CN114700946A - Equipment vibration frequency acquisition method based on inspection robot - Google Patents
Equipment vibration frequency acquisition method based on inspection robot Download PDFInfo
- Publication number
- CN114700946A CN114700946A CN202210394864.0A CN202210394864A CN114700946A CN 114700946 A CN114700946 A CN 114700946A CN 202210394864 A CN202210394864 A CN 202210394864A CN 114700946 A CN114700946 A CN 114700946A
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- Prior art keywords
- vibration
- mechanical arm
- robot
- detection point
- acquisition method
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- 238000007689 inspection Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 21
- 230000000007 visual effect Effects 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 2
- 238000010030 laminating Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
Abstract
The invention integrates robot control, mechanical arm motion control, machine vision, torque sensor feedback, mechanical arm control and vibration sensor feedback, and provides an equipment vibration frequency acquisition method based on an inspection robot.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to an equipment vibration frequency acquisition method based on an inspection robot.
Background
The inspection robot can be used for replacing a human to inspect in an efficient mode, can inspect specific areas and specific targets through the inspection robot, and can timely find problems and give an alarm.
At present, most of inspection robots can only observe through a camera, but cannot monitor through touch sense.
Therefore, a method for detecting the touch sense of the inspection robot by auxiliary means is needed. And the improvement of mechanical arm, machine vision and sensor technology enables the detection means of the robot to be essentially improved.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an equipment vibration frequency acquisition method based on an inspection robot, which uses the robot to replace manual work to acquire the equipment vibration frequency and solves the problem that the existing robot cannot monitor through touch sense.
In order to solve the technical problem, the invention adopts the following technical scheme: an equipment vibration frequency acquisition method based on an inspection robot comprises the following steps:
s01), the robot moves to the inspection position, and the mechanical arm of the robot moves according to the set parameters to realize the preliminary determination of the working range of the tail end of the mechanical arm;
s02), in the preliminarily determined working range, a visual camera matched with the tail end of the mechanical arm identifies a vibration detection point in the visual field range, and according to a visual judgment result, the vibration detection point is fed back to a mechanical arm control system to carry out fine adjustment on the position of the mechanical arm;
s03), after fine adjustment, the tail end of the mechanical arm extends out of the high-frequency vibration sensor and is tightly attached to a vibration detection point;
s04), measuring the bonding strength of the stretched vibration sensor in real time by the matrix sensor at the tail end of the mechanical arm, and when the bonding strength reaches a set value, considering that the vibration sensor is tightly bonded with the vibration detection point;
s05), after the vibration sensor is tightly attached to the vibration detection point, detecting the vibration of the surface of the object, and collecting the vibration data of the detection point.
Further, the vibration detection point is calibrated through a label.
Further, in step S02), the fine adjustment of the position of the robot arm includes adjustment of the angle and distance of the robot arm.
The invention has the beneficial effects that: the invention integrates robot control, mechanical arm motion control, machine vision, torque sensor feedback, mechanical arm control and vibration sensor feedback, and provides an equipment vibration frequency acquisition method based on an inspection robot.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
Example 1
The embodiment discloses an equipment vibration frequency acquisition method based on an inspection robot, which comprises the following steps:
the robot automatically walks to a specific inspection position, and the mechanical arm is controlled to move according to set parameters at the specific inspection position, so that the primary determination of the working range of the tail end of the mechanical arm is realized.
And in the preliminarily confirmed working range, a visual camera matched with the tail end of the mechanical arm identifies the calibration vibration detection points in the visual field range, and the detection points are calibrated by using specific labels. And feeding back a mechanical arm control system according to a machine vision judgment result, and carrying out corresponding fine adjustment on the angle and the distance of the mechanical arm.
After confirming that the robot arm angle is correct, fine adjustment is finished. The tail end of the mechanical arm extends out of the high-frequency vibration sensor and is in contact with the calibrated vibration detection point. According to the torque sensor that the arm has, carry out real-time measurement to the vibrations sensor laminating dynamics that stretches out, when reaching the specified value, think vibrations sensor and the laminating of being surveyed the point inseparable.
After the vibration sensor is tightly attached to the detected point, the vibration sensor monitors the vibration of the surface of the object and collects vibration data of the detection point.
In this embodiment, the vision camera identifies the calibration vibration detection point within the visual field range by using a target identification algorithm, and compares the calibration vibration detection point with a set standard position of the vibration detection point to obtain a difference between the identified position and the standard position, where the difference is a machine vision judgment result, the machine vision judgment result is fed back to the mechanical arm control system, and the mechanical arm control system correspondingly fine-adjusts the angle and distance of the mechanical arm according to the difference between the identified position and the standard position.
The foregoing description is only for the basic principle and the preferred embodiments of the present invention, and modifications and substitutions by those skilled in the art are included in the scope of the present invention.
Claims (3)
1. The utility model provides an equipment vibration frequency acquisition method based on inspection robot which characterized in that: the method comprises the following steps:
s01), the robot moves to the inspection position, and the mechanical arm of the robot moves according to the set parameters to realize the preliminary determination of the working range of the tail end of the mechanical arm;
s02), in the preliminarily determined working range, a visual camera matched with the tail end of the mechanical arm identifies vibration detection points in a visual field range, and according to a visual judgment result, a mechanical arm control system is fed back to perform fine adjustment on the position of the mechanical arm;
s03), after fine adjustment, the tail end of the mechanical arm extends out of the high-frequency vibration sensor and is tightly attached to a vibration detection point;
s04), measuring the bonding strength of the stretched vibration sensor in real time by the matrix sensor at the tail end of the mechanical arm, and when the bonding strength reaches a set value, considering that the vibration sensor is tightly bonded with the vibration detection point;
s05), after the vibration sensor is tightly attached to the vibration detection point, detecting the vibration of the surface of the object, and collecting the vibration data of the detection point.
2. The inspection robot-based equipment vibration frequency acquisition method according to claim 1, wherein: and the vibration detection point is calibrated by a label.
3. The inspection robot-based equipment vibration frequency acquisition method according to claim 1, wherein: step S02), the fine adjustment of the robot arm position includes adjustment in the robot arm angle and distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210394864.0A CN114700946A (en) | 2022-04-15 | 2022-04-15 | Equipment vibration frequency acquisition method based on inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210394864.0A CN114700946A (en) | 2022-04-15 | 2022-04-15 | Equipment vibration frequency acquisition method based on inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114700946A true CN114700946A (en) | 2022-07-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210394864.0A Pending CN114700946A (en) | 2022-04-15 | 2022-04-15 | Equipment vibration frequency acquisition method based on inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114700946A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012093933A (en) * | 2010-10-27 | 2012-05-17 | Chugoku Electric Power Co Inc:The | Patrol support apparatus, computer program, patrol support system and patrol support method |
| CN105856262A (en) * | 2016-05-16 | 2016-08-17 | 清华大学 | Method for detecting and recognizing object by small robot through touch sense |
| CN106443387A (en) * | 2016-10-25 | 2017-02-22 | 广东电网有限责任公司珠海供电局 | Method and device for controlling partial discharge detection of polling robot, and partial discharge detection system |
| CN107368083A (en) * | 2017-09-15 | 2017-11-21 | 中国安全生产科学研究院 | A kind of crusing robot and crusing robot system |
| CN110977964A (en) * | 2019-11-26 | 2020-04-10 | 汕头大学 | Intelligent inspection robot for detecting micro-leakage of power plant equipment operation and detection method |
| WO2020107957A1 (en) * | 2018-11-30 | 2020-06-04 | 北京海益同展信息科技有限公司 | Machine room patrol system and working method therefor |
| CN112207846A (en) * | 2020-12-08 | 2021-01-12 | 北京蒙帕信创科技有限公司 | Liftable intelligent inspection robot system for machine room and inspection method |
| CN113175959A (en) * | 2021-06-30 | 2021-07-27 | 中国矿业大学(北京) | Fault detection robot and control method thereof |
| CN113510700A (en) * | 2021-05-19 | 2021-10-19 | 哈尔滨理工大学 | Touch perception method for robot grabbing task |
| WO2022021739A1 (en) * | 2020-07-30 | 2022-02-03 | 国网智能科技股份有限公司 | Humanoid inspection operation method and system for semantic intelligent substation robot |
-
2022
- 2022-04-15 CN CN202210394864.0A patent/CN114700946A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012093933A (en) * | 2010-10-27 | 2012-05-17 | Chugoku Electric Power Co Inc:The | Patrol support apparatus, computer program, patrol support system and patrol support method |
| CN105856262A (en) * | 2016-05-16 | 2016-08-17 | 清华大学 | Method for detecting and recognizing object by small robot through touch sense |
| CN106443387A (en) * | 2016-10-25 | 2017-02-22 | 广东电网有限责任公司珠海供电局 | Method and device for controlling partial discharge detection of polling robot, and partial discharge detection system |
| CN107368083A (en) * | 2017-09-15 | 2017-11-21 | 中国安全生产科学研究院 | A kind of crusing robot and crusing robot system |
| WO2020107957A1 (en) * | 2018-11-30 | 2020-06-04 | 北京海益同展信息科技有限公司 | Machine room patrol system and working method therefor |
| CN110977964A (en) * | 2019-11-26 | 2020-04-10 | 汕头大学 | Intelligent inspection robot for detecting micro-leakage of power plant equipment operation and detection method |
| WO2022021739A1 (en) * | 2020-07-30 | 2022-02-03 | 国网智能科技股份有限公司 | Humanoid inspection operation method and system for semantic intelligent substation robot |
| CN112207846A (en) * | 2020-12-08 | 2021-01-12 | 北京蒙帕信创科技有限公司 | Liftable intelligent inspection robot system for machine room and inspection method |
| CN113510700A (en) * | 2021-05-19 | 2021-10-19 | 哈尔滨理工大学 | Touch perception method for robot grabbing task |
| CN113175959A (en) * | 2021-06-30 | 2021-07-27 | 中国矿业大学(北京) | Fault detection robot and control method thereof |
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Application publication date: 20220705 |
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