CN209919897U - Automatic knocking robot detection system for building structure flaw detection - Google Patents
Automatic knocking robot detection system for building structure flaw detection Download PDFInfo
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- CN209919897U CN209919897U CN201920098058.2U CN201920098058U CN209919897U CN 209919897 U CN209919897 U CN 209919897U CN 201920098058 U CN201920098058 U CN 201920098058U CN 209919897 U CN209919897 U CN 209919897U
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Abstract
An automatic knocking robot detection system for building structure flaw detection comprises a moving module, a control module, an electromagnetic knocking type damage detection module and a laser ranging sensor, wherein the moving module comprises a frame, two wheel frames, four groups of magnetic wheels, two groups of batteries and battery fixing sheets, and each group of magnetic wheels comprises eight strip-shaped magnets, a wheel, a right-angle motor and an encoder; the electromagnetic knocking type damage detection module comprises a direct current motor, a push rod spring, a push-pull electromagnet, two guide L plates, a nut sleeve, a screw rod, a limiting screw, a sensor bracket and a sound sensor; the control module comprises an analog-digital conversion unit, a main control unit, a wireless communication unit, a GPS unit, a motor driving unit, a solid-state relay and an inertial navigation unit. The utility model has the characteristics of the detection mode is nimble, small, mobility is strong, detect more comprehensive etc.
Description
Technical Field
The utility model belongs to the robot field, concretely relates to automatic strike robot detection system for building structure is detected a flaw.
Background
With the rapid development of economic construction in China, various complicated large-scale steel structure buildings continuously appear. Among them, the steel structure is widely used in large bridges, large space structures, high-rise buildings, large railway transportation hubs, petroleum pipelines, nuclear power plants, and the like. Because the building structures have higher requirements on the structural health, it is important to strengthen the structural health detection and maintain the building structures in time.
At present, the method is widely applied to placing wired or wireless sensor nodes at specific positions in a building, and the detection method has detection blind areas and difficult maintenance due to the fixed positions of the sensors, so that a large amount of manpower and material resource cost is required; the building structure health detection technology based on the wireless sensor network needs to solve the power supply problem and the reliability problem of signal transmission when the system works for a long time. The two detection modes have the problems of detection blind areas and incomplete detection due to the fixed position of the sensor.
Disclosure of Invention
In order to overcome traditional building structure detection mode's installation loaded down with trivial details, with high costs, detect not comprehensive etc. not enough, the utility model provides a strike robot detecting system automatically for building structure detects a flaw, this robot can move to wait to detect the region to carry out steel construction damage detection work to being surveyed the surface through its electromagnetism of carrying and strike formula damage detection module, it has that detection mode is nimble, small, mobility is strong, detect characteristics such as more comprehensive.
The utility model provides a technical scheme that its technical problem adopted is:
an automatic knocking robot detection system for building structure flaw detection comprises a moving module, a control module, an electromagnetic knocking type damage detection module and a laser ranging sensor, wherein the moving module comprises a frame, two wheel frames, four groups of magnetic wheels, two groups of batteries and battery fixing sheets, and each group of magnetic wheels comprises eight strip-shaped magnets, a wheel, a right-angle motor and an encoder; the electromagnetic knocking type damage detection module comprises a direct current motor, a push rod spring, a push-pull electromagnet, two guide L plates, a nut sleeve, a screw rod, a limiting screw, a sensor bracket and a sound sensor; the control module comprises an analog-digital conversion unit, a main control unit, a wireless communication unit, a GPS unit, a motor driving unit, a solid-state relay and an inertial navigation unit.
Further, in the mobile module, the frame is used for installing a wheel frame, a battery fixing piece, a direct current motor, a control module and an electromagnetic knocking type damage detection module, the control module is fixed on the frame through four upright posts, a group of batteries are located below the control module and fixed above the frame through the battery fixing piece and supply power to the four right-angle motors and the direct current motor, the other group of batteries are fixed at the rear half section of the frame through the battery fixing piece and supply power to the control module, the electromagnetic knocking type detection module and each sensor of the robot, and a laser ranging sensor is fixed on the wheel frame and above four groups of magnetic wheels and used for collecting environmental information around the robot.
Furthermore, the four groups of magnetic wheels are formed by wrapping strip magnets around the wheels, right-angle motors of the magnetic wheels are fixedly installed on the wheel frame through screws, driving shafts of the right-angle motors are fixedly connected with the magnetic wheels, and each right-angle motor drives one magnetic wheel; the right-angle motor control line is connected with the motor driving unit, and the encoder is fixed on the wheel frame between the wheel and the right-angle motor and used for measuring the rotating speed information of the magnetic wheel and feeding back the rotating speed information to the control module.
Furthermore, in the control module, the analog-to-digital conversion unit, the GPS unit, the motor driving unit, the solid-state relay and the inertial navigation unit are all connected with the main control unit, the analog-to-digital conversion unit is connected with the main control unit through a high-speed serial peripheral interface, the main control unit sends out a pulse width modulation signal, and the motor driving unit controls the right-angle motor to drive the magnetic wheel to act; the wireless communication unit, the GPS unit and the inertial navigation unit are connected with the main control unit through the universal asynchronous receiver and transmitter interface, the inertial navigation unit controls the advancing posture of the detection robot, the GPS unit carries out target positioning on the detection robot, and the main control unit transmits wireless signals with the ground server through the wireless communication unit; one end of the solid-state relay is connected with a digital quantity signal output port of the main control unit, and the other end of the solid-state relay is connected with a power line of the push-pull type electromagnet, so that the main control unit controls the power-on and power-off states of the sucker type electromagnet through the solid-state relay.
In the electromagnetic knocking type damage detection module, a guide L plate is fixed below a frame through a bolt and used for limiting the degree of freedom of a nut sleeve; the direct current motor is fixed above the frame, a motor shaft and a screw rod penetrate through the frame and extend downwards, the screw rod is connected with the nut sleeve through threads, and a limiting screw is arranged at the tail end of the screw rod to prevent the nut sleeve from falling off; the push-pull electromagnet is fixed in the nut sleeve, and the push rod is placed downwards; the sensor bracket is an aluminum plate inclined by 30 degrees and is used for placing the sound sensor close to the tail end of the push rod.
The technical conception of the utility model is as follows: by utilizing the wireless sensor network technology and the advantages of small size and strong maneuverability of the wheeled robot, the problems of low detection efficiency and incomplete detection of the traditional large steel structure building are solved, the construction time can be effectively saved, and the labor cost is saved. And the cost of the building structure flaw detection automatic knocking robot detection system is not high, so that the total cost of the whole robot detection system is much lower than that of the traditional static detection system. Meanwhile, most steel structure building materials have strong ferromagnetic performance, and the building structure detection robot can climb on all building structures with ferromagnetic surface materials to complete structure health detection.
The utility model provides an automatic strike robot detection system for building structure is detected a flaw, this detection robot is when carrying out the operation, can adsorb on being surveyed the surface through the magnetic wheel when climbing ferromagnetic surface material's building structure to the electromagnetism that carries strikes formula damage detection module through it realizes the damage detection work to the steel construction building, has good environmental suitability, and the detection mode is nimble, and with low costs, convenient to carry, can realize detecting comprehensively to building structure.
Compared with the prior art, the utility model, have following advantage:
1) the cost is low: because the building structure detects a flaw and strikes the detection system of the robot automatically simple structure, the whole detection mechanism overall cost compares traditional static detection network cost low a lot.
2) The volume is small: the detection robot has small volume, light weight and convenient carrying.
3) The maneuverability is strong: the detection robot is suitable for carrying out structural damage detection operation on all building structures with ferromagnetic surface materials.
4) The detection efficiency is high: the electromagnetic knocking type damage detection module carried by the detection robot can rapidly complete a series of actions of descending, knocking, sound collection, ascending and the like when the robot reaches an area to be detected, and after damage detection is rapidly completed, the robot can immediately move forward to the next detection point.
5) Mobile wireless transmission: the building structure flaw detection automatic knocking robot detection system can perform data transmission with a ground control end through a wireless communication unit, and can also perform data transmission with other detection robots, so that intelligent cooperation of the robots is realized.
6) The number of nodes is small: with the mobility of the wheeled robot, each robot can detect a plurality of positions, thereby reducing the number of robots.
7) The environmental suitability is strong: the detection robot can intelligently identify the surrounding environment and has good environment adaptability.
8) The endurance is durable: when the electric quantity is not enough, the robot can automatically move to the base station to charge, so that the power supply problem is solved.
Drawings
FIG. 1 is a schematic overall structure diagram of an automatic knocking robot detection system for building structure flaw detection.
FIG. 2 is a schematic diagram of the installation of a control module of the building structure flaw detection automatic knocking robot detection system.
FIG. 3 is a schematic diagram of the building structure flaw detection automatic knocking robot detection system moving autonomously in the building structure detection area.
FIG. 4 is a schematic structural diagram of an electromagnetic knocking type damage detection module of the building structure flaw detection automatic knocking robot detection system.
FIG. 5 is a schematic diagram of the building structure flaw detection automatic knocking robot detection system working on the building structure surface for detection.
Illustration of the drawings: 1. a bar magnet; 2. a wheel; 3. a sensor holder; 4. a laser ranging sensor; 5. a wheel frame; 6. a frame; 7. a battery fixing sheet; 8. a battery; 9. a direct current motor; 10. a control module; 11. a right-angle motor; 12. an encoder; 13. a column; 14. an analog-to-digital conversion unit; 15. a main control unit; 16. an antenna; 17. a wireless communication unit; a GPS unit; 19. a motor drive unit; 20. a solid state relay; 21. an inertial navigation unit; 22. a push rod; 23. a sound sensor; 24. a region to be detected; 25. a push rod spring; 26. a push-pull electromagnet; 27. a guide L plate; 28. a nut sleeve; 29. a screw; 30. a limit screw; 31. a sensor holder.
Detailed Description
The structure is further described with reference to the accompanying drawings.
Referring to fig. 1 to 5, an automatic knocking robot detection system for building structure flaw detection comprises a moving module, a control module 10, an electromagnetic knocking type damage detection module and a laser ranging sensor 4, wherein the moving module comprises a vehicle frame 6, two wheel frames 5, four groups of magnetic wheels, two groups of batteries 8 and battery fixing sheets 7, each group of magnetic wheels comprises eight strip-shaped magnets 1, a wheel 2, a right-angle motor 11 and an encoder 12, the vehicle frame 6 of the moving module is used for mounting the wheel frames 5, the battery fixing sheets 7, a direct current motor 9, the control module 10 and the electromagnetic knocking type damage detection module, the four groups of magnetic wheels of the moving module are formed by wrapping the strip-shaped magnets 1 around the wheel 2, the right-angle motors 11 of the magnetic wheels are fixedly mounted on the wheel frames 5 through screws, driving shafts of the right-angle motors 11 are fixedly connected with the magnetic wheels, each right-angle motor 11 drives one magnetic wheel, the control line of the right-angle motor is connected with the motor driving unit 19, the main control unit 16 sends out a control signal, and the rotation direction and the rotation speed of the right-angle motor 11 and the magnetic wheel are controlled by the motor driving unit 19, so that the robot can move forward, backward, turn, stop and the like; the encoder 12 is fixed on the wheel frame 5 between the wheel 2 and the right-angle motor 11 and used for measuring the rotating speed information of the magnetic wheels and feeding back the rotating speed information to the control module 10, and the laser ranging sensor 4 is fixed on the wheel frame 5 and above the four groups of magnetic wheels and used for collecting the environmental information around the robot.
As shown in fig. 2, a control module 10 of the building structure flaw detection automatic knocking robot detection system is fixed on a frame 6 through four upright posts 13, one group of batteries 8 is positioned below the control module 10, the batteries 8 are fixed above the frame 6 through battery fixing pieces 7 to supply power for four right-angle motors 11 and a direct current motor 9, and the other group of batteries is fixed at the rear half section of the frame 6 through the battery fixing pieces 7 to supply power for the control module 10, an electromagnetic knocking type detection module and sensors of the robot; the control module 10 comprises an analog-to-digital conversion unit 14, a main control unit 15, a wireless communication unit 17, a GPS unit 18, a motor driving unit 19, a solid-state relay 20 and an inertial navigation unit 21; the analog-to-digital conversion unit 14 is connected with the main control unit 15 through a high-speed serial peripheral interface, the main control unit 15 sends out a pulse width modulation signal, and the motor driving unit 19 controls the right-angle motor 11 to drive the magnetic wheel to act. The wireless communication unit 17, the GPS unit 18 and the inertial navigation unit 21 are connected with the main control unit 15 through universal asynchronous receiver and transmitter interfaces, the inertial navigation unit 21 controls the advancing posture of the detection robot, the GPS unit 18 carries out target positioning on the detection robot, and the main control unit 15 transmits wireless signals with a ground server through the wireless communication unit 17; one end of the solid-state relay 20 is connected with a digital quantity signal output port of the main control unit 15, and the other end of the solid-state relay 20 is connected with a power line of the push-pull electromagnet 26, so that the main control unit 15 can control the power-on and power-off states of the sucker electromagnet 26 through the solid-state relay 20.
As shown in fig. 3 and 4, the electromagnetic knocking type damage detection module includes a dc motor 9, a push rod 22, a push rod spring 25, a push-pull electromagnet 26, two guide L-plates 27, a nut sleeve 28, a screw 29, a limit screw 30, a sensor bracket 31, and a sound sensor 23, where the guide L-plate 27 of the module is fixed below the vehicle frame 6 by bolts for limiting the degree of freedom of the nut sleeve 28; the direct current motor 9 is fixed above the frame 6, a motor shaft and a screw rod penetrate through the frame 6 and extend downwards, the screw rod is connected with the nut sleeve through threads, and the tail end of the screw rod is provided with a limit screw 30 to prevent the nut sleeve 28 from falling off; the push-pull electromagnet 26 is fixed in the nut sleeve 28, and the push rod 22 is placed downwards. The sensor holder 31 is an aluminum plate inclined at 30 ° for mounting the acoustic sensor 23 near the end of the push rod.
The working principle of the building structure flaw detection automatic knocking robot detection system is shown in fig. 5, when a detection robot stops to a building structure surface 24 to be detected, a control module 10 starts a detection program, a direct current motor 9 drives a screw rod to act, a nut sleeve descends, when the detection robot descends to a certain height, the direct current motor 9 stops acting, at the moment, a main control unit 15 controls the on-off state of a push-pull electromagnet 26 through a solid-state relay 20, when the detection robot is powered on, an electromagnetic coil pushes out a push rod 22, and the push rod 22 knocks the building structure surface 24 to be detected; when the power is cut off, the push rod spring 25 pulls the push rod 22 back, and the power on and the power off are alternated, so that continuous knocking sound signals are generated and collected by the sound sensor 23. When the detection robot finishes the damage detection work on an area to be detected, the push-pull type electromagnet 26 stops acting, and the direct current motor 9 rotates reversely to drive the nut sleeve 28 to ascend to the initial position. At the moment, the detection robot starts the four right-angle motors 11 to drive the magnetic wheels to act, the robot leaves the detected area, and the target position of the next area to be detected is positioned through the GPS unit 18.
The building structure flaw detection automatic knocking robot detection system has the capability of intelligent environment recognition. The detection robot realizes the positioning of a detection target through the GPS unit 18, measures the rotating speed information of the magnetic wheel through the encoder 12, detects the posture change of the robot through the inertial navigation unit 21, and feeds the posture information back to the control module 10 for real-time adjustment. The laser ranging sensor 4 carried by the detection robot can judge the relative distance with the surface of the structure by emitting laser through the laser ranging sensor 4. When the robot is detected to deviate from the preset route or to be about to touch the structure surface, the main control unit 15 sends out a control signal through the motor driving unit 19 to control the speed of each right-angle motor 11, so that the detection robot returns to the preset route or avoids the building structure obstacle. When the four right-angle motors of the robot are in different rotating speed combinations, the robot can realize the actions of advancing, retreating, turning, stopping and the like, so that the robot can stably move to a target position and accurately position.
Claims (5)
1. An automatic knocking robot detection system for building structure flaw detection is characterized by comprising a moving module, a control module, an electromagnetic knocking type damage detection module and a laser ranging sensor, wherein the moving module comprises a frame, two wheel frames, four groups of magnetic wheels, two groups of batteries and a battery fixing sheet, and each group of magnetic wheels comprises eight strip-shaped magnets, a wheel, a right-angle motor and an encoder; the electromagnetic knocking type damage detection module comprises a direct current motor, a push rod spring, a push-pull electromagnet, two guide L plates, a nut sleeve, a screw rod, a limiting screw, a sensor bracket and a sound sensor; the control module comprises an analog-digital conversion unit, a main control unit, a wireless communication unit, a GPS unit, a motor driving unit, a solid-state relay and an inertial navigation unit.
2. The automatic knocking robot detection system for building structure flaw detection according to claim 1, wherein in the moving module, the vehicle frame is used for installing a vehicle wheel frame, a battery fixing sheet, a direct current motor, a control module and an electromagnetic knocking type damage detection module, the control module is fixed on the vehicle frame through four upright posts, one group of batteries is positioned below the control module, the batteries are fixed above the vehicle frame through the battery fixing sheet and supply power for the four right-angle motors and the direct current motor, the other group of batteries is fixed at the rear half section of the vehicle frame through the battery fixing sheet and supply power for the control module, the electromagnetic knocking type detection module and each sensor of the robot, and the laser ranging sensor is fixed on the vehicle wheel frame and above the four groups of magnetic wheels and is used for collecting environmental information around the robot.
3. The automatic knocking robot detection system for building structure flaw detection according to claim 2, wherein the four groups of magnetic wheels are formed by wrapping bar magnets around wheels, right-angle motors of the magnetic wheels are fixedly installed on a wheel frame through screws, driving shafts of the right-angle motors are fixedly connected with the magnetic wheels, and each right-angle motor drives one magnetic wheel; the right-angle motor control line is connected with the motor driving unit, and the encoder is fixed on the wheel frame between the wheel and the right-angle motor and used for measuring the rotating speed information of the magnetic wheel and feeding back the rotating speed information to the control module.
4. The automatic knocking robot detection system for building structure flaw detection according to one of claims 1 to 3, wherein in the control module, the analog-to-digital conversion unit, the GPS unit, the motor driving unit, the solid-state relay and the inertial navigation unit are all connected with the main control unit, the analog-to-digital conversion unit is connected with the main control unit through a high-speed serial peripheral interface, the main control unit sends out a pulse width modulation signal, and the motor driving unit controls the right-angle motor to drive the magnetic wheel to move; the wireless communication unit, the GPS unit and the inertial navigation unit are connected with the main control unit through the universal asynchronous receiver and transmitter interface, the inertial navigation unit controls the advancing posture of the detection robot, the GPS unit carries out target positioning on the detection robot, and the main control unit transmits wireless signals with the ground server through the wireless communication unit; one end of the solid-state relay is connected with a digital quantity signal output port of the main control unit, and the other end of the solid-state relay is connected with a power line of the push-pull type electromagnet, so that the main control unit controls the power-on and power-off states of the sucker type electromagnet through the solid-state relay.
5. The automatic knocking robot detection system for building structure flaw detection according to any one of claims 1 to 3, characterized in that in the electromagnetic knocking type damage detection module, a guide L plate is fixed below a vehicle frame through bolts and used for limiting the freedom degree of a nut sleeve; the direct current motor is fixed above the frame, a motor shaft and a screw rod penetrate through the frame and extend downwards, the screw rod is connected with the nut sleeve through threads, and a limiting screw is arranged at the tail end of the screw rod to prevent the nut sleeve from falling off; the push-pull electromagnet is fixed in the nut sleeve, and the push rod is placed downwards; the sensor bracket is an aluminum plate inclined by 30 degrees and is used for placing the sound sensor close to the tail end of the push rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920098058.2U CN209919897U (en) | 2019-01-22 | 2019-01-22 | Automatic knocking robot detection system for building structure flaw detection |
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| CN201920098058.2U CN209919897U (en) | 2019-01-22 | 2019-01-22 | Automatic knocking robot detection system for building structure flaw detection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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2019
- 2019-01-22 CN CN201920098058.2U patent/CN209919897U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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