Inchworm-imitating climbing robot suitable for truss structure

Abstract

The invention provides an inchworm-imitating climbing robot suitable for a truss structure. The robot comprises clamping device modules at the two ends, a joint module, a processor, a binocular imageacquisition module, an image processing module and a route calculation module. The joint module comprises an I-shaped joint module and a T-shaped joint module. Two cameras of a binocular stereoscopicvision module are installed on the two clamping device modules, and the binocular image acquisition module is used for acquiring environment image information and space coordinate information of eachpoint in an image; the image processing module is used for processing the image acquired by the binocular image acquisition module and separating an obstacle image in the image; and the route calculation module plans and screens multiple route distances between the robot and an obstacle according to the separated obstacle image. The inchworm-imitating climbing robot suitable for the truss structure has the beneficial effects of being scientific in design, capable of achieving automatic advancing and high in environment adaptive capacity and has obstacle crossing capacity.

Description

technical field [0001] The invention relates to a bionic robot, in particular to an inchworm-like climbing robot suitable for a truss structure. Background technique [0002] The tower is a high-rise steel structure (indeterminate product). The designer can design the tower structure according to the different engineering conditions. Therefore, the tower structure has a wide range of uses and is often used in truss bridges, cable bridges, and power towers. Frames, etc., especially the first two are the most. [0003] According to data from the Ministry of Transport of the People's Republic of my country, the total number of permanent highway bridges in China has reached 765,456, including 180,000 pylon bridges. The period of high incidence of safety accidents such as bridge collapses. Seriously, 30% of bridges are sick, and 15% of them are identified as (about 100,000) dangerous bridges. The safe passage of bridges has been seriously threatened, and the safety of people's ...

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Problems solved by technology

[0005] However, there are problems with these detection methods. First, the project costs a lot, and it is not easy to replace when the rope is damaged or aging; second, it is time-consuming and labor-intensive, and the safety is low, and it is difficult to work at close distances, and it is easy to hinder the traffic on the bridge.

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