CN114275676A - Crane structure safety assessment system and method - Google Patents
Crane structure safety assessment system and method Download PDFInfo
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Abstract
The application discloses a crane structure safety evaluation system and a crane structure safety evaluation method, wherein a remote control system is used for sending a computer instruction to control a coercivity detection robot to crawl on the surface of a crane metal structure at a specified speed; the coercively detecting robot comprises a coercively detecting robot body, a communication module, an image acquisition module, a wireless network transmission system and a nondestructive evaluation system, wherein the coercively detecting robot body is arranged on the crane body, the image acquisition module is arranged on the crane body, the communication module is used for transmitting data such as the coercively detecting robot body and the image acquisition module to the nondestructive evaluation system through the wireless network transmission system, and the nondestructive evaluation system is used for finishing the safety evaluation of the crane stressed structure by using the data and outputting an evaluation result. The method is based on a coercivity nondestructive detection technology, the wall-climbing robot and the coercivity flaw detection are effectively combined, the fatigue state of the metal stress structure of the crane can be accurately obtained, the coercivity in service of the crane can be detected, and objective and rapid evaluation of the metal structure state of the crane is achieved.
Description
Technical Field
The application relates to the technical field of crane safety assessment, in particular to a crane structure safety assessment system and method.
Background
The crane has the characteristics of large lifting capacity, strong operation continuity and severe field working environment, various accidents often occur in the working process, and irretrievable influence and economic loss are caused to national production. The metal structure is used as a framework of the crane, the situations of stress, fatigue and insufficient rigidity can occur in the alternate circulation operation of the crane, and the service life of the whole crane is determined by the service life of the key metal structure of the crane. The method is key for realizing the estimation of the fatigue residual life of the crane by acquiring the fatigue state of the metal structure in the working process of the crane, and meanwhile, the strength of the metal structure of the crane can be evaluated.
In the prior art, the detection of the crane is usually manual detection, and particularly when a large crane is detected, the detection mode has great danger; also there is unmanned aerial vehicle to detect the hoist at present, and this kind of detection mode uses unmanned aerial vehicle to replace the operation of climbing of inspection personnel for aerial platform, replaces people's eye with the high resolution CCD image acquisition device that the platform carried on, replaces the novel detection device that the human brain judges with calculating vision algorithm, but this kind of device also has the limitation, and when the hoist was in labour state, unmanned aerial vehicle's detection can receive the restriction, and there is the potential safety hazard in the detection under labour state.
In summary, when the existing detection technology detects the stress structure of the crane, the limitation and the potential safety hazard that the crane cannot be in-service detected exist.
Disclosure of Invention
The application provides a crane structure safety assessment system and method, which effectively combine a wall-climbing robot with coercivity flaw detection, can detect coercivity of a crane in service, and solves the problem that the traditional detection technology cannot detect the crane in service in limitation and potential safety hazard.
The application provides a crane structure safety evaluation system on one hand, and the system comprises a coercivity detection robot, a remote control system, a nondestructive evaluation system and a wireless network transmission system;
the coercivity detection robot is used for receiving an instruction sent by the remote control system, acquiring stress structure data of a stress structure area of the crane according to the instruction, and sending the stress structure data to the nondestructive evaluation system through the wireless network transmission system;
the nondestructive evaluation system is used for receiving the stress structure data and evaluating the safety of the stress structure area according to the stress structure data.
Preferably, the coercivity detection robot comprises a control system, a coercivity flaw detection module, an image acquisition module, a communication module and a crawler type traveling device;
the control system is used for processing the instruction received by the communication module, controlling the coercive force flaw detection module, the image acquisition module and the crawler type advancing device to execute corresponding instructions according to the instruction, simultaneously acquiring running state data of a coercive force detection robot, detection environment image data of the coercive force detection robot, stress structure area image data of a crane and stress structure area stress structure data of the crane, sending the running state data of the coercive force detection robot and the detection environment image data of the coercive force detection robot to the remote control system through the wireless network transmission system, and sending the stress structure area image data of the crane and the stress structure area stress structure data of the crane to the nondestructive evaluation system through the wireless network transmission system;
the coercive force flaw detection module is used for processing the instruction sent by the control system and acquiring stress structure data of the crane stress structure area according to the instruction;
the image acquisition module is used for processing the instruction sent by the control system and acquiring the image data of the detection environment of the coercivity detection robot and the image data of the stressed structure area of the crane according to the instruction;
the crawler type traveling device is used for processing the instruction sent by the control system and crawling on the surface of the metal structure of the crane according to the instruction;
the communication module is used for communicating with the remote control system and the nondestructive evaluation system through the wireless network transmission system.
Preferably, the coercivity flaw detection module comprises a coercivity flaw detection host, a hydraulic mechanical arm and a coercivity detection probe;
the hydraulic mechanical arm is installed on the coercivity flaw detection host, and the coercivity detection probe is installed on the hydraulic mechanical arm;
the coercive force flaw detection host is used for receiving an instruction sent by the control system, adjusting the position of the hydraulic mechanical arm according to the instruction, controlling the coercive force detection probe installed on the hydraulic mechanical arm to detect the stressed structure area of the crane and acquiring stressed structure data of the stressed structure area of the crane.
Preferably, the crawler type advancing device comprises a permanent magnet adsorption crawler and a crawler, and the coercivity detection robot is adsorbed on the surface of the metal structure of the crane through the permanent magnet adsorption crawler and moves on the surface of the metal structure of the crane through the crawler.
Preferably, the remote control system is configured to receive the data of the operating state of the coercivity detection robot and the data of the image of the detection environment of the coercivity detection robot, and plan a crawling path and a next detection action of the coercivity detection robot according to the data of the operating state of the coercivity detection robot and the data of the image of the detection environment of the coercivity detection robot.
Preferably, the nondestructive evaluation system is used for receiving the image data of the stressed structure area of the crane and the stressed structure data of the stressed structure area of the crane, and acquiring the safety evaluation result of the stressed structure area of the crane according to the image data of the stressed structure area of the crane and the stressed structure data of the stressed structure area of the crane; and storing the safety evaluation result data of the stressed structure area of the crane, comparing the safety evaluation result data of the stressed structure area of the crane at different times in the same stressed structure area of the crane according to preset time length, and acquiring the stress structure change condition of the stressed structure area of the crane.
Preferably, the wireless network transmission system is used for communication between the communication module in the coercivity detection robot and the remote control system and the nondestructive evaluation system.
The application also provides a crane structure safety assessment method, which is characterized by comprising the following steps:
the remote control system sends out an instruction;
the coercivity detection robot receives the instruction, and returns operating state data and detection environment image data of the coercivity detection robot to the remote control system according to the instruction, and the remote control system sends out a detection instruction according to the operating state data and the detection environment image data of the coercivity detection robot;
the coercivity detection robot moves to a crane stressed structure area according to the detection instruction, stress structure data of the crane stressed structure area and crane stressed structure area image data are obtained, and the detected stress structure data of the crane stressed structure area and the detected crane stressed structure area image data are sent to a nondestructive evaluation system;
and the nondestructive evaluation system receives the stress structure data of the metal stress structure area of the crane and the image data of the stress structure area of the crane, and acquires the safety evaluation result of the stress structure area of the crane according to the stress structure data of the stress structure area of the crane and the image data of the stress structure area of the crane.
Preferably, the instructions include: controlling the coercivity detection robot to move to a designated area, acquiring running state data of the coercivity detection robot, and acquiring detection environment image data of the coercivity detection robot; the detection instruction comprises: acquiring stress structure data of a stress structure area of the crane and acquiring image data of the stress structure area of the crane.
Preferably, the nondestructive evaluation system receives the stress structure data of the stress structure area of the heavy machine and the image data of the stress structure area of the heavy machine, and estimates the safety of the stress structure of the crane according to the stress structure data of the stress structure area of the heavy machine and the image data of the stress structure area of the heavy machine; and storing the safety evaluation result data of the stressed structure area of the crane, comparing the safety evaluation result data of the stressed structure area of the crane at different times in the same stressed structure area of the crane according to preset time length, and acquiring the stress structure change condition of the stressed structure area of the crane.
According to the technical scheme, the method has the following advantages:
the application provides a crane structure safety evaluation system and a crane structure safety evaluation method, wherein a remote control system sends a computer instruction to control a coercivity detection robot to crawl on the surface of a crane metal structure at a specified speed; acquiring crane stress structure data by using a coercive force flaw detection module and an image acquisition module which are arranged on a mechanical body of a coercive force detection robot; and the nondestructive evaluation system evaluates the safety of the crane stressed structure according to the stressed structure data.
Based on the system and the method, the wall-climbing robot and the coercivity flaw detection are effectively combined, in-service coercivity detection can be performed on the crane, the limitation that in-service detection cannot be performed on the crane by the traditional detection technology is solved, and potential safety hazards of detection are reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a system structure diagram of a crane structure safety assessment system and method provided by the present application.
Fig. 2 is a system structure diagram of a system and a method for evaluating safety of a crane structure provided by the present application.
Fig. 3 is a flowchart of a method of a crane structure safety evaluation system and method provided by the present application.
Fig. 4 is a structural diagram of a coercivity detection robot provided by the present application.
Fig. 5 is a structural diagram of a coercivity detection robot crawler traveling device provided by the present application.
Fig. 6 is a structural diagram of a coercivity flaw detection module provided by the present application.
The notation in the figure is: 1. a crawler-type traveling device; 2. a coercive force flaw detection module; 3. an image acquisition module; 4. a communication module; 5. a control system; 6. a permanent magnet adsorption crawler belt; 7. a crawler; 8. a coercive force flaw detection host; 9. a hydraulic mechanical arm; 10. and (4) a coercive force detection probe.
Detailed Description
The embodiment of the application provides a crane structure safety assessment system and method, which are used for solving the problem that the crane detection in the prior art adopts manual or unmanned aerial vehicle methods and the like to have limitation technologies.
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
The wall-climbing robot and the coercivity flaw detection are effectively combined, and in-service coercivity detection can be carried out on the crane.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic system structure diagram of a system and method for evaluating safety of a crane structure according to the present application, and fig. 2 is a system structure diagram of a system for evaluating safety of a crane structure according to an embodiment of the present application.
The present application provides a crane structure safety assessment system, the system includes: the coercivity detection robot, the remote control system and the nondestructive evaluation system;
the coercivity detection robot is used for receiving an instruction sent by the remote control system, acquiring stress structure data of a stress structure area of the crane according to the instruction, and sending the stress structure data to the nondestructive evaluation system;
the nondestructive evaluation system is used for receiving the stress structure data and evaluating the safety of the stress structure area according to the stress structure data.
It should be noted that before the coercivity detection robot starts to work, it needs to be configured, where the configuration specifically is: presetting different preset instructions into the coercivity detection robot, wherein the different preset instructions correspond to different detection works;
as a preferred embodiment, a first instruction controls a coercivity detection robot to crawl on the surface of a crane metal structure at a specified speed, a second instruction controls the coercivity detection robot to detect stress data of a crane stress structure area, a third instruction controls the coercivity detection robot to acquire an image of the crane stress structure area to be detected, a fourth instruction controls the coercivity detection robot to acquire an image of a coercivity detection robot detection environment, and a fifth instruction controls the coercivity detection robot to acquire running state data of the coercivity detection robot; in addition, the detection personnel can update the internal instruction of the coercivity detection robot on line to adapt to different detection environments and detection requirements.
The coercivity detection robot comprises a control system, a coercivity flaw detection module, an image acquisition module, a communication module and a crawler type advancing device; the crawler type advancing device comprises a permanent magnet adsorption crawler and a crawler;
as a preferred embodiment, the control system processes the instruction received by the communication module, controls the image acquisition module to acquire a detection environment image of the coercivity detection robot according to the fourth instruction, acquires running state data of the coercivity detection robot according to the fifth instruction, and sends the detection environment image of the coercivity detection robot and the running state data of the coercivity detection robot to the remote control system, the remote control system sends the first instruction, the second instruction and the third instruction to the control system according to the detection environment image of the coercivity detection robot and the running state data of the coercivity detection robot, the control system controls the crawler-type traveling device to crawl on the surface of the metal structure of the crane to be detected at an instruction speed according to the first instruction, and controls the coercivity flaw detection module to acquire the number of stressed structures in the stressed structure area of the crane to be detected according to the second instruction And controlling the image acquisition module to acquire a stressed structure area image of the crane to be detected according to a third instruction, and sending the stressed structure area data of the crane to be detected and the stressed structure area image of the crane to be detected to the nondestructive evaluation system.
As a preferred embodiment, the crawler type traveling device comprises a permanent magnet adsorption crawler and a crawler, and the coercivity detection robot is adsorbed on the surface of the metal structure of the crane through the permanent magnet adsorption crawler and moves on the surface of the metal structure of the crane through the crawler.
The coercive force flaw detection module comprises a coercive force flaw detection host, a hydraulic mechanical arm and a coercive force detection probe; the hydraulic mechanical arm is installed on the coercivity flaw detection host, and the coercivity detection probe is installed on the hydraulic mechanical arm;
as a preferred embodiment, the coercivity flaw detection host is configured to receive the second instruction sent by the control system, adjust the position of the hydraulic mechanical arm according to the second instruction, and control the coercivity detection probe mounted on the hydraulic mechanical arm to detect the crane stressed structure area, so as to obtain data of the crane stressed structure area.
As a preferred embodiment, the remote control system is configured to receive the data of the operating state of the coercivity detection robot and the data of the detection environment image of the coercivity detection robot, and plan a crawling path and a next detection action of the coercivity detection robot according to the data of the operating state of the coercivity detection robot and the data of the detection environment image of the coercivity detection robot.
As a preferred embodiment, the nondestructive evaluation system is configured to receive the image data of the stressed structure area of the crane and the stressed structure data of the stressed structure area of the crane, and obtain a safety evaluation result of the stressed structure area of the crane according to the image data of the stressed structure area of the crane and the stressed structure data of the stressed structure area of the crane; and storing the safety evaluation result data of the stressed structure area of the crane, comparing the safety evaluation result data of the stressed structure area of the crane at different times in the same stressed structure area of the crane according to preset time length, and acquiring the stress structure change condition of the stressed structure area of the crane.
Referring to fig. 3, fig. 3 is a flowchart illustrating a method for evaluating safety of a crane structure according to the present application.
The application provides a safety assessment method for a crane structure, which comprises the following steps:
the remote control system sends out an instruction;
the coercivity detection robot receives the instruction, and returns the operating state data of the coercivity detection robot and the detection environment image data of the coercivity detection robot according to the instruction, and the remote control system sends out a detection instruction according to the operating state data of the coercivity detection robot and the detection environment image data of the coercivity detection robot;
the coercivity detection robot moves to a crane stressed structure area according to the detection instruction, stress structure data of the crane stressed structure area and crane stressed structure area image data are obtained, and the detected stress structure data of the crane stressed structure area and the detected crane stressed structure area image data are sent to a nondestructive evaluation system;
and the nondestructive evaluation system receives the stress structure data of the metal stress structure area of the crane and the image data of the stress structure area of the crane, and acquires the safety evaluation result of the stress structure area of the crane according to the stress structure data of the stress structure area of the crane and the image data of the stress structure area of the crane.
As a preferred embodiment, the instructions include: controlling the coercivity detection robot to crawl at a specified speed, acquiring operating state data of the coercivity detection robot, and acquiring image data of a detection environment of the coercivity detection robot; the detection instruction comprises: acquiring stress structure data of a stress structure area of the crane and acquiring image data of the stress structure area of the crane.
As a preferred embodiment, the nondestructive evaluation system receives the stress structure data of the heavy machine stress structure area and the image data of the heavy machine stress structure area, and estimates the safety of the crane stress structure according to the stress structure data of the heavy machine stress structure area and the image data of the heavy machine stress structure area; and storing the safety evaluation result data of the stressed structure area of the crane, comparing the safety evaluation result data of the stressed structure area of the crane at different times in the same stressed structure area of the crane according to preset time length, and acquiring the stress structure change condition of the stressed structure area of the crane.
As a preferred embodiment, the coercivity detection robot receives an instruction sent by a remote control system, and crawls on the surface of any metal structure of the crane according to the instruction, wherein the crawling speed can be changed continuously according to the detection requirement; the crane is detected by the coercivity detection robot according to the instruction, the detected crane can be in an on-service state or a shutdown state, the coercivity detection module and the image acquisition module on the mechanical body of the coercivity detection robot acquire microscopic damage information of a stress strain state (fatigue), creep, material degradation and the like of a stressed structure of the crane, crane detection position image information and coercivity detection robot detection environment image information, and meanwhile, a control system of the coercivity detection robot performs self-detection and acquires running state information of the coercivity detection robot.
Referring to fig. 4, fig. 4 is a structural diagram of a coercivity detection robot provided in the present application.
The coercivity detection robot comprises: the device comprises a crawler type traveling device 1, a coercive force flaw detection module 2, an image acquisition module 3, a communication module 4 and a control system 5;
the coercivity robot crawler-type traveling device 1 specifically comprises a chassis and a transmission;
the coercive force robot also comprises a sensor power supply, a motor and other components;
the control system is arranged on the crawler type traveling device, adopts a double-CPU operation control scheme, takes an S245C10 central processing unit as a core component for operations such as information acquisition, unloading classification, information transmission, instruction reception, motor control, coercivity detection robot action control and the like, collects information acquired by various sensors, controls the robot to execute preset work, classifies the information, transmits the information, receives remote instructions and the like; the TMS320C6813 processor is used for completing functions of correcting GPS positioning, information storage, man-machine interaction, fault detection and the like.
Preferably, the chassis is made of an aluminum alloy material, so that the weight is light, and the good passing performance of the coercivity detection robot is ensured;
preferably, the image acquisition module adopts a high frame rate CCD camera to ensure high quality of images and avoid situations such as smear blur due to speed, and components such as a light source, a sensor, a scanning device and the like are installed in addition to the image pickup device to assist image acquisition and further assist the coercivity detection robot in walking and detecting.
Preferably, the communication module adopts CAN bus communication, the communication speed CAN reach 1Mbps, the communication module adopts a data format of 8 bytes for transmission, the bus occupation time is short, the probability of interference is low, the normal communication between the coercivity detection robot control system and each module CAN be ensured, and the real-time performance and the reliability are high.
Referring to fig. 5, fig. 5 is a structural diagram of a track traveling device of a coercivity detection robot according to the present application.
The track correction type carrying device comprises: a permanent magnetic adsorption crawler belt 6 and a crawler 7;
preferably, the permanent magnet adsorption units in the permanent magnet adsorption crawler can be adsorbed to the surface of a metal structure of the crane, and the control system controls the crawler to realize crawling of the crawler at a specified speed at any position of a magnetic wall surface through the transmission;
referring to fig. 6, fig. 6 is a structural diagram of a coercivity flaw detection module according to the present application.
The coercive force flaw detection module includes: the system comprises a coercivity flaw detection host 8, a hydraulic mechanical arm 9 and a coercivity detection probe 10;
preferably, the hydraulic mechanical arm is mounted on the coercivity flaw detection host, and the coercivity detection probe is mounted on the hydraulic mechanical arm;
preferably, the coercivity flaw detection host is used for receiving an instruction sent by the control system, adjusting the position of the hydraulic mechanical arm according to the instruction, controlling the coercivity detection probe mounted on the hydraulic mechanical arm to detect the stressed structure area of the crane, and acquiring stressed structure data of the stressed structure area of the crane;
preferably, the coercivity flaw detection equipment host machine adopts a hysteresis stress measuring device (MC-04H-2), the hysteresis stress measuring device (MC-04H-2) measures the integral state of a metal material, a sample does not need to be cut, a workpiece does not need to be polished, a coupling agent does not need to be used, dirt or a paint layer on the surface of the workpiece does not need to be cleaned, nondestructive detection can be carried out on a to-be-detected area of the crane, the limitation that only the surface is measured in metallographic phase and hardness is made up, the measuring result is accurate, and the repeatability is good.
The application provides a crane structure safety assessment system and a crane structure safety assessment method, a remote control system sends a computer instruction to control a coercivity detection robot to crawl on the surface of a crane metal structure at a specified speed, a coercivity flaw detection module and an image acquisition module which are installed on a mechanical body of the coercivity detection robot are used for acquiring data such as a crane stress structure, a nondestructive assessment system finishes assessment of the crane stress structure safety according to the data, and an assessment result is output.
The application of the coercivity detection robot in crane structure safety detection can detect the coercivity of a crane in service, the limitation that the crane cannot be detected in service by the traditional detection technology is solved, the potential safety hazard of detection is reduced, and the metal structure state of the crane can be comprehensively, efficiently and accurately detected.
The above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the present disclosure, which should be construed in light of the above teachings. Are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The crane structure safety evaluation system is characterized by comprising a coercivity detection robot, a remote control system, a nondestructive evaluation system and a wireless network transmission system;
the coercivity detection robot is used for receiving an instruction sent by the remote control system, acquiring stress structure data of a stress structure area of the crane according to the instruction, and sending the stress structure data to the nondestructive evaluation system through the wireless network transmission system;
the nondestructive evaluation system is used for receiving the stress structure data and evaluating the safety of the stress structure area according to the stress structure data.
2. The crane structure safety evaluation system according to claim 1, wherein the coercivity detection robot comprises a control system, a coercivity flaw detection module, an image acquisition module, a communication module and a crawler type traveling device;
the control system is used for processing the instruction received by the communication module, controlling the coercive force flaw detection module, the image acquisition module and the crawler type advancing device to execute the instruction according to the instruction, simultaneously acquiring running state data of a coercive force detection robot, detection environment image data of the coercive force detection robot, stress structure area image data of a crane and stress structure area stress structure data of the crane, sending the running state data of the coercive force detection robot and the detection environment image data of the coercive force detection robot to the remote control system through the wireless network transmission system, and sending the stress structure area image data of the crane and the stress structure area stress structure data of the crane to the nondestructive evaluation system through the wireless network transmission system;
the coercive force flaw detection module is used for processing the instruction sent by the control system and acquiring stress structure data of the crane stress structure area according to the instruction;
the image acquisition module is used for processing the instruction sent by the control system and acquiring the image data of the detection environment of the coercivity detection robot and the image data of the stressed structure area of the crane according to the instruction;
the crawler type traveling device is used for processing the instruction sent by the control system and crawling on the surface of the metal structure of the crane according to the instruction;
the communication module is used for communicating with the remote control system and the nondestructive evaluation system through the wireless network transmission system.
3. The crane structure safety evaluation system according to claim 2, wherein the coercivity flaw detection module comprises a coercivity flaw detection host, a hydraulic mechanical arm and a coercivity detection probe;
the hydraulic mechanical arm is installed on the coercivity flaw detection host, and the coercivity detection probe is installed on the hydraulic mechanical arm;
the coercive force flaw detection host is used for receiving an instruction sent by the control system, adjusting the position of the hydraulic mechanical arm according to the instruction, controlling the coercive force detection probe installed on the hydraulic mechanical arm to detect the stressed structure area of the crane and acquiring stressed structure data of the stressed structure area of the crane.
4. The crane structure safety assessment system according to claim 2, wherein the crawler traveling device comprises a permanent magnet adsorption crawler and a crawler, and the coercivity detection robot is adsorbed on the crane metal structure surface through the permanent magnet adsorption crawler and moves on the crane metal structure surface through the crawler.
5. The crane structure safety assessment system according to claim 1, wherein the remote control system is configured to receive the coercivity detection robot operating state data and the coercivity detection robot detection environment image data, and plan a crawling path and a next detection action of the coercivity detection robot according to the coercivity detection robot operating state data and the coercivity detection robot detection environment image data.
6. The crane structure safety assessment system according to claim 1, wherein the nondestructive assessment system is configured to receive the crane stressed structure area image data and the crane stressed structure area stressed structure data, and obtain a crane stressed structure area safety assessment result according to the crane stressed structure area image data and the crane stressed structure area stressed structure data; and storing the safety evaluation result data of the stressed structure area of the crane, comparing the safety evaluation result data of the stressed structure area of the crane at different times in the same stressed structure area of the crane according to preset time length, and acquiring the stress structure change condition of the stressed structure area of the crane.
7. The crane structure safety evaluation system according to claim 1, wherein the wireless network transmission system is used for communication between the communication module in the coercivity detection robot and the remote control system and the nondestructive evaluation system.
8. The safety assessment method for the crane structure is characterized by comprising the following steps:
the remote control system sends out an instruction;
the coercivity detection robot receives the instruction, and returns operating state data and detection environment image data of the coercivity detection robot to the remote control system according to the instruction, and the remote control system sends out a detection instruction according to the operating state data and the detection environment image data of the coercivity detection robot;
the coercivity detection robot moves to a crane stressed structure area according to the detection instruction, stress structure data of the crane stressed structure area and crane stressed structure area image data are obtained, and the detected stress structure data of the crane stressed structure area and the detected crane stressed structure area image data are sent to a nondestructive evaluation system;
and the nondestructive evaluation system receives the stress structure data of the crane stress structure area and the crane stress structure area image data, and acquires the safety evaluation result of the crane stress structure area according to the stress structure data of the crane stress structure area and the crane stress structure area image data.
9. The crane structure safety assessment method according to claim 8, wherein the instructions comprise: controlling the coercivity detection robot to move to a designated area, acquiring running state data of the coercivity detection robot, and acquiring detection environment image data of the coercivity detection robot; the detection instruction comprises: acquiring stress structure data of a stress structure area of the crane and acquiring image data of the stress structure area of the crane.
10. The method for evaluating the safety of the crane structure according to claim 8, wherein safety evaluation result data of a stressed structure area of the crane are stored, and the safety evaluation result data of the stressed structure area of the crane at different times in the stressed structure area of the crane are compared according to a preset time length to obtain the change condition of the stressed structure area of the crane.
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