Beam climbing robot inspection system for rapid detection of hidden defects

Abstract

This invention discloses a beam-climbing robot inspection system for rapid detection of hidden defects. It includes a vehicle body mounted on a steel beam, a robotic arm on one side of the vehicle body corresponding to a chain on the steel beam, a navigation and positioning mechanism, a beam-crossing movement mechanism, and a phased array ultrasonic flaw detection mechanism mounted on the vehicle body, and a visible light detection mechanism at the end of the robotic arm corresponding to the chain. It also includes a controller that communicates with the navigation and positioning mechanism, the beam-crossing movement mechanism, the phased array ultrasonic flaw detection mechanism, the robotic arm, and the visible light detection mechanism. This invention utilizes the aforementioned beam-climbing robot inspection system for rapid detection of hidden defects, employing a robot equipped with multi-view cameras and a phased array ultrasonic probe, enabling comprehensive and convenient detection of hidden defects in multi-level parking garages.

Description

Technical Field

[0001] The present invention relates to the technical field of nondestructive testing, and in particular to a beam climbing robot inspection system for rapid detection of hidden defects. Background Art

[0002] Steel beams are the main load-bearing parts of a stereo garage, and chains are an important part of the traction equipment of a stereo garage. During the construction of a stereo garage, construction defects are inevitable, such as the peeling of anti-rust paint and the loose installation of chain locks. During the use of a stereo garage, the steel structure often rusts, the welding points rust or even crack, and the chain locks wear and loosen. As time goes by, the aging of the stereo garage becomes more and more serious, and the rust and cracking of the welding points expand, and the safety hazards of the stereo garage become more prominent. In order to prevent the occurrence of safety accidents, it is urgent to conduct a comprehensive inspection, monitoring and analysis of key parts such as steel beams and chains of the stereo garage.

[0003] At present, the detection of hidden defects in stereo garages mainly has the following problems:

[0004] (1) Multi-story parking garages lack relevant safety inspection methods. The inspection of hidden defects in multi-story parking garages is mainly based on manual visual inspection, and automatic inspection cannot be achieved. The inspection efficiency is low, and it is difficult to conduct large-scale and detailed inspections on multi-story parking garages. It is difficult to accurately determine whether the multi-story parking garage is safe, which is both time-consuming and labor-intensive.

[0005] (2) Ultrasonic equipment used for steel structure flaw detection requires manual operation to achieve fixed-position detection, which is labor-intensive, has low detection efficiency and accuracy, is restricted by the environment, and poses a great safety hazard to operators. Summary of the invention

[0006] The purpose of the present invention is to provide a beam climbing robot inspection system for rapid detection of hidden defects. The robot is equipped with a multi-eye camera and a phased array ultrasonic probe to perform all-round detection of hidden defects in a stereo garage.

[0007] To achieve the above-mentioned object, the present invention provides a beam climbing robot inspection system for rapid detection of hidden defects, comprising a vehicle body arranged on a steel beam, a mechanical arm corresponding to a chain on the steel beam being arranged on one side of the vehicle body, a navigation positioning mechanism, a beam-crossing moving mechanism and a phased array ultrasonic flaw detection mechanism being arranged on the vehicle body, and a visible light detection mechanism corresponding to the chain being arranged at the end of the mechanical arm;

[0008] It also includes a controller, which communicates with the navigation and positioning mechanism, the cross-beam moving mechanism, the phased array ultrasonic flaw detection mechanism, the mechanical arm, and the visible light detection mechanism respectively.

[0009] Preferably, the navigation and positioning mechanism is arranged on a side of the vehicle body away from the steel beam, and includes a three-dimensional laser radar located on a turntable.

[0010] Preferably, the cross-beam moving mechanism includes a rotating bracket arranged around the vehicle body, wheels arranged at one end of the bracket and connected to both sides of the steel beam, and a separate support rod arranged at the other end of the bracket and connected to the vehicle body, and a motor connected to the wheel is provided on the bracket.

[0011] Preferably, the other end of the bracket is also provided with a multi-stage telescopic device connected to the telescopic controller, the multi-stage telescopic device is connected to the bracket through a universal joint, the multi-stage telescopic device includes a multi-stage telescopic rod located at the end of the bracket and connected to the telescopic controller, and the telescopic controller is located at the center of the vehicle body.

[0012] Preferably, a laser ranging sensor communicating with the telescopic controller is provided on the outer side of the bracket close to one end of the steel beam.

[0013] Preferably, an electromagnetic telescopic fitting device is provided on the inner side of the bracket, an electromagnetic coil is provided on the outer side of the telescopic rod of the telescopic fitting device, one end of the electromagnetic coil is connected to the vehicle body, and the other end is connected to the steel beam, and a torque sensor is provided on one end of the telescopic rod located on the steel beam.

[0014] Preferably, the phased array ultrasonic flaw detection mechanism includes a phased array ultrasonic flaw detector connected to a ball-type phased array ultrasonic probe, the shell of the phased array ultrasonic probe includes a universal ball and an ultrasonic probe located on the upper and lower sides of a soft coupling block, an arc-shaped groove corresponding to the universal ball is provided above the soft coupling block, the shell is filled with ultrasonic coupling liquid, and the bottom of the ultrasonic probe is connected to the telescopic controller through an elastic device.

[0015] Preferably, a pressure sensor located above the phased array ultrasonic probe is also provided on one side of the elastic device close to the steel beam.

[0016] Preferably, the visible light detection mechanism includes a camera and an image processor connected to the camera, and the camera includes but is not limited to a high-definition camera and a binocular camera.

[0017] An operation method of a beam climbing robot inspection system for rapid detection of hidden defects, the steps are as follows:

[0018] S1. The cross-beam moving mechanism enables the robot to move across the beam, and the electromagnetic telescopic fitting device ensures that the robot always fits with the steel beam during the inspection and cross-beam process;

[0019] S2. The phased array ultrasonic flaw detection mechanism uses a ball-type phased array ultrasonic probe to achieve mobile ultrasonic testing, monitors the real-time bonding force through a pressure sensor, and maintains the stability of the bonding force of each ultrasonic probe through an elastic device, thereby achieving consistency in the measurement data;

[0020] In the ball-type phased array ultrasonic probe, mobile ultrasonic detection is realized by combining the universal ball with the ultrasonic probe. The universal ball is coupled with the ultrasonic probe through a soft coupling block to realize the transmission of ultrasonic waves. The coupling force is increased by an elastic device to reduce the loss of ultrasonic energy.

[0021] S3, using the visible light detection mechanism to provide light source, and then using the robotic arm to control the camera to achieve 360° all-round detection of the steel beam, evaluate and analyze the rust of the steel beam and the wear of the chain, and combine with the navigation and positioning system to determine the location of the disease;

[0022] S4. The controller completes the path planning, enters the rapid survey mode, turns off the phased array ultrasonic flaw detection mechanism, and controls the elastic device and the telescopic fitting device to make the phased array ultrasonic flaw detection mechanism leave the I-beam, starts the visible light detection mechanism, and the cross-beam moving mechanism moves at a high speed. The camera shoots the surface of the detection area to achieve a rapid survey of the defect area. The received information is processed by the controller to complete the rough identification and positioning of the defect.

[0023] S5. Based on the defect location information obtained in the rapid survey mode, the path is re-planned and the fine detection mode is entered. The cross-beam moving mechanism moves to the defect position. The phased array ultrasonic flaw detection mechanism and the visible light detection mechanism are selectively turned on according to the type of defect. At the same time, the cross-beam moving mechanism is changed to low-speed movement. The controller controls the elastic device according to the pressure sensor information to keep the fitting force of the ball-type ultrasonic probe the same and stable. After completing each defect detection, the wall-climbing robot quickly moves to another defect position and moves at a low speed during the detection process. After all defects are detected, the wall-climbing robot returns to the origin to complete the fine detection of the defect area.

[0024] Therefore, the present invention adopts the above-mentioned beam climbing robot inspection system for rapid detection of hidden defects, and its specific technical effects are as follows:

[0025] (1) The cross-beam moving mechanism of the present invention realizes the cross-beam movement of the robot by adopting rotating wheels, brackets, detachable support rods, and multi-stage telescopic devices. The electromagnetic telescopic fitting device ensures that the robot is always in contact with the steel beam during the inspection and cross-beam process.

[0026] (2) The phased array ultrasonic flaw detection mechanism of the present invention realizes mobile ultrasonic detection by adopting a ball-type ultrasonic probe, monitors the real-time adhesion force by a pressure sensor, and maintains the stability of the adhesion force of each ultrasonic probe by an elastic device, thereby achieving consistency in measurement data; and in the ball-type ultrasonic probe, mobile ultrasonic detection is realized by combining a universal ball with the ultrasonic probe, and the universal ball is coupled to the ultrasonic probe by a soft coupling block to realize the transmission of ultrasonic waves, and the coupling force is increased by the elastic device to reduce the loss of ultrasonic energy.

[0027] (3) The visible light detection mechanism of the present invention realizes 360° all-round detection of steel beams by controlling the camera through a five-axis robotic arm, evaluates and analyzes the rust of the steel beams and the wear of the chains, and combines with the navigation and positioning system to determine the location of the disease.

[0028] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is an overall schematic diagram of a beam climbing robot inspection system for rapid detection of hidden defects;

[0030] Figure 2 This is a front view of a beam climbing robot inspection system for rapid detection of hidden defects;

[0031] Figure 3 It is a bottom view of a beam climbing robot inspection system for rapid detection of hidden defects;

[0032] Figure 4 This is a right view of a beam climbing robot inspection system for rapid detection of hidden defects;

[0033] Figure 5 A cross-sectional view of a beam-climbing robot inspection system used for rapid detection of hidden defects.

[0034] Reference numerals

[0035] 1. Steel beam; 2. Car body; 3. Mechanical arm;

[0036] 4. Navigation and positioning mechanism; 401. 3D laser radar; 402. Turntable;

[0037] 5. Phased array ultrasonic flaw detection mechanism; 501. Universal ball bearing; 502. Soft coupling block; 503. Ultrasonic probe; 504. Elastic device; 506. Rotating and retracting device;

[0038] 6. Span beam moving mechanism; 601. Wheel; 602. Bracket; 603. Support rod; 604. Universal joint; 605. Multi-stage telescopic device; 606. Laser ranging sensor; 607. Telescopic fitting device; 608. Electromagnetic coil; 609. Pressure sensor; 6010. Telescopic controller;

[0039] 7. Chain; 8. Visible light detection mechanism; 801. Camera. DETAILED DESCRIPTION

[0040] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0041] Unless otherwise defined, technical or scientific terms used in the present invention shall have the common meanings understood by one having ordinary skills in the field to which the present invention belongs.

[0042] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the main idea or essential features of the present invention. Therefore, from all points of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0043] In addition, it should be understood that although this specification is described according to the implementation modes, not every implementation mode includes only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art. These other implementation modes are also covered within the protection scope of the present invention.

[0044] It should also be understood that the specific embodiments described above are only used to explain the present invention, and the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, can make equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, which should be covered by the protection scope of the present invention / invention.

[0045] The words "include" or "comprises" and the like used in the present invention mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of also including other elements. The orientation or position relationship indicated by the terms "inside", "outside", "upper", "lower", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation of the present invention. When the absolute position of the described object changes, the relative position relationship may also change accordingly. In the present invention, unless otherwise clearly specified and limited, the terms "attachment" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] All terms (including technical terms or scientific terms) used in the present disclosure have the same meanings as those understood by ordinary technicians in the field to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be understood to have meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined in this article.

[0047] Technologies, methods, and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0048] The disclosed contents of the prior art documents cited in the present specification are incorporated into the present invention by reference in their entirety and are therefore part of the disclosure of the present invention.

[0049] Embodiment 1

[0050] A beam climbing robot inspection system for rapid detection of hidden defects includes a vehicle body 2 arranged on a steel beam 1, a mechanical arm 3 corresponding to a chain 7 on the steel beam is arranged on one side of the vehicle body, a navigation positioning mechanism 4, a beam-crossing moving mechanism 6 and a phased array ultrasonic flaw detection mechanism 5 are arranged on the vehicle body, and a visible light detection mechanism 8 corresponding to the chain is arranged at the end of the mechanical arm. The inspection system also includes a controller, which communicates with the navigation positioning mechanism, the beam-crossing moving mechanism, the phased array ultrasonic flaw detection mechanism, the mechanical arm, and the visible light detection mechanism, respectively, summarizes the position information and damage identification information, and sends it to the control center.

[0051] The robot arm consists of five rotating axes and an industrial computer. The five rotating axes are connected to each other and fixed above the robot, so that the end of the robot arm can rotate 360 ​​degrees around the steel beam. The industrial computer controls the movement of the robot arm and is connected to the main controller via RS485 to transmit the position information of the end of the robot arm in real time. The specific structure of the robot arm is not described here.

[0052] The navigation and positioning mechanism is arranged on the side of the vehicle body away from the steel beam, and includes a three-dimensional laser radar 401 located on a turntable 402. The three-dimensional laser radar is used to realize automatic mapping of the steel beam detection area of ​​the stereo garage, and the turntable ensures that the laser radar is always in the same direction as the robot when crossing the beam.

[0053] The visible light detection mechanism includes a camera 801 and an image processor connected to the camera, and the camera includes but is not limited to a high-definition camera and a binocular camera. The camera takes pictures of the I-beam and the chain during the inspection process and transmits them to the image processor, which uses a deep neural network to enhance the brightness of the picture, identify the rust of the I-beam, the cracking of the welding point, and the wear of the chain connection, and transmits the identification information and positioning information to the main controller to complete the visible light damage detection.

[0054] The cross-beam moving mechanism includes a rotating bracket 602 arranged around the vehicle body, a wheel 601 arranged at one end of the bracket and connected to both sides of the steel beam, and a separate support rod 603 arranged at the other end of the bracket and connected to the vehicle body. The bracket is provided with a motor connected to the wheel. The wheel is mounted on the motor, which is mounted on the rotating wheel bracket, and the motor provides power for the operation of the wheel. The separate support rod can achieve stable connection or relaxation with the vehicle body. The specific structure of the support rod is not specifically described, and the focus is on the process of its connection and separation, in preparation for the extension and retraction of one side of the vehicle body.

[0055] The other end of the bracket is also provided with a multi-stage telescopic device 605 connected to the telescopic controller. The multi-stage telescopic device is connected to the bracket 602 through a universal joint 604. The multi-stage telescopic device and the universal joint are used to extend one side of the bracket, thereby realizing the change of the vehicle body, providing a guarantee for comprehensive defect detection. The multi-stage telescopic device includes a multi-stage telescopic rod located at the end of the bracket and connected to the telescopic controller. The telescopic controller is located at the center of the vehicle body, and the operation of the multi-stage telescopic device is controlled by the telescopic controller.

[0056] A laser distance measuring sensor 606 communicating with the telescopic controller is provided on the outer side of the bracket near one end of the steel beam. The laser distance measuring sensor measures the distance between the front rotating wheel bracket and the vertical I-beam in front in real time, providing protection for the running trajectory of the vehicle body.

[0057] An electromagnetic telescopic fitting device 607 is provided on the inner side of the bracket, and an electromagnetic coil 608 is provided on the outer side of the telescopic rod of the telescopic fitting device. One end of the electromagnetic coil is connected to the vehicle body, and the other end is connected to the steel beam. A torque sensor is provided on the telescopic rod at one end of the steel beam. Whether the electromagnetic coil is energized or not controls whether it is stably connected to the steel beam. A pressure sensor 609 located above the phased array ultrasonic probe is also provided on the side of the elastic device close to the steel beam. The pressure sensor is used to measure the fitting force in real time.

[0058] During operation, the robot inspects the steel beam as a whole, and the laser ranging sensor measures the distance between the front rotating wheel, the bracket and the front vertical beam steel in real time. When the distance reaches the set value, the detachable support rod in the front is disconnected, and the telescopic controller 6010 controls the inner multi-stage telescopic device to retract and the outer multi-stage telescopic device to extend. At the same time, the electromagnetic coil is energized to generate electromagnetic force, so that the four electromagnetic telescopic fitting devices are alternately fitted on the I-beam during the robot's forward movement.

[0059] When the distance between the rear rotating wheel and bracket and the vertical beam steel in front reaches the set value, the outer multi-stage telescopic device extends, the inner multi-stage telescopic device contracts, the detachable support rod in front closes, and the rotating wheel and bracket rotate 90°. At this time, the wheel fits the vertical beam steel and the forward direction turns. Rotate the turntable to make the three-dimensional laser radar consistent with the forward direction. The telescopic controller controls the inner multi-stage telescopic device to contract and the outer multi-stage telescopic device to extend. The detachable support rod is disconnected. The laser ranging sensor measures the distance to the rear I-beam steel in real time. When the distance reaches the set value, the telescopic controller controls the inner multi-stage telescopic device to extend and the outer multi-stage telescopic device to contract. The detachable support rod is closed, the electromagnetic coil is powered off, and the electromagnetic telescopic bonding device adopts a soft bonding method to make the robot fit onto the I-beam. At this point, the cross-beam movement is completed.

[0060] The phased array ultrasonic flaw detection mechanism includes a phased array ultrasonic flaw detector connected to a ball-type phased array ultrasonic probe. The shell of the phased array ultrasonic probe includes a universal ball and an ultrasonic probe located on the upper and lower sides of a soft coupling block. An arc-shaped groove corresponding to the universal ball is provided above the soft coupling block. The shell is filled with ultrasonic coupling liquid, and the bottom of the ultrasonic probe is connected to the telescopic controller through an elastic device.

[0061] The universal ball is made of metal, ceramic and other materials with good sound permeability. The ultrasonic coupling liquid is used to fill the gap between the soft coupling block and the universal ball. The soft coupling block can be made of materials with low sound attenuation coefficient such as polyresin soft plastic, chloroprene rubber, cast polyurethane rubber, etc., and those skilled in the art can make specific choices according to actual conditions. The other end of the ultrasonic probe is connected to an elastic device for auxiliary coupling.

[0062] Furthermore, several ball-type ultrasonic probes are installed under the robot to form an ultrasonic array. The upper part of the ball-type ultrasonic probe is connected to a pressure sensor for monitoring the real-time bonding force. The other end of the pressure sensor is connected to an elastic device for providing bonding force. The other end of the elastic device is equipped with a rotating telescopic device for adjusting the bonding force. The telescopic controller adjusts the rotating telescopic device according to the information of the pressure sensor to achieve the same and stable bonding force of each ball-type ultrasonic probe. The ultrasonic detection controller controls the transmission and reception of ultrasonic signals of each ultrasonic probe, and the received information is input into the main controller for processing.

[0063] The working principle of the beam climbing robot inspection system for rapid detection of hidden defects of the present invention is to adopt the detection mode of "rapid general inspection → low-speed precise inspection", and its specific steps include:

[0064] Step (1): The navigation and positioning system completes the path planning, enters the rapid survey mode, turns off the phased array ultrasonic flaw detection mechanism, and controls the elastic device and the rotating and retracting device 506 to make the ultrasonic flaw detection device leave the I-beam, starts the visible light detection mechanism, and the cross-beam moving mechanism moves at a high speed. The multi-eye panoramic camera shoots the surface of the detection area to achieve a rapid survey of the defect area. The received information is processed by the main controller to complete the rough identification and positioning of the defects.

[0065] Step (2): Based on the defect location information obtained in the rapid survey mode, the path is replanned and the fine detection mode is entered. The cross-beam moving mechanism of the beam climbing robot moves to the defect position. After reaching the defect position, the phased array ultrasonic flaw detection mechanism and the visible light detection mechanism are selectively turned on according to the type of defect. At the same time, the cross-beam moving mechanism is changed to low-speed movement. When the phased array ultrasonic flaw detection mechanism is used, the controller controls the elastic device and the rotating telescopic device according to the pressure sensor information to keep the fitting force of each ball-type ultrasonic probe the same and stable. After each defect detection is completed, the wall climbing robot quickly moves to another defect position and moves at a low speed during the detection process. After all defects are detected, the wall climbing robot returns to the origin to complete the fine detection of the defect area.

[0066] Therefore, the present invention adopts the above-mentioned beam-climbing robot inspection system for rapid detection of hidden defects, and uses the robot equipped with a multi-eye camera and a phased array ultrasonic probe to perform all-round detection of hidden defects in a stereo garage.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A beam climbing robot inspection system for rapid detection of hidden defects, characterized by: Including set on the steel beam A car body on the steel beam, a mechanical arm corresponding to the chain on the steel beam is provided on one side of the car body, a navigation positioning mechanism, a cross-beam moving mechanism and a phased array ultrasonic flaw detection mechanism are provided on the car body, and a visible light detection mechanism corresponding to the chain is provided at the end of the mechanical arm; When the cross-beam moving mechanism is in operation, the whole body inspects on the steel beam, and the laser ranging sensor measures the distance between the front rotating wheel, the bracket and the front vertical beam steel in real time. When the distance reaches the set value, the detachable support rod in the front is disconnected, and the telescopic controller controls the inner multi-stage telescopic device to contract and the outer multi-stage telescopic device to extend. At the same time, the electromagnetic coil is energized to generate electromagnetic force, so that the four electromagnetic telescopic fitting devices are alternately fitted on the I-beam during the robot's forward movement. When the distance between the rear rotating wheel and bracket and the front vertical beam steel reaches the set value, the outer multi-stage telescopic device extends, the inner multi-stage telescopic device contracts, the front detachable support rod closes, and the rotating wheel and bracket rotate 90 degrees. At this time, the wheels are in contact with the vertical beam steel and the forward direction is turned; the turntable is rotated to make the three-dimensional laser radar consistent with the forward direction, the telescopic controller controls the inner multi-stage telescopic device to retract and the outer multi-stage telescopic device to extend, the detachable support rod is disconnected, and the laser ranging sensor measures the distance to the rear I-beam steel in real time. When the distance reaches the set value, the telescopic controller controls the inner multi-stage telescopic device to extend and the outer multi-stage telescopic device to retract, the detachable support rod is closed, the electromagnetic coil is powered off, and the electromagnetic telescopic fitting device adopts a soft fitting method to make the robot fit onto the I-beam. At this point, the cross-beam movement is completed; The phased array ultrasonic flaw detection mechanism comprises a phased array ultrasonic flaw detector connected to a ball-type phased array ultrasonic probe, the shell of the phased array ultrasonic probe comprises a universal ball and an ultrasonic probe located on the upper and lower sides of a soft coupling block, an arc-shaped groove corresponding to the universal ball is arranged above the soft coupling block, the shell is filled with ultrasonic coupling liquid, and the lower part of the ultrasonic probe is connected to the telescopic controller through an elastic device; It also includes a controller, which communicates with the navigation and positioning mechanism, the cross-beam moving mechanism, the phased array ultrasonic flaw detection mechanism, the mechanical arm, and the visible light detection mechanism respectively.

2. A beam climbing robot inspection system for rapid detection of hidden defects according to claim 1, characterized in that: The navigation and positioning mechanism is arranged on a side of the vehicle body away from the steel beam, and includes a three-dimensional laser radar located on a turntable.

3. The beam climbing robot inspection system for rapid detection of hidden defects according to claim 1 is characterized in that: The cross-beam moving mechanism includes a bracket arranged around the vehicle body, a wheel arranged at one end of the bracket and connected to both sides of the steel beam, and a separate support rod arranged at the other end of the bracket and connected to the vehicle body. A motor connected to the wheel is provided on the bracket.

4. A beam climbing robot inspection system for rapid detection of hidden defects according to claim 3, characterized in that: The other end of the bracket is also provided with a multi-stage telescopic device connected to the telescopic controller. The multi-stage telescopic device is connected to the bracket through a universal joint. The multi-stage telescopic device includes a multi-stage telescopic rod located at the end of the bracket and connected to the telescopic controller. The telescopic controller is located at the center of the vehicle body.

5. The beam climbing robot inspection system for rapid detection of hidden defects according to claim 4 is characterized in that: A laser distance measuring sensor communicating with the telescopic controller is arranged on the outer side of the bracket close to one end of the steel beam.

6. A beam climbing robot inspection system for rapid detection of hidden defects according to claim 5, characterized in that: An electromagnetic telescopic fitting device is provided on the inner side of the bracket, an electromagnetic coil is provided on the outer side of the telescopic rod of the telescopic fitting device, one end of the electromagnetic coil is connected to the vehicle body, and the other end is connected to the steel beam, and a torque sensor is provided on one end of the telescopic rod located on the steel beam.

7. The beam climbing robot inspection system for rapid detection of hidden defects according to claim 1 is characterized in that: A pressure sensor located above the phased array ultrasonic probe is also provided on one side of the elastic device close to the steel beam.

8. The beam climbing robot inspection system for rapid detection of hidden defects according to claim 1 is characterized in that: The visible light detection mechanism includes a camera and an image processor connected to the camera, and the camera includes a high-definition camera or a binocular camera.

9. An operating method of a beam climbing robot inspection system for rapid detection of hidden defects according to any one of claims 1 to 8, characterized in that: Here are the steps: S1. The cross-beam moving mechanism enables the robot to move across the beam, and the electromagnetic telescopic fitting device ensures that the robot always fits with the steel beam during the inspection and cross-beam process; S2. The phased array ultrasonic flaw detection mechanism uses a ball-type phased array ultrasonic probe to achieve mobile ultrasonic testing, monitors the real-time bonding force through a pressure sensor, and maintains the stability of the bonding force of each ultrasonic probe through an elastic device, thereby achieving consistency in the measurement data; In the ball-type phased array ultrasonic probe, mobile ultrasonic detection is realized by combining the universal ball with the ultrasonic probe. The universal ball is coupled with the ultrasonic probe through a soft coupling block to realize the transmission of ultrasonic waves. The coupling force is increased by an elastic device to reduce the loss of ultrasonic energy. S3, using the visible light detection mechanism to provide light source, and then using the robotic arm to control the camera to achieve 360° all-round detection of the steel beam, evaluate and analyze the rust of the steel beam and the wear of the chain, and combine with the navigation and positioning system to determine the location of the disease; S4. The controller completes the path planning, enters the rapid survey mode, turns off the phased array ultrasonic flaw detection mechanism, and controls the elastic device and the telescopic fitting device to make the phased array ultrasonic flaw detection mechanism leave the I-beam, starts the visible light detection mechanism, and the cross-beam moving mechanism moves at a high speed. The camera shoots the surface of the detection area to achieve a rapid survey of the defect area. The received information is processed by the controller to complete the rough identification and positioning of the defect. S5. Based on the defect location information obtained in the rapid survey mode, the path is re-planned and the fine detection mode is entered. The cross-beam moving mechanism moves to the defect position. The phased array ultrasonic flaw detection mechanism and the visible light detection mechanism are selectively turned on according to the type of defect. At the same time, the cross-beam moving mechanism is changed to low-speed movement. The controller controls the elastic device according to the pressure sensor information to keep the fitting force of the ball-type ultrasonic probe the same and stable. After completing each defect detection, the wall-climbing robot quickly moves to another defect position and moves at a low speed during the detection process. After all defects are detected, the wall-climbing robot returns to the origin to complete the fine detection of the defect area.

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