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A platform for research: civil engineering, architecture and urbanism
Bionic wall-climbing robot and application thereof in bridge pier crack detection
The invention discloses a bionic wall-climbing robot and application thereof in bridge pier crack detection. The wall-climbing robot comprises a first wall suction foot, a second wall suction foot and a driving mechanism, and the second wall suction foot is provided with a rotating table. The driving mechanism comprises a first overturning regulation and control mechanism connected with the first base, a second overturning regulation and control mechanism connected with the rotating table, and a telescopic step switching movement mechanism connected between the first overturning regulation and control mechanism and the second overturning regulation and control mechanism; the method for applying the bionic wall-climbing robot to bridge pier crack detection comprises the following steps: acquiring a crack image by using the wall-climbing robot; inputting the acquired bridge pier crack image into a DCNN network of a mobile terminal for training, and identifying, positioning and quantifying the crack of the bridge pier; and finally, evaluating the health condition of the bridge pier according to the historical data of the bridge pier diseases and the bridge pier detection specifications. The wall-climbing robot has multiple operation modes and can adapt to piers in different shapes, and the adopted detection method can improve the evaluation accuracy.
本发明公开了一种仿生爬壁机器人及其在桥墩裂缝检测中的应用。爬壁机器人包括第一吸墙足、第二吸墙足和驱动机构，第二吸墙足设有旋转台；驱动机构包括与第一基座连接的第一翻转调控机构、与旋转台连接的第二翻转调控机构、连接在第一翻转调控机构和第二翻转调控机构之间的伸缩跨步切换运动机构；仿生爬壁机器人应用于桥墩裂缝检测的方法是：利用爬壁机器人采集裂缝图像；将采集的桥墩裂缝图像输入移动终端的DCNN网络进行训练，并对桥墩的裂缝进行识别、定位与量化；最后根据桥墩病害的历史数据和桥墩检测规范对桥墩的健康状况进行评估。本发明涉及的爬壁机器人具有多种运行模式利于适应不同形状的桥墩，所采用的检测方法可提升评估准确性。
Bionic wall-climbing robot and application thereof in bridge pier crack detection
The invention discloses a bionic wall-climbing robot and application thereof in bridge pier crack detection. The wall-climbing robot comprises a first wall suction foot, a second wall suction foot and a driving mechanism, and the second wall suction foot is provided with a rotating table. The driving mechanism comprises a first overturning regulation and control mechanism connected with the first base, a second overturning regulation and control mechanism connected with the rotating table, and a telescopic step switching movement mechanism connected between the first overturning regulation and control mechanism and the second overturning regulation and control mechanism; the method for applying the bionic wall-climbing robot to bridge pier crack detection comprises the following steps: acquiring a crack image by using the wall-climbing robot; inputting the acquired bridge pier crack image into a DCNN network of a mobile terminal for training, and identifying, positioning and quantifying the crack of the bridge pier; and finally, evaluating the health condition of the bridge pier according to the historical data of the bridge pier diseases and the bridge pier detection specifications. The wall-climbing robot has multiple operation modes and can adapt to piers in different shapes, and the adopted detection method can improve the evaluation accuracy.
本发明公开了一种仿生爬壁机器人及其在桥墩裂缝检测中的应用。爬壁机器人包括第一吸墙足、第二吸墙足和驱动机构，第二吸墙足设有旋转台；驱动机构包括与第一基座连接的第一翻转调控机构、与旋转台连接的第二翻转调控机构、连接在第一翻转调控机构和第二翻转调控机构之间的伸缩跨步切换运动机构；仿生爬壁机器人应用于桥墩裂缝检测的方法是：利用爬壁机器人采集裂缝图像；将采集的桥墩裂缝图像输入移动终端的DCNN网络进行训练，并对桥墩的裂缝进行识别、定位与量化；最后根据桥墩病害的历史数据和桥墩检测规范对桥墩的健康状况进行评估。本发明涉及的爬壁机器人具有多种运行模式利于适应不同形状的桥墩，所采用的检测方法可提升评估准确性。
Bionic wall-climbing robot and application thereof in bridge pier crack detection
一种仿生爬壁机器人及其在桥墩裂缝检测中的应用
HUANG HONGMENG (author) / GU HAOWEI (author) / LU WEI (author) / LUO KUI (author) / CHEN HONGJUN (author) / YIN JIAHAO (author)
2025-01-10
Patent
Electronic Resource
Chinese
Wall-climbing robot for pier body formwork and using method of wall-climbing robot
| European Patent Office | 2024