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A robot and control method for aerial contact non-destructive testing

A non-destructive testing, contact technology, applied in unmanned aerial vehicles, rotorcraft, motor vehicles, etc., can solve the problems of inaccurate test results, waste of manpower, time-consuming and laborious, etc., to overcome high cost, buffer external interference, Expand the effect of application scenarios

Active Publication Date: 2022-03-15
HUNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to equipment limitations, when inspecting large-scale infrastructure, it can only rely on manual scaffolding, climbing, and hanging inspections
In order to ensure the safety of the inspection, additional materials will be spent for protection, which increases the cost; at the same time, personnel with certain construction experience and skills are required to monitor on the ground during the inspection, resulting in a waste of manpower; during the inspection process, not only the construction personnel face the danger of falling , objects falling from high altitudes also threaten the life safety of the guardians below; due to manual work, it takes time and effort to climb to high altitudes, and the mobility is also very poor. A series of problems lead to low detection efficiency and low accuracy

Method used

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  • A robot and control method for aerial contact non-destructive testing
  • A robot and control method for aerial contact non-destructive testing
  • A robot and control method for aerial contact non-destructive testing

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0070] Embodiment 1, a robot for air contact non-destructive testing operations, including a multi-rotor UAV 1, the multi-rotor UAV 1 is equipped with an on-board computer 11, and the on-board computer 11 is fixed on a multi-rotor The bottom of rotor UAV 1 also includes: measuring mechanism, including measuring main frame 6, depth camera 10, first carbon tube 15, second carbon tube 16 and ultrasonic measuring probe 7, and described measuring main frame 6 is fixedly arranged on multi-rotor wingless On the top of the man-machine 1, the depth camera 10 is fixed at the middle of the first carbon tube 15, the second carbon tube 16 is movably socketed with the first carbon tube 15, and the first carbon tube 15 is provided with a slide The chute is fixed with elastic parts, such as springs, which have both elastic transmission of power or motion and damping parts. Both ends of the elastic parts are provided with pin shafts, and the elastic parts pass through The bearing pins are fixe...

Embodiment 2

[0077] Embodiment 2, a method for controlling a robot used in aerial contact nondestructive testing operations, the method includes the following steps:

[0078] S1: Establish UAV dynamics model, perspective camera model and mass-spring-damper model;

[0079] S2: Design a task function according to image features and desired image features, the task function is expressed as:

[0080]

[0081] is the image feature, is the desired image feature, is the interaction matrix, which relates the change of image features in the camera to the camera velocity, is the generalized inverse matrix of the interaction matrix;

[0082] S3: Design the visual control law of the UAV by combining the change trajectory of the image features and the movement speed of the camera through the task function;

[0083] S4: Convert the velocity generated by the contact force of the manipulator into the velocity in the image space;

[0084] S5: Calculate the velocity of the end mechanism of the ...

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Abstract

The invention discloses a robot and a control method for air-contact nondestructive testing operations. The air-contact nondestructive testing robot includes a multi-rotor drone, and the multi-rotor drone is equipped with an on-board computer and a measuring mechanism. And the drive mechanism, the measurement mechanism, including the measurement host, the depth camera, the first carbon tube, the second carbon tube and the ultrasonic measurement probe, the drive mechanism, including the first drive motor, the second drive motor and the third drive motor; this The invention can improve work efficiency, liberate labor, and provide better accuracy and stability.

Description

technical field [0001] The invention relates to the technical field of aerial nondestructive testing, in particular to a robot and a control method for aerial contact nondestructive testing operations. Background technique [0002] Large-scale oil and gas pipelines, large-scale wind power generators, thermal / nuclear power plants, large-scale bridges and other major infrastructures are the common material basis for the production, operation and life of all enterprises, units and residents, and are the guarantee for the normal operation of the main facilities of the city. The important conditions of material production are also important conditions of the reproduction of labor power. However, taking large-scale oil and gas pipelines as an example, raw materials such as crude oil circulate at high speed in the storage tanks and pipelines all year round. Since the raw materials contain a large amount of ions that are highly corrosive to various metal materials such as chlorine, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B64C27/08B64C39/02B64D47/00
CPCB64C27/08B64C39/02B64D47/00B64U10/10B64U2101/00
Inventor 钟杭曾俊豪王耀南张辉毛建旭
Owner HUNAN UNIV