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A platform for research: civil engineering, architecture and urbanism
Intelligent inspection robot device for steel bridge structure and method thereof
The invention discloses an intelligent inspection robot device for a steel bridge structure and a method thereof. The intelligent inspection robot device comprises an upper computer terminal, a robot vehicle body, a motion control system and an image acquisition system; the robot vehicle body comprises a vehicle frame, a wheel driving motor, magnetic attraction wheels and magnetic attraction guide wheels. The image acquisition system comprises a high-definition camera and a camera posture control device; the motion control system comprises a main control module and a motor control module, and the main control module is used for receiving a control instruction of the upper computer terminal and controlling a wheel driving motor to work through the motor control module; under the power driving of the wheel driving motor and the guiding effect provided by the magnetic attraction guide wheels, the magnetic attraction wheels can achieve automatic transition between a plane A and a plane B which are intersected on the steel bridge structure, and movement of the magnetic attraction wheels along the plane A is promoted to be converted into movement of the magnetic attraction wheels along the plane B. Therefore, the intelligent inspection robot device can realize automatic inspection of the steel box girder.
本发明公开了一种钢桥结构智能巡检机器人装置及其方法。智能巡检机器人装置包括上位机终端、机器人车体、运动控制系统以及图像采集系统；机器人车体包括车架、车轮驱动电机、磁吸车轮以及磁吸导轮；图像采集系统包括高清摄像头、摄像头姿态控制装置；运动控制系统包括主控模块和电机控制模块，主控模块用于接收上位机终端的控制指令，并通过电机控制模块控制车轮驱动电机工作；磁吸车轮在车轮驱动电机的动力驱动下以及磁吸导轮提供的导向作用下，能够在钢桥结构上两个异面相交的A平面、B平面之间实现自动过渡，促使磁吸车轮沿着A平面的移动转变至磁吸车轮沿着B平面的移动。由此可见，本发明的智能巡检机器人装置能够实现自动化钢箱梁巡检。
Intelligent inspection robot device for steel bridge structure and method thereof
The invention discloses an intelligent inspection robot device for a steel bridge structure and a method thereof. The intelligent inspection robot device comprises an upper computer terminal, a robot vehicle body, a motion control system and an image acquisition system; the robot vehicle body comprises a vehicle frame, a wheel driving motor, magnetic attraction wheels and magnetic attraction guide wheels. The image acquisition system comprises a high-definition camera and a camera posture control device; the motion control system comprises a main control module and a motor control module, and the main control module is used for receiving a control instruction of the upper computer terminal and controlling a wheel driving motor to work through the motor control module; under the power driving of the wheel driving motor and the guiding effect provided by the magnetic attraction guide wheels, the magnetic attraction wheels can achieve automatic transition between a plane A and a plane B which are intersected on the steel bridge structure, and movement of the magnetic attraction wheels along the plane A is promoted to be converted into movement of the magnetic attraction wheels along the plane B. Therefore, the intelligent inspection robot device can realize automatic inspection of the steel box girder.
本发明公开了一种钢桥结构智能巡检机器人装置及其方法。智能巡检机器人装置包括上位机终端、机器人车体、运动控制系统以及图像采集系统；机器人车体包括车架、车轮驱动电机、磁吸车轮以及磁吸导轮；图像采集系统包括高清摄像头、摄像头姿态控制装置；运动控制系统包括主控模块和电机控制模块，主控模块用于接收上位机终端的控制指令，并通过电机控制模块控制车轮驱动电机工作；磁吸车轮在车轮驱动电机的动力驱动下以及磁吸导轮提供的导向作用下，能够在钢桥结构上两个异面相交的A平面、B平面之间实现自动过渡，促使磁吸车轮沿着A平面的移动转变至磁吸车轮沿着B平面的移动。由此可见，本发明的智能巡检机器人装置能够实现自动化钢箱梁巡检。
Intelligent inspection robot device for steel bridge structure and method thereof
钢桥结构智能巡检机器人装置及其方法
FU ZHONGQIU (author) / JI BOHAI (author) / LI XINCHENG (author) / SUN HONGBIN (author)
2024-01-26
Patent
Electronic Resource
Chinese
IPC:
E01D
BRIDGES
,
Brücken
/
B25J
Manipulatoren
,
MANIPULATORS
/
B62D
MOTOR VEHICLES
,
Motorfahrzeuge
/
G01C
Messen von Entfernungen, Höhen, Neigungen oder Richtungen
,
MEASURING DISTANCES, LEVELS OR BEARINGS
/
G01N
Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften
,
INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
/
H04L
TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
,
Übertragung digitaler Information, z.B. Telegrafieverkehr
/
H04N
PICTORIAL COMMUNICATION, e.g. TELEVISION
,
Bildübertragung, z.B. Fernsehen
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