A kind of autonomous type lightweight climbing robot detecting system and its application methodTechnical field
The present invention relates to a kind of autonomous type lightweight climbing robot detecting system and its application method, belong to robot andDetection technique field.
Background technology
The automatic machinery people that climbing robot can be climbed and fulfiled assignment in perpendicular walls.Such robot is to moveOne important branch in mobile robot field, it combines ground mobile robot technology with adsorption technology, can beAttachment is creeped in vertical walls, and can be carried instrument and be completed certain job task, greatly expands the application of robot.At present, climbing robot is mainly used in nuclear industry, petrochemical industry, shipbuilding industry, fire department and investigation etc., such as to high buildingOutside wall surface is cleaned, and the storing tank wall in petroleum chemical enterprise is detected and safeguarded, large-area steel plate is painted, withAnd rescue and relief work etc. is carried out in high building accident.
Climbing robot possesses absorption and mobile two basic functions, and common suction type has negative pressure of vacuum to adsorb, foreverMagnetic suck, thrust absorption several ways.Wherein, negative pressure of vacuum mode can be adsorbed in wall by producing negative pressure in suckerOn, do not limited by wall surface material；Magnetic suck mode then has permanent magnet and electromagnet two ways, is only applicable to adsorb magnetic conductivityWall；Thrust absorption is to produce suitable thrust using propeller or ducted fan, is robot stabilized absorption in wallOn, the humanoid robot points to wall all the time due to thrust, it is difficult to realizes right angle obstacle detouring.
Climbing robot is by locomotive function point mainly sucked type, wheel type and crawler type.Sucked type can cross over very littleObstacle, but translational speed is slow.Wheel type translational speed is fast, control is flexible, but maintains certain absorption affinity more difficult.Crawler type pairWall strong adaptability, the area that lands is big, but is not easy to turn.And the obstacle crossing ability of these three move modes is all very weak, it is impossible toAdapt to the operation of creeping at wall and top inside and outside container.
At present, as container plays more and more important effect, existing packaging in cargoes imported and exported transportationDetection method is mainly personnel to scene in case, and article carrying is handled, and takes out of and detected, because technical staff's quantity hasLimit, and container quantity is numerous, only low with maintenance personal's micro-judgment, efficiency, effect is poor, needs device fabrication in many casesEnterprise or expert provide technical support.Therefore, suitable for container climbing robot and its detection technique for improving itselfSecurity, reliability and validity, it is all significant to reduce economic loss.
The content of the invention
It is an object of the present invention to provide a kind of autonomous type lightweight climbing robot detecting system and its application method,The detection efficiency for article in container and the validity of detection can be improved.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
A kind of autonomous type lightweight climbing robot detecting system, one kind in can carrying welding or polishing or detecting is certainlyDynamicization mechanical device；Including robot body, tele-control system, wireless communication apparatus a and wireless communication apparatus b, long-range controlSystem processed and wireless communication apparatus a wireless connections, wireless communication apparatus a electrically connect with wireless communication apparatus b, wireless communication apparatusB and tele-control system wireless connection, robot body include at least one robot body, and robot body includes housing, bottomPlate, drive mechanism, absorbing unit and/or head and/or universal wheel, drive mechanism are arranged in the inner panel of bottom plate, absorptionUnit is arranged on the outer side panel of bottom plate, and universal wheel is arranged on the outer side panel of bottom plate, and head is arranged on housing, housingIt is connected with bottom plate.Drive mechanism is used to drive movable pulley to rotate, and is the mobile offer power of robot body.Universal wheel is used to protectDemonstrate,prove the stability of motion of the robot in startup, stopped process.Universal wheel refers to the wheel for possessing 360 ° of rotatory powers, can be butIt is not limited to ball wheel or ox horn or universal caster wheel etc..
In a kind of foregoing autonomous type lightweight climbing robot detecting system, 2 are provided with the robot bodyMovable pulley, and the both sides of each movable pulley are provided with absorbing unit；Absorbing unit includes yoke and magnet, and yoke is fixed on bottomOn plate, magnet is fixed on yoke；And opposite polarity between adjacent magnet.Inhaled by being set in the both sides of each movable pulleyCoupon member, can be such that robot body preferably adsorbs on container or wall wall, and the magnetic energy utilization rate of magnet is higher,Meanwhile reduce the processing weight and difficulty of processing of robot body.
In a kind of foregoing autonomous type lightweight climbing robot detecting system, it is provided with the robot body universalWheel, the universal wheel are arranged on the outer side panel of bottom plate, for ensureing the stabilization of motion of the robot in startup, stopped processProperty, universal wheel includes but is not limited to ball wheel, ox horn, universal caster wheel etc..
In a kind of foregoing autonomous type lightweight climbing robot detecting system, control is provided with the robot bodyDevice, control device are arranged in the inner panel of bottom plate, and head electrically connects with control device.
In a kind of foregoing autonomous type lightweight climbing robot detecting system, it is provided with the robot body wirelessCommunication device B, wireless communication apparatus B electrically connect with control device, and wireless communication apparatus B also wirelessly connects with wireless communication apparatus bConnect.
In a kind of foregoing autonomous type lightweight climbing robot detecting system, the robot body is provided with and controlThree-axis gyroscope, accelerometer and at least one ultrasonic radar distance measuring sensor of device electrical connection.
Three-axis gyroscope, the spatial attitude and speed of the real-time recorder human body of accelerometer energy, ultrasonic ranging passSensor can measure to distance around, under known surrounding space situation, can pass through spatial attitude and range measurementJudge robot in the position of known spatial.
In a kind of foregoing autonomous type lightweight climbing robot detecting system, the head includes the first motor, aSupport frame, b support frames, the second motor, the 3rd motor and image collecting device, the support and shell of the first motorBody is connected, and the body of the first motor is connected with one end of a support frames, and the other end of a support frames and the second motor connectConnect, the second motor is also connected with b support frames one end, and the other end of b support frames is connected with the 3rd motor, IMAQDevice is arranged on the drive end of the 3rd motor, and image collecting device electrically connects with control device, a support frames and b supportsThe L-shaped shape of frame.
First motor, the second motor and the 3rd motor may each be brushless DC servomotor, brushlessMotor or stepper motor.The image for driving head by the first motor, the second motor and the 3rd motor is adoptedAcquisition means, by the first motor, the second motor and the 3rd motor ensure that image collecting device can around X,Y, Z axis is rotated, and image collecting device is adjusted shooting angle according to actual conditions, while can be according to robot bodyThe overall angle of pose adjustment head, is shot, and ensure the stability of shooting picture in specific angle.
In a kind of foregoing autonomous type lightweight climbing robot detecting system, the tele-control system includes controlDevice, display and wireless communication apparatus A, display and wireless communication apparatus A are electrically connected with the controller, wireless communication apparatus AWith wireless communication apparatus a wireless connections.
In a kind of foregoing autonomous type lightweight climbing robot detecting system, the drive mechanism include power motor,Decelerator, motor supporting base, shaft coupling and wheel shaft, the output shaft of power motor are connected with decelerator, and decelerator connects with shaft couplingConnect, shaft coupling is connected with wheel axis connection, wheel shaft with movable pulley.The inside of wheel shaft is provided with bearing, and wheel shaft passes through bearing and movable pulleyConnection.
In a kind of foregoing autonomous type lightweight climbing robot detecting system, described image harvester is that monocular is infraredCamera or binocular infrared camera, image collecting device is by the image information of acquisition by electric signal transmission to control device, controlAfter device processed is filtered processing, edge detection process and image binaryzation processing to the image information received, Classification and IdentificationThe determinand gone out in region to be detected, then demarcates determinand, forms corresponding detection image.
Image collecting device is used to collecting image information in detection zone, and image information is transmitted to being arranged on machineControl device on human body, then transmitted by control device, wireless communication apparatus b and wireless communication apparatus a to remote controlOn the display of system.
A kind of application method of autonomous type lightweight climbing robot detecting system, including wireless communication apparatus a is fixedIn the outside of container, wireless communication apparatus b is fixed on to the inside of container, believed by operating tele-control system and will controlNumber wireless communication apparatus a is sent to, control signal is passed to wireless communication apparatus b, wireless communication apparatus by wireless communication apparatus aB sends control signals to robot body again；Robot body is by the information collected successively through wireless communication apparatus b, nothingLine communication device a is sent to tele-control system, and is shown on the display of tele-control system.
Compared with prior art, wireless communication apparatus a of the invention is connected with wireless communication apparatus b by circuit, andIn use, one is placed in outside container, another is placed in internal container so that wireless communication apparatus B and wireless telecommunications dressThe communication information put between A is transmitted by wireless communication apparatus a and wireless communication apparatus b, can greatly enhance conveying signal,The signal shielding that container is formed is prevented to cause signal transmission not smooth；In addition, the present invention is using equal in movable pulley both sidesThe mode of absorbing unit is set, and yoke is combined with magnet, so as to effectively improve magnetic energy utilization rate, makes robot sheetBody can be moved freely and turned on the horizontal wall surface with barrier, vertical wall or magnetic conduction wall, meanwhile, reduce machineThe processing weight and difficulty of processing of device human body；Using autonomous type restructural climbing robot detecting system of the present invention and its makeArticle in container is detected with method, it is possible to increase detection efficiency and detection for article in container it is effectiveProperty.
Brief description of the drawings
Fig. 1 is a kind of operation principle schematic diagram of embodiment of the present invention；
Fig. 2 is Fig. 1 partial enlarged drawing；
Fig. 3 is a kind of schematic diagram of the structure side of embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of the structure opposite side of embodiment of the present invention；
Fig. 5 is a kind of internal structure schematic diagram of embodiment of the present invention；
Fig. 6 is the structural representation of drive mechanism of the present invention；
Fig. 7 is the structural representation of head of the present invention；
Fig. 8 is the structural representation of absorbing unit of the present invention；
Fig. 9 is the connection diagram of an embodiment of the present invention.
Reference：1- robot bodies；2- movable pulleys；3- wireless communication apparatus B；4- heads；5-b support frames；6- inhalesCoupon member；7- control devices；8- drive mechanisms；9- power motors；10- decelerators；11- motor supporting bases；12- shaft couplings；13-Wheel shaft；The motors of 14- first；15-a support frames；The motors of 16- second；The motors of 17- the 3rd；18- image collectorsPut；19- accelerometers；20- ultrasonic radar distance measuring sensors；21- displays；22- magnet；23- yokes；24- wireless telecommunicationsDevice A；25- drive ends；26- controllers；27- tele-control systems；28- wireless communication apparatus a；29- wireless communication apparatus b；30- three axis accelerometers, 31- housings, 32- bottom plates, 33- universal wheels.
The present invention is further illustrated with reference to the accompanying drawings and detailed description.
Embodiment
Embodiments of the invention 1：A kind of autonomous type lightweight climbing robot detecting system, welding or polishing can be carriedOr a kind of automated machine device in detection, and can be with mounting robot body 1.
The system includes robot body 1, tele-control system 27, wireless communication apparatus a28 and wireless communication apparatusB29, tele-control system 27 and wireless communication apparatus a28 wireless connections, wireless communication apparatus a28 and wireless communication apparatus b29Electrical connection, wireless communication apparatus b29 and the wireless connection of tele-control system 27, robot body 1 include housing 31, bottom plate 32,Drive mechanism 8, absorbing unit 6 and head 4 and universal wheel 33, drive mechanism 8 are arranged in the inner panel of bottom plate 32, and absorption is singleMember 6 is arranged on the outer side panel of bottom plate 32, and universal wheel 33 is arranged on the outer side panel of bottom plate 32, and head 4 is arranged at housingOn 31, housing 31 is connected with bottom plate 32.
Embodiments of the invention 2：A kind of autonomous type lightweight climbing robot detecting system, welding or polishing can be carriedOr a kind of automated machine device in detection, and may be mounted on robot body 1.
The system includes robot body 1, tele-control system 27, wireless communication apparatus a28 and wireless communication apparatusB29, tele-control system 27 and wireless communication apparatus a28 wireless connections, wireless communication apparatus a28 and wireless communication apparatus b29Electrical connection, wireless communication apparatus b29 and the wireless connection of tele-control system 27, robot body 1 include housing 31, bottom plate 32,Drive mechanism 8, absorbing unit 6, head 4 and universal wheel 33 are provided with the robot body 1 of head end, drive mechanism 8 is arranged atIn the inner panel of bottom plate 32, absorbing unit 6 is arranged on the outer side panel of bottom plate 32, and head 4 is arranged on housing 31, housing31 are connected with bottom plate 32, can 360 degree rotation universal wheels 33 be arranged on the outer side panel of bottom plate 32.
Further, 2 movable pulleys 2 are provided with robot body 1, and the both sides of each movable pulley 2 are provided with suctionCoupon member 6；Absorbing unit 6 includes yoke 23 and magnet 22, and yoke 23 is fixed on bottom plate 32, and magnet 22 is fixed on yoke 23On；And opposite polarity between adjacent magnet 22.Magnet 22 is permanent magnet.
Movable pulley 2 can be common rubber wheel, for increasing friction force, improve obstacle climbing ability, can increase ditch in tyre surfaceGroove；Absorbing unit 6 is set in the both sides of movable pulley 2, and makes opposite polarity between adjacent magnet, it is ensured that magnetic energy utilization rate is higherIn the case of, the overall weight and difficulty of processing of reduction robot body 1.
Further, robot body 1 also includes control device 7, and control device 7 is arranged on the inner panel of bottom plate 32On, head 4 electrically connects with control device 7.
Further, robot body 1 also includes wireless communication apparatus B3, wireless communication apparatus B3 and the electricity of control device 7Connection, wireless communication apparatus B3 also with wireless communication apparatus b29 wireless connections.
Further, robot body 1 is provided with three-axis gyroscope 30, the accelerometer 19 electrically connected with control device 7With at least one ultrasonic radar distance measuring sensor 20.
Further, head 4 includes the first motor 14, a support frames 15, b support frames 5, the second motor 16, theThree motors 17 and image collecting device 18, the support of the first motor 14 are connected with housing 31, the first motor 14Body be connected with one end of a support frames 15, the other end of a support frames 15 is connected with the second motor 16, second driving electricityMachine 16 is also connected with the one end of b support frames 5, and the other end of b support frames 5 is connected with the 3rd motor 17, image collecting device 18It is arranged on the drive end 25 of the 3rd motor 17, image collecting device 18 electrically connects with control device 7, a support frames 15 and bThe L-shaped shape of support frame 5.
Further, tele-control system 27 includes controller 26, display 21 and wireless communication apparatus A24, display21 and wireless communication apparatus A24 electrically connects with controller 26, and wireless communication apparatus A24 wirelessly connects with wireless communication apparatus a28Connect.
Further, drive mechanism 8 includes power motor 9, decelerator 10, motor supporting base 11, shaft coupling 12 and wheel shaft13, the output shaft of power motor 9 is connected with decelerator 10, and decelerator 10 is connected with shaft coupling 12, and shaft coupling 12 connects with wheel shaft 13Connect, wheel shaft 13 is connected with movable pulley 2.
When robot body 1 turns to, differential fortune is carried out by the drive mechanism 8 being arranged on the both sides of robot body 1It is dynamic to realize preliminary steering, then drive bottom plate 32 to turn to, due to being arranged with permanent magnet on each robot body 1, ensure thatThe adsorption capacity of each robot body 1 and the load capacity of robot body 1.
In the present invention, the image collecting device 18 being arranged on robot body 1 is red for monocular infrared camera or binocularOuter camera, image collecting device 18 dock the image information of acquisition by electric signal transmission to control device 7, control device 7After the image information received is filtered processing, edge detection process and image binaryzation processing, treats and treated in detection zoneSurvey thing and carry out Classification and Identification, then demarcate determinand, form corresponding detection image.
The embodiment of the present invention 3：A kind of application method of autonomous type lightweight climbing robot detecting system, including with lower sectionMethod：First, wireless communication apparatus a28 is fixed on to the outside of container, then, wireless communication apparatus b29 is fixed on packagingThe inside of case, wireless communication apparatus a28, wireless communication apparatus are sent control signals to by operating tele-control system 27Control signal is passed to wireless communication apparatus b29 by a28, and wireless communication apparatus b29 sends control signals to robot sheet againBody 1, so as to the operation of each device and mechanism on control machine human body 1；Robot body 1 passes through the information collected successivelyWireless communication apparatus b29, wireless communication apparatus a28 are sent to tele-control system 27, and in the display of tele-control system 27Shown on device 21.Because container is by metallic material, it can form barrier to wireless signal, influence the normal fortune of systemOK, the system ensures system by setting wireless communication apparatus a28 and wireless communication apparatus b29 to overcome this problemNormal operation.
The present invention is not limited to detect container, can also detect the inner chamber of the metal structure object such as hull, specifically, makingTesting process with the present invention is as follows：
S1：Control machine human body 1 is moved to the position to be detected specified；
S2：The crucial point coordinates or space structure in region to be detected are inputted in the control terminal of tele-control system 27,And detection zone and detection mode are set, record a video, fixed point is taken pictures；
S3：Calculated according to program and treat detection zone progress contexture by self detection path；
S4：Control machine human body 1 advances along path planning, and is carried out according to detection workflow video set in advanceDetection；
S5：Control terminal-pair detection data are gathered in real time, are analyzed and are watched for operator；
S6:Operator can carry out manual control by interventional systems to total system at any time.