A wall climbing detection device and detection method thereof

Abstract

The invention discloses a wall-climbing detection device and a detection method thereof. The device comprises a support plate, the upper part of the support plate is provided with a controller module, a miniature camera telescopic module and a plurality of pan-tilt cameras, and the lower part of the support plate is provided with a plurality of drivers The motor and a plurality of electro-permanent magnet adsorption modules, the miniature camera telescopic module is connected with a miniature camera, the output shaft of the drive motor is connected with an omnidirectional wheel, the miniature camera telescopic module and the pan-tilt camera are connected with the controller module, and the drive motor It is connected with the output end of the controller module, and the input end of the controller module is connected with a plurality of ultrasonic obstacle avoidance modules. The device of the invention is simple in structure, reasonable in design, convenient in implementation, and can be effectively applied in automatic detection operations. Combined with the detection method, it realizes wide detection space, flexible and fast movement, safe and reliable work, good use effect, and easy popularization and use.

Description

technical field [0001] The invention belongs to the technical field of automatic detection, and in particular relates to a wall-climbing detection device and a detection method thereof. Background technique [0002] For the detection of sewage pipelines and natural gas transmission pipelines, the inspection of the inner wall of large tanks in the nuclear industry and petrochemical industry, the inspection of the water-cooled wall pipes of thermal power plant boilers, and the detection of steam generators in nuclear power plants, etc., most of them still use traditional manual methods at present. Do your homework. Manual workers have high labor intensity, harsh working environment, and even radioactive hazards. At the same time, the work efficiency is low and the work cycle is long. With the development of science and technology and the increase of labor costs, various wall-climbing maintenance robots have emerged, including vacuum adsorption wall-climbing robots, magnetic a...

AI Technical Summary

Problems solved by technology

[0003] However, most of the miniature detection cameras carried by the current wall-climbing maintenance robots adopt the fixed pan-tilt method, that is, the camera can only detect horizontally and vertically at a fixed position. The detection camera cannot detect or the detection image is blurred, resulting in the detection of dead corners and incomplete detection of defects in the wall-climbing maintenance robot

[0004] Moreover, the miniature detection camera carried by the current wall-climbing maintenance robot has a limited detection range and cannot perform 360-degree panorama detection. Devices, causing immeasurable losses, especially in precision and complex curved surface spaces such as nuclear devices

[0005] In addition, during the operation of vacuum adsorption wall-climbing robots and magnetic adsorption wall-climbing robots, etc., in case of sudden power failure and other emergencies, the adsorption force will suddenly disappear, causing the wall-climbing robot to suddenly fall, which will not only cause the robot itself The damage of the operation object will also cause damage to the machine device of the operation object, resulting in unnecessary and unexpected loss consequences

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