing module and the robot module respectively work independently, and the integrated design and the motion control of the whole system are lacked, so that the discretization and the geometric dimension of each functional module of the body structure are huge, and the portability of an instrument and the automation of the testing work are seriously influenced; the wall climbing robot is mainly based on a manual operation mode, and for a fixed detection track, particularly a detection path with curvature difference, the guiding precision and the correction timeliness of the wall climbing robot are basically not considered, so that the application range of a detection instrument for welding seams with different structural types is greatly restricted. The crawler and the detecting instrument are seriously separated in function and structure, so that different personnel are required to operate respectively in the detecting process, the detecting efficiency is low, the contactless remote detection of a large-scale structure is particularly difficult to solve, and the work automation is seriously insufficient.
Disclosure of Invention
The invention aims to provide a laser-guided multi-degree-of-freedom damage detection wall-climbing robot device to solve the problems in the background technology.
In order to achieve the purpose, the invention provides a laser-guided multi-degree-of-freedom damage detection wall-climbing robot device which comprises a vehicle body, wherein a guide module is installed on one side of the vehicle body, a power module is installed at a position, close to the guide module, of the upper side of the vehicle body, a wireless transmission module is installed on the vehicle body on one side of the power module, a detection module is installed at the middle of the lower side of the vehicle body, magnetic wheel adsorption modules are installed on the vehicle body, close to the guide module, of the detection module in a bilateral symmetry mode, movement modules are installed on the vehicle body, far away from the guide module, of the detection module in a bilateral symmetry mode, a couplant spraying module is installed on one side, far away from the guide module, of the vehicle body, and a warning module, a control circuit module and an acquisition processing module are installed on the upper side, close to the couplant spraying module, of the vehicle body.
As a further improvement of the technical scheme, the guiding module comprises a video monitor and a laser guide instrument, the video monitor is used for detecting whether the vehicle body deviates or not and feeding information back to the motion module to enable the motion module to adjust the moving direction of the vehicle body, and the laser guide instrument is used for displaying the moving direction of the vehicle body and the deflection angle of the motion track of the vehicle body and capturing the deflection angle of the vehicle body through the video monitor.
As a further improvement of the technical solution, the acquisition processing module is configured to receive information acquired by the detection module and process the received information, and the detection module is configured to detect a condition of a surface to be processed and feed back the detected condition of the surface to the acquisition processing module;
as a further improvement of the technical scheme, the warning module comprises a warning system and a danger identification early warning system and is used for warning the conditions encountered in the moving process of the vehicle body.
As a further improvement of the technical scheme, the wireless transmission module comprises an operation module and a robot carrying module, the operation module and the robot carrying module form a chain-shaped link, the robot carrying module comprises an A/D conversion module, a data preprocessing module and a carrying type communication module, the operation module comprises a control communication module, a data analysis module and a display module, the guiding module, the detection module, the warning module and the data acquisition instruction of the acquisition processing module are combined, data processing feedback information is obtained, 5G wireless communication is carried out between the movement and guiding instruction information and the terminal, and therefore uninterrupted information acquisition and transmission can be achieved.
As a further improvement of the technical scheme, the magnetic wheel adsorption module is used for adsorbing the vehicle body on the surface of the detected object, and has two functions of movement and adsorption, the magnetic wheel of the magnetic wheel adsorption module is formed by sequentially arranging cylindrical yokes-permanent magnets-yokes, and a layer of rubber is sleeved outside the magnetic wheel;
as a further improvement of the technical scheme, the motion module comprises an X-axis drive module for adjusting X-axis movement of the scanning frame, a deviation correction module for a vehicle body running track under Y-axis freedom degree, a position adjustment control module for sensor lifting under Z-axis freedom degree and other multi-degree-of-freedom integrated motions;
as a further improvement of the technical scheme, the couplant spraying module comprises an automatic couplant spraying device, the automatic couplant spraying device comprises a couplant barrel and a spraying device, the inside of the couplant barrel is filled with the couplant, and the spraying device sprays the couplant out.
As a further improvement of the technical scheme, the control circuit module is used for controlling a circuit, and meanwhile, the control circuit module organically connects the guiding module, the detecting module, the wireless transmission module, the magnetic wheel adsorption module, the movement module, the guiding module couplant spraying module and the collecting and processing module together and controls the modules.
As a further improvement of the technical scheme, the power supply module comprises a power supply, a controller and a converter, the controller is connected with the motion module, and the converter adaptively distributes electric energy in the power supply to the detection module, the couplant spraying module, the guiding module, the acquisition processing module and the like.
Compared with the prior art, the invention has the beneficial effects that:
1. in the laser-guided multi-degree-of-freedom damage detection wall-climbing robot device, a plurality of modules are built together, the building of various elements of the device before use is avoided, the hardware integration of the system in the true sense is realized, the work efficiency of detection is greatly improved, meanwhile, the direction of the movement of the vehicle body is detected by the guide module, and the position of the vehicle body is corrected by the motion module, so that the intelligent tracking of the motion track of a crawler is realized, and the high-precision operation of the vehicle body along the preset detection track is ensured.
2. Among this laser direction multi freedom damage detects wall climbing robot device, through the removal of wireless transmission module control automobile body, removed the artifical detection of going by oneself from, reduce detection achievement intensity, save a large amount of inspection costs for the enterprise, and can replace the people to detect at dangerous environmental condition, ensure measurement personnel's personal safety.
Drawings
FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;
FIG. 2 is a schematic view of the overall structure of embodiment 1 of the present invention;
FIG. 3 is an overall block diagram of embodiment 1 of the present invention;
fig. 4 is a chain block diagram of the wireless transmission module according to embodiment 1 of the present invention;
fig. 5 is a circuit diagram of a wireless transmission module according to embodiment 1 of the present invention.
The various reference numbers in the figures mean:
1. a guide module; 2. a detection module; 3. a warning module; 4. a control circuit module; 5. a power supply module; 6. a wireless transmission module; 7. a magnetic wheel adsorption module; 8. a motion module; 9. a video monitor; 10. a laser guide instrument; 11. a couplant spraying module; 12. and the acquisition processing module.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Example 1
The invention provides a laser-guided multi-degree-of-freedom damage detection wall-climbing robot device, please refer to fig. 1-5, which comprises a vehicle body, wherein a guide module 1 is installed on one side of the vehicle body, a power module 5 is installed on the upper side of the vehicle body close to the guide module 1, a wireless transmission module 6 is installed on the vehicle body on one side of the power module 5, a detection module 2 is installed on the middle part of the lower side of the vehicle body, magnetic wheel adsorption modules 7 are symmetrically installed on the vehicle body of the detection module 2 close to the guide module 1, movement modules 8 are symmetrically installed on the vehicle body of the detection module 2 far away from the guide module 1, a couplant spraying module 11 is installed on one side of the vehicle body far away from the guide module 1, and a warning module 3, a control circuit module 4 and an acquisition processing module 12 are respectively installed on the upper side of the vehicle body close to the couplant spraying module 11.
Further, the guiding module 1 comprises a video monitor 9 and a laser guide instrument 10, the video monitor 9 is used for detecting whether the vehicle body deviates or not and feeding information back to the motion module 8, so that the motion module 8 adjusts the moving direction of the vehicle body, and the laser guide instrument 10 is used for displaying the moving direction of the vehicle body and the deflection angle of the motion track of the vehicle body and capturing the deflection angle through the video monitor 9;
the video monitor 9 is used for collecting the surface welding line and the structured light image, the position deviation of the vehicle body is monitored in real time by using the video image automatic identification technology, and the position deviation is fed back to a deviation correction module in the motion module 8 to adjust the motion control in time, so that the intelligent tracking of the motion trail of the crawler is realized. The main structural principle is as follows: laser guide appearance 10 sets up in the robot top, a light beam for launching a set of perpendicular to examined the object orbit, the video monitor 9 that detects the barrier is connected with control circuit module 4 respectively and is passed through control circuit module 4 control action with the laser guide appearance 10 and the module of rectifying of measuring angle, after laser beam and the contained angle variation volume of examining the object orbit are gathered by video monitor 9, in 8 in the control motion module of control circuit module 4 control deviation module control the device timely with the angle of squinting compensation in opposite direction come, realize that detection module moves along predetermined detection orbit high accuracy.
Specifically, the acquisition processing module 12 is configured to receive information acquired by the detection module 2 and process the received information, and the detection module 2 is configured to detect a condition of a surface of the line and feed back the detected condition of the surface to the acquisition processing module 12;
the detection module 2 comprises various ultrasonic detection modules with similar working principles, such as: the device comprises a UT module, a TOFD module, a C scanning module and a B module; the detection method is integrated in the same module, so that the frequent replacement of the vehicle body carrying caused by the replacement of the detection method is avoided to the greatest extent, the hardware integration of the system in the true sense is realized, in the working process, the sensor on the scanning frame is only required to be replaced, and the corresponding detection module is started, so that the free switching of different detection technologies is completed, and the detection adaptability and the working efficiency are improved.
The technical difficulties of compatibility of detection modes, real-time data transmission, mutual crosstalk, data consistency and the like of different detection methods are mainly solved; the accuracy research of the detection data, high sensitivity, high signal-to-noise ratio, square wave pulse with adjustable width, and waveform data are completely recorded; detecting a receiving and remolding algorithm of the sound beam, storing and transmitting mass high-speed real-time data at a high speed, and designing a high-speed digital PCB; and (3) analysis of detection results and quantitative study of defect positioning brought by different analog simulation algorithms and view analysis modes.
In addition, the warning module 3 comprises an alarm system and a danger identification early warning system, and is used for warning the conditions encountered in the moving process of the vehicle body;
when warning module 3 detects the electric quantity in power module 5 low, warning module 3 sends out low electric quantity early warning, when direction module 1 detects unable crossing over the obstacle, transmit information to warning module 3 through control circuit module 4, make warning module 3 send the obstacle warning, when warning module 3 monitors that the adsorption affinity of magnetic wheel adsorption module 7 is not enough, send monitoring alarm, in order to remind the operator, so that the operator handles its condition, combine its detection functionality, all kinds of harmless defect that can correspond exceed the standard and report to the police, also can think that the threshold value is set up and report to the police, later stage combines data processing module to realize various functions.
Wherein, wireless transmission module 6 carries on the module including controlling module and robot, and control module and robot carry on the module and form the chain shape and link, the robot carries on the module and includes AD conversion module, data preprocessing module, carry on type communication module, control module includes control communication module, data analysis module, the display module, with direction module 1, detection module 2, warning module 3, the data acquisition instruction of collection processing module 12, data processing feedback information, carry out 5G radio communication between motion and the direction instruction information and the terminal, so that realize incessant the going on of information acquisition and transmission.
Meanwhile, the control module and the robot carrying module adopt 485 buses and 5G wireless communication for signal transmission, so that the safety intensity of information acquisition and transmission is effectively improved, the efficiency of data information is improved, and the device is simple in system, easy to install and high in efficiency; the working principle of the wireless transmission module 6 is as follows: the wireless serial port module is connected and communicated with the MCU through a TTL serial port, wherein VCC is a power supply pin, power is supplied by 3.3V-5.5V, and GND is a ground wire pin. RXD and TXD are TTL serial port input and output pins, the RXD pin of the wireless serial port module is connected with the TXD pin of the MCU, the TXD pin is connected with the RXD pin of the MCU to realize the input and output of data, MD0 and MD1 are matched to determine 4 working modes of the module, the AUX pin is used for outputting the working state of the wireless module, a controller CPU transmits a control instruction through a TTL232 interface, the control instruction is sent to the robot through a 5G communication module, the robot part receives the instruction through the 5G communication module and then transmits the instruction to the MCU of the robot through a TTL232 bus to execute, and meanwhile, the robot sends the running state to the controller through the same communication channel.
Further, the magnetic wheel adsorption module 7 is used for adsorbing the vehicle body on the surface of the detected object, the magnetic wheel adsorption module 7 has two functions of movement and adsorption, the magnetic wheel of the magnetic wheel adsorption module 7 is formed by sequentially arranging cylindrical yokes-permanent magnets-yokes, and a layer of rubber is sleeved outside the magnetic wheel;
rubber is sleeved outside the magnetic wheel to increase friction force between the magnetic wheel and the wall surface and prevent the wall surface from being scratched in the movement process, forming holes are formed in the magnetic wheel, the magnetic wheel is installed on a driving shaft and a driven shaft and driven to move through rotation of a synchronous toothed belt, and meanwhile, the adsorption device 2D finite element analysis based on Ansoft Maxwell software is adopted, and the relation among adsorption force, load and structure of an adsorption module of the magnetic wheel in static and moving states under any posture of the magnetic wheel is researched through systematic mechanical analysis.
Specifically, the motion module 8 comprises an X-axis driving module for adjusting X-axis movement of the scanning frame, a deviation rectifying module for a vehicle body running track under Y-axis freedom, a position adjusting control module for sensor lifting under Z-axis freedom and other multi-degree-of-freedom integrated motions;
the motion module 8 is adopted to drive the vehicle body to move, so that the vehicle body can realize multi-degree-of-freedom crawling on a flat wall surface and the surface of the tank body with a certain curvature, and the walking speed can be flexibly and freely adjusted. The steering in any direction can be realized, the steering is stable, and the control is simple. Has certain obstacle crossing capability and can cross over welding seams and strip-shaped obstacles at certain height.
In addition, the couplant spraying module 11 comprises a couplant automatic coating device, the couplant automatic coating device comprises a couplant barrel and a spraying device, the inside of the couplant barrel is filled with the couplant, and the spraying device sprays the couplant out.
Specifically, the control circuit module 4 is used for controlling a circuit, and simultaneously the control circuit module 4 organically connects the guiding module 1, the detecting module 2, the wireless transmission module 6, the magnetic wheel adsorption module 7, the movement module 8, the guiding module 1 couplant spraying module 11 and the collecting and processing module 12 together and controls the modules.
As a further improvement of the technical scheme, the power module 5 comprises a power supply, a controller and a converter, the controller is connected with the motion module 8, and the converter adaptively distributes electric energy in the power supply to the detection module 2, the couplant spraying module 11, the guiding module 1, the acquisition processing module 12 and the like.
On the premise of ensuring the stable motion of each power device, the power is intelligently distributed and utilized, and the long-period supply of the power source of the whole machine is ensured to the greatest extent.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. The utility model provides a laser direction multi freedom damage detects wall climbing robot device, includes the automobile body, its characterized in that: the device comprises a vehicle body, a guide module, a power module, a detection module, magnetic wheel adsorption modules, a movement module, a couplant spraying module, a warning module, a control circuit module and an acquisition processing module, wherein the guide module is installed on one side of the vehicle body, the power module is installed at the position, close to the guide module, of the upper side of the vehicle body, the wireless transmission module is installed on the vehicle body at one side of the power module, the detection module is installed at the position, in the middle of the lower side of the vehicle body, the magnetic wheel adsorption modules are symmetrically installed on the vehicle body, close to the guide module, of the detection module, the movement module is symmetrically installed on the vehicle body, far away from the guide module, of the detection module, the couplant spraying module is installed at one side of the vehicle body, far away from the guide module, and the warning module, the control circuit module and the acquisition processing module are respectively installed on the upper side of the vehicle body, close to the couplant spraying module;
the guiding module comprises a video monitor and a laser guide instrument, the video monitor is used for detecting whether the vehicle body deviates or not and feeding information back to the motion module, so that the motion module adjusts the moving direction of the vehicle body, and the laser guide instrument is used for displaying the moving direction of the vehicle body and the deflection angle of the motion track of the vehicle body and capturing the deflection angle of the vehicle body through the video monitor;
the acquisition processing module is used for receiving the information acquired by the detection module and processing the received information, and the detection module is used for detecting the condition of the surface of the line and feeding the acquired condition of the detected surface back to the acquisition processing module;
the warning module comprises an alarm system and a danger identification early warning system and is used for warning the conditions encountered in the moving process of the vehicle body;
the wireless transmission module comprises a control module and a robot carrying module, the control module and the robot carrying module form a chain-shaped link, the robot carrying module comprises an A/D conversion module, a data preprocessing module and a carrying type communication module, the control module comprises a control communication module, a data analysis module and a display module, and 5G wireless communication is carried out between a guiding module, a detection module, a warning module and a data acquisition instruction, data processing feedback information and motion and guiding instruction information of the acquisition processing module and a terminal so as to realize the uninterrupted operation of information acquisition and transmission;
the magnetic wheel adsorption module is used for adsorbing the vehicle body on the surface of the detected object, and has two functions of movement and adsorption, the magnetic wheel of the magnetic wheel adsorption module is formed by sequentially arranging cylindrical yoke iron-permanent magnet-yoke iron, and a layer of rubber is sleeved outside the magnetic wheel;
the motion module comprises an X-axis driving module for adjusting X-axis movement of the scanning frame, a deviation rectifying module for a vehicle body running track under Y-axis freedom, a position adjusting control module for sensor lifting under Z-axis freedom and other multi-degree-of-freedom integrated motions;
the couplant spraying module comprises an automatic couplant coating device, the automatic couplant coating device comprises a couplant barrel and a spraying device, the inside of the couplant barrel is filled with the couplant, and the spraying device sprays the couplant out;
the control circuit module is used for controlling a circuit, and simultaneously connects the guide module, the detection module, the wireless transmission module, the magnetic wheel adsorption module, the motion module, the guide module, the coupling agent spraying module and the acquisition processing module together and controls the modules;
the power module comprises a power supply, a controller and a converter, the controller is connected with the motion module, and the converter distributes electric energy in the power supply to the detection module, the couplant spraying module, the guiding module and the collecting and processing module in a self-adaptive mode.
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| SG11201604614UA (en) * | 2013-11-30 | 2016-07-28 | Saudi Arabian Oil Co | Modular mobile inspection vehicle |
| CN204964451U (en) * | 2015-09-29 | 2016-01-13 | 南车南京浦镇车辆有限公司 | Ware is looked into to aluminum alloy, manual sweeping of carbon steel sheet metal welding seam |
| WO2018018403A1 (en) * | 2016-07-26 | 2018-02-01 | 深圳市赛亿科技开发有限公司 | Housekeeping robot and control method |
| CN107226146B (en) * | 2017-04-28 | 2019-03-12 | 东南大学 | A kind of adjustable suspension fork mechanism of three axis for robot |
| CN107300923A (en) * | 2017-08-15 | 2017-10-27 | 湖州佳创自动化科技有限公司 | A kind of track detecting robot |
| CN107748203B (en) * | 2017-11-16 | 2024-01-26 | 西安石油大学 | Intelligent self-tracking weld joint flaw detection robot |
| CN108502729B (en) * | 2018-04-02 | 2023-12-05 | 常州大地测绘科技有限公司 | Intelligent detection trolley, detection system and detection method for overhead track of hoisting machinery |
| CN109773804A (en) * | 2019-01-21 | 2019-05-21 | 浙江工业大学 | A kind of robot detection system based on steel construction ultrasonic examination |
| CN109794945A (en) * | 2019-01-22 | 2019-05-24 | 浙江工业大学 | A kind of automatic percussion robot detection system for building structure flaw detection |
| CN111270608B (en) * | 2020-03-09 | 2021-11-16 | 浙江大学 | Wall-climbing robot for detection in steel box girder of large-span bridge |
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