Vibration monitoring robot, monitoring system and monitoring method for engineering structures

Abstract

The present application provides a vibration monitoring robot, monitoring system and monitoring method for engineering structures. The vibration monitoring robot includes a fuselage, an acceleration sensing element, a distance sensing element, a traveling mechanism and a telescopic mechanism; the acceleration sensing element is arranged on the bottom surface inside the fuselage; the distance sensing element is arranged on the front surface inside the fuselage; the traveling mechanism is used to drive the fuselage to walk; one end of the telescopic mechanism is connected to the fuselage, and the other end is connected to the traveling mechanism, and the telescopic mechanism can drive the traveling mechanism to telescope in the direction of the fuselage. The present application can accurately obtain the vibration acceleration response data of the engineering structure, and can realize real-time environmental mapping, create environmental mapping and estimate its own position; in addition to the function of measuring the vibration acceleration response of the engineering structure, the vibration monitoring robot can also realize the obstacle avoidance function during travel through the distance sensing element, and plan the optimal evacuation route when natural disasters such as earthquakes and typhoons occur, and provide effective evacuation guidance to the public.

Description

Technical Field

[0001] The present application belongs to the technical field of engineering structure health monitoring, and more specifically, relates to a vibration monitoring robot, a monitoring system and a monitoring method for engineering structures. Background Art

[0002] The frontier progress of robotics and computer science has received extensive attention in the field of structural health monitoring. Among them, robots used in structural health monitoring have become an effective way to solve hardware problems and optimize user interaction. Various engineering structures such as houses, bridges, railways, roads, water conservancy projects, marine projects, ports and underground projects often deteriorate or even fail in their structural performance during operation due to environmental erosion, natural disasters, long-term damage accumulation, complex loads and material aging, which seriously affects the service life of these engineering structures.

[0003] During the operation phase of an engineering structure, when encountering catastrophic accidents such as earthquakes, typhoons or explosions, it is crucial to be able to promptly and accurately assess the health status of the structure, discover potential diseases in hidden parts of the engineering structure, and make timely and effective repair and maintenance decisions for the engineering structure.

[0004] Traditional methods of health monitoring of engineering structures mainly rely on manual inspection, which involves manual damage inspection of the main components of the engineering structure, such as beams, plates, columns, etc. However, this detection method has many problems, including low efficiency, high missed detection rate, large human resources consumption, low degree of data informatization, and over-reliance on engineers' experience. In order to avoid the threat to personal safety caused by the sudden failure of engineering structure performance and to ensure the safety of people's lives and property, over the past decade, relevant departments have required the comprehensive promotion of the application of automated rapid inspection and monitoring technology. Intelligent and rapid inspection and monitoring of engineering structures has gradually become a major demand of the building inspection and monitoring industry and has emerged as the times require.

[0005] In order to solve the time-consuming and labor-intensive problems of traditional manual detection methods, scholars at home and abroad have developed various types of inspection and monitoring platforms, including climbing robot inspection and monitoring platforms and drone robot inspection and monitoring platforms, to realize automated inspection and monitoring of building diseases.

[0006] Among them, multi-mode and multi-purpose drones have become an important robot system suitable for monitoring the health status of engineering structures. Due to the small spatial motion limitations of drones, they can effectively realize the inspection and monitoring of the appearance of engineering structures, as well as the rapid measurement of the internal forces of hangers or cables in large-span bridge structures. However, drones are extremely sensitive to severe weather conditions such as high-speed winds, precipitation and snow. When using drones to measure the dynamic response of structures, the shaking factor of the drone itself must be taken into account, especially when it is easily affected by wind loads in the hovering state, which in turn causes the shaking of the drone itself. This shaking will cause the measured structural dynamic response data to contain the vibration data caused by the shaking of the drone itself due to wind loads, thereby affecting the accuracy of the measurement results. In order to alleviate this problem, the shaking in the hovering state can be reduced by applying the drone mechanical arm. The mechanical arm can stabilize the drone to a certain extent through its grasping action, but the arm may cause the loosening or deflection of the rotating joint when shaking, which in turn affects the measurement results and causes measurement errors in the vibration of the engineering structure. On the other hand, drones usually use machine vision technology combined with GPS positioning to monitor engineering structures. However, in areas with poor GPS signals, accurate positioning becomes a major challenge, which brings certain difficulties to the health monitoring of engineering structures.

[0007] There is also a curved wall-climbing robot equipped with a mobile platform with curved surface adaptive adsorption, which can effectively enhance the contact friction between the robot and the engineering structure, thereby reducing the error in the measurement results of the structural vibration acceleration response caused by the robot's own shaking. However, the movement speed of this type of climbing robot is relatively slow, the time cost is high, and the detection efficiency is low, so it is difficult to meet the strict requirements of large-scale engineering structure inspection and monitoring tasks, such as heavy tasks and short detection windows. When facing large-scale engineering structure inspection and monitoring tasks, the robot's lack of movement speed and efficiency may become the main bottleneck of its application.

[0008] There is also a building structure health monitoring system designed specifically for diagnosing the performance of buildings in the face of catastrophic accidents such as earthquakes, typhoons or explosions. It can monitor the vibration acceleration response of buildings for a long time without large-scale construction. The system mainly includes an acceleration sensor installed on the ground of the building, namely the first acceleration sensor, and a terminal device that can move to different heights in the structure, and is equipped with another acceleration sensor in the terminal device, namely the second acceleration sensor, which can measure acceleration at different heights of the structure. Although this monitoring system avoids the need for large-scale construction, it requires the first acceleration sensor to be installed in the building in advance, which may have a certain impact on the integrity of the structure. When the system is operating, the robot will use the second acceleration sensor of the terminal to move between the floors of the building and measure the acceleration values ​​at multiple locations. The data measured by the first and second acceleration sensors need to be synchronized in time first, and then the dynamic response of the building structure is calculated by an algorithm. However, if there is no cable connecting different acceleration sensors, wireless communication technologies such as ZigBee, GPS, and Bluetooth are usually used to achieve time synchronization. However, due to the relatively weak signal penetration of these technologies, they are mainly suitable for outdoor open scenes or unobstructed environments. Inside high-rise buildings, the first and second acceleration sensors are often separated by multiple floors and walls. This structure poses a certain obstacle to signal penetration, making it difficult to apply these wireless communication technologies in these synchronous scenarios. In addition, when the robot is measuring the vibration data of the building, due to its own shaking, it may cause errors in the vibration data measurement, which is also a problem that the system needs to further optimize and solve.

[0009] In summary, although drones exhibit good high-altitude maneuverability, they are extremely sensitive to adverse weather conditions such as strong winds, precipitation, and snowfall, and cannot achieve accurate positioning in areas with weak GPS signals, which can easily lead to measurement errors. In addition, when climbing robots and crawling robots perform engineering structure inspection tasks, their inspection costs are relatively high due to their slow movement speed, high time cost, and low efficiency, and they cannot meet the needs of many engineering structure inspection tasks and short inspection windows. On the other hand, when facing their own shaking and vibration, existing robot systems have not yet been able to effectively monitor the vibration acceleration response of engineering structures while reducing the robot's own dynamic response. Therefore, the engineering structure vibration data obtained by existing robot technology needs to be post-processed to eliminate the measurement errors caused by the robot's own vibration. Summary of the invention

[0010] The purpose of the embodiments of the present application is to provide a vibration monitoring robot, a monitoring system and a monitoring method for engineering structures, so as to solve the technical problems existing in the prior art such as large monitoring data errors, low monitoring efficiency and high monitoring costs.

[0011] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide a vibration monitoring robot for engineering structures, including a fuselage, an acceleration sensing element, a distance sensing element, a traveling mechanism and a telescopic mechanism; the acceleration sensing element is arranged on the bottom surface inside the fuselage; the distance sensing element is arranged on the front end surface inside the fuselage; the traveling mechanism is used to drive the fuselage to walk; one end of the telescopic mechanism is connected to the fuselage; the other end of the telescopic mechanism is connected to the traveling mechanism, and the telescopic mechanism can drive the traveling mechanism to telescope toward the fuselage.

[0012] Optionally, the traveling mechanism includes a wheel axle frame and a first driving wheel, a second driving wheel and two walking wheels mounted on the wheel axle frame; the wheel axle frame is connected to the telescopic mechanism; the first driving wheel and the second driving wheel are respectively located on both sides of the fuselage.

[0013] Optionally, the telescopic mechanism includes a telescopic motor and a controller; the controller is electrically connected to the telescopic motor; the telescopic motor is installed on the top surface inside the fuselage, and the output end of the telescopic motor is connected to the traveling mechanism.

[0014] Optionally, the bottom surface of the exterior of the fuselage is provided with an anti-slip structure.

[0015] Optionally, the acceleration sensing element is a servo-type three-axis accelerometer.

[0016] Optionally, the distance sensing element is an infrared rangefinder.

[0017] The present application also provides a monitoring system for engineering structures, the monitoring system comprising a terminal and the above-mentioned vibration monitoring robot, the terminal being respectively connected to the acceleration sensing element, the distance sensing element, the traveling mechanism, and the telescopic mechanism by signal.

[0018] Optionally, the terminal includes a path planning module, and the path planning module is used to analyze the location information of obstacles and plan the optimal walking path of the vibration monitoring robot.

[0019] Optionally, the terminal also includes a data analysis module, which is used to process and analyze vibration data, perform vibration modal analysis and service status assessment on the engineering structure, and identify changes or defects in the engineering structure by comparing real-time monitoring data and benchmark test data.

[0020] The present application also provides a monitoring method for engineering structures, which adopts the above-mentioned monitoring system, and the method includes: when the vibration monitoring robot is in a non-vibration monitoring stage, the terminal controls the telescopic mechanism to extend so that the traveling mechanism contacts the ground, the vibration monitoring robot moves freely on the engineering structure, and avoids obstacles through the distance sensing element to plan an optimal walking path; when the vibration monitoring robot is in a vibration monitoring stage, the terminal controls the telescopic mechanism to shorten so that the traveling mechanism is separated from the surface of the engineering structure, the fuselage is in full contact with the surface of the engineering structure, the terminal controls the acceleration sensing element to start working, the acceleration sensing element outputs vibration data and feeds it back to the terminal; the terminal monitors and diagnoses changes or defects in the engineering structure by analyzing and processing the vibration data.

[0021] The beneficial effects of the vibration monitoring robot, monitoring system and monitoring method for engineering structures provided by the present application are:

[0022] (1) Compared with the prior art, the present application uses acceleration sensing elements to directly measure the real-time vibration response data of engineering structures. Acceleration sensing elements have the advantages of no need for reference points, high sensitivity, strong anti-interference, fast response speed, and easy operation and maintenance. When an engineering structure is damaged, the dynamic characteristic parameters of engineering structures such as buildings will change. The present application obtains the dynamic characteristic parameters of the engineering structure by measuring the vibration acceleration response, conducts damage identification and service status assessment of the engineering structure, and monitors any structural changes or defects by comparing real-time monitoring data and benchmark test data. Therefore, the present application can be used for engineering structure health monitoring, damage diagnosis and prediction, and structural reliability and safety assessment.

[0023] (2) Compared with the prior art, the present application is relatively simple in measuring the vibration acceleration response of the engineering structure. The acceleration sensing element can be installed on the bottom surface of the fuselage to measure the engineering structure, so there is no need to build an environment for embedding the sensor into the engineering structure. By setting up a traveling mechanism, the vibration monitoring robot can be used for measurement at any place and can flexibly adapt to changes in the environment; by using a telescopic mechanism to retract the traveling mechanism, the acceleration sensing element can be fixed, reducing the interference dynamic response caused by the shaking of the vibration monitoring robot itself, thereby obtaining a more accurate measurement result.

[0024] (3) Compared with the prior art, in the present application, a moving mechanism is provided, and the vibration monitoring robot can move freely on the ground of the building, so that the vibration monitoring robot can quickly reach different floors and locations, thereby improving the movement efficiency of the vibration monitoring robot and effectively reducing the consumption of manpower, material resources and financial resources.

[0025] (4) Compared with the prior art, in the present application, the ranging sensing element is used to estimate the vibration monitoring robot's own position and create an environmental map to avoid obstacles. When natural disasters such as earthquakes and typhoons occur, it can provide timely and effective evacuation guidance, plan the safest and shortest evacuation route, and minimize casualties. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0027] Figure 1 A schematic diagram of the three-dimensional structure of a vibration monitoring robot for engineering structures provided in an embodiment of the present application;

[0028] Figure 2 A schematic diagram of the main structure of a vibration monitoring robot for engineering structures provided in an embodiment of the present application;

[0029] Figure 3 A schematic diagram of a top view of a vibration monitoring robot for an engineering structure provided in an embodiment of the present application;

[0030] Figure 4 A schematic diagram of the side view structure of a vibration monitoring robot for engineering structures provided in an embodiment of the present application;

[0031] Figure 5 A flow chart of a vibration monitoring robot for engineering structures in a non-vibration monitoring working phase provided in an embodiment of the present application;

[0032] Figure 6 A flow chart of the vibration monitoring working phase of a vibration monitoring robot for engineering structures provided in an embodiment of the present application.

[0033] Among them, the reference numerals in the figure are:

[0034] 1-body; 2-acceleration sensing element; 3-distance sensing element; 4-travel mechanism; 41-axle frame; 42-first drive wheel; 43-second drive wheel; 44-travel wheel; 45-drive motor; 46-drive gear; 47-transmission gear; 5-telescopic mechanism; 6-controller; 7-power supply. DETAILED DESCRIPTION

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0036] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0037] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] Please also read Figures 1 to 4 , a vibration monitoring robot for engineering structures provided by the embodiment of the present application is now described. The vibration monitoring robot comprises a body 1, an acceleration sensing element 2, a distance sensing element 3, a traveling mechanism 4 and a telescopic mechanism 5; the acceleration sensing element 2 is arranged on the bottom surface inside the body 1; the distance sensing element 3 is arranged on the front end surface inside the body 1; the traveling mechanism 4 is used to drive the body 1 to walk; one end of the telescopic mechanism 5 is connected to the body 1; the other end of the telescopic mechanism 5 is connected to the traveling mechanism 4, and the telescopic mechanism 5 can drive the traveling mechanism 4 to telescope toward the body 1.

[0040] The vibration monitoring robot for engineering structures provided by the present application, compared with the prior art, the embodiment of the present application adopts an acceleration sensing element 2 to directly measure the real-time acceleration response data of the engineering structure, and the acceleration sensing element 2 has the advantages of no need for a reference point, high sensitivity, strong anti-interference, fast response speed, easy operation and maintenance, etc. When the engineering structure is damaged, the dynamic characteristic parameters of engineering structures such as buildings will change. The present application obtains the dynamic characteristic parameters of the engineering structure by measuring the vibration acceleration response, carries out damage identification and service status assessment on the engineering structure, and monitors any structural changes or defects by comparing real-time monitoring data and benchmark test data. Therefore, the present application can be used for engineering structure health monitoring, damage diagnosis and prediction, and reliability and safety assessment of the structure.

[0041] The embodiment of the present application is relatively simple to measure the vibration acceleration response of the engineering structure. The acceleration sensing element 2 is installed on the bottom surface of the fuselage 1 to measure the engineering structure, so there is no need to build an environment for embedding the sensor into the engineering structure. By setting up the traveling mechanism 4, the vibration monitoring robot can be measured anywhere and can flexibly adapt to changes in the environment; by using the telescopic mechanism 5 to shrink the traveling mechanism 4, the acceleration sensing element 2 can be fixed, reducing the dynamic response interference caused by the shaking of the vibration monitoring robot itself, thereby obtaining a more accurate measurement result.

[0042] In the embodiment of the present application, a traveling mechanism 4 is provided, and the vibration monitoring robot can move freely on the ground of the building, so that the vibration monitoring robot can quickly reach different floors and positions, thereby improving the movement efficiency of the vibration monitoring robot and effectively reducing the consumption of manpower, material resources and financial resources.

[0043] In an embodiment of the present application, a ranging sensing element is used to estimate the vibration monitoring robot's own position and create an environmental map to avoid obstacles. When natural disasters such as earthquakes and typhoons occur, evacuation guidance can be provided in a timely and effective manner, and the safest and shortest evacuation route can be planned to minimize casualties.

[0044] In one embodiment of the present application, please refer to Figures 1 to 4 The traveling mechanism 4 includes two driving wheels, a wheel axle frame 41 and two traveling wheels 44; the wheel axle frame 41 is connected to the telescopic mechanism 5; the two driving wheels are respectively a first driving wheel 42 and a second driving wheel 43; the first driving wheel 42 and the second driving wheel 43 are respectively located on both sides of the fuselage 1.

[0045] In this embodiment, by providing a first driving wheel 42 and a second driving wheel 43 that can be controlled separately, the speed difference between the first driving wheel 42 and the second driving wheel 43 can be used to achieve a steering function, so that the vibration monitoring robot can walk at any position.

[0046] In this embodiment, please refer to Figure 3 , the traveling mechanism 4 further includes a driving motor 45, a driving gear 46 and a transmission gear 47. The driving motor 45 is mounted on the fuselage 1, the driving gear 46 is connected to the output end of the driving motor 45, and the transmission gear 47 is mounted on the rotating shaft of the first driving wheel 42, and the driving gear 46 is meshed with the transmission gear 47. The driving motor 45 rotates to drive the driving gear 46 to rotate, and then drives the transmission gear 47 to rotate, and finally drives the first driving wheel 42 to rotate. It can be understood that two groups of driving motors 45, driving gears 46 and transmission gears 47 are provided, one group is used to drive the first driving wheel 42 to rotate, and the other group is used to drive the second driving wheel 43 to rotate.

[0047] In another embodiment of the present application, the traveling mechanism 4 can be a small flexible mechanical foot similar to a claw, and the vibration monitoring robot changes its walking mode to a crawling mode. In the fixed stage, the telescopic mechanism 5 is controlled to retract the "claw" of the vibration monitoring robot, so that the body 1 of the vibration monitoring robot directly contacts the ground to perform the vibration response measurement task; in the walking state, the telescopic mechanism 5 is controlled to extend the "claw" of the vibration monitoring robot, so that the body 1 of the vibration monitoring robot moves up, so that the vibration monitoring robot can walk freely on the ground.

[0048] In another embodiment of the present application, the rise and fall of the vibration monitoring robot body 1 can be controlled by the flexible mechanical feet of the vibration monitoring robot, without using the telescopic mechanism 5. In the walking state, the mechanical feet of the vibration monitoring robot support the body 1 of the vibration monitoring robot and move freely on the ground of the building; and when the body 1 is fixed, the mechanical feet of the vibration monitoring robot can be retracted, so that the body 1 of the vibration monitoring robot directly contacts the ground and performs the measurement task.

[0049] In one embodiment of the present application, please refer to Figure 1 and Figure 2 The telescopic mechanism 5 includes a telescopic motor and a controller 6; the controller 6 is electrically connected to the telescopic motor; the telescopic motor is installed on the top surface inside the fuselage 1, and the output end of the telescopic motor is connected to the traveling mechanism 4.

[0050] It is understandable that in order for the vibration monitoring robot to obtain more accurate vibration acceleration data, the vibration monitoring robot needs to be fixed to avoid the vibration of the vibration monitoring robot itself affecting the monitoring data. In this embodiment, a telescopic mechanism 5 is used, which can make the traveling mechanism 4 of the vibration monitoring robot automatically move up and down under the action of the telescopic motor. When the vibration monitoring robot is in a moving state, the telescopic motor is controlled by the control terminal, so that the body 1 of the vibration monitoring robot moves up, the traveling mechanism 4 moves down, the traveling mechanism 4 of the vibration monitoring robot contacts the ground, and the body 1 is separated from the ground. At this time, the vibration monitoring robot can move freely on the engineering structure; when the engineering structure is affected by vibration, the monitoring robot needs to start working and measure the vibration response of the structure. At this time, the telescopic motor is controlled by a terminal such as a mobile phone or a computer, so that the body 1 of the vibration monitoring robot moves down and contacts the ground, and the traveling mechanism 4 of the vibration monitoring robot moves up and leaves the ground, so that the body 1 of the vibration monitoring robot is fully in contact with the surface of the engineering structure and is fixed to the surface of the engineering structure by friction. Since the acceleration sensing element 2 of the present embodiment is installed on the bottom surface inside the fuselage 1, when the vibration monitoring robot performs measurement work, the acceleration sensing element 2 can be in close contact with the surface of the measured engineering structure, thereby ensuring to the greatest extent that the vibration response data measured by the acceleration sensing element 2 is consistent with the vibration response of the measured engineering structure.

[0051] In one embodiment of the present application, a guide groove is provided on the body 1, and the length direction of the guide groove is arranged along the extension direction of the telescopic motor. When the telescopic motor is extended or retracted, the rotating shafts of the first driving wheel 42, the second driving wheel 43 and the two running wheels 44 can move along the guide groove. By providing the guide groove, the stability of the running wheels 44 when they are extended or retracted is improved.

[0052] In one embodiment of the present application, the bottom surface of the exterior of the body 1 is provided with an anti-slip structure (not shown).

[0053] Specifically, the anti-skid structure can be a plurality of stripe-shaped structures arranged on the bottom surface of the fuselage 1, or a silicone pad attached to the bottom surface of the fuselage 1. By providing the anti-skid structure, when the traveling mechanism 4 is retracted, the friction between the fuselage 1 and the surface of the measured engineering structure can be increased, the measurement error caused by the shaking of the fuselage 1 can be reduced, and the accuracy of the measurement data can be improved.

[0054] In one embodiment of the present application, the acceleration sensing element 2 is a servo-type three-axis accelerometer. The servo-type three-axis accelerometer can be powered by a battery. The servo-type three-axis accelerometer is a sensor that can measure the acceleration and tilt angle of an object in three axes. It measures by converting acceleration into an electrical signal, and usually uses a micromotor for feedback control to improve accuracy and stability. It has the characteristics of being small, sensitive, fast response and high precision.

[0055] In this embodiment, the servo-type three-axis accelerometer is installed at the bottom of the vibration monitoring robot body 1, so that the servo-type three-axis accelerometer can be close to the surface of the engineering structure. When the body 1 contacts the surface of the engineering structure, vibration data with the same frequency, amplitude and phase as the monitored engineering structure can be obtained. The vibration monitoring robot uses a servo-type three-axis accelerometer to measure acceleration data on three axes. It has high sensitivity and is the best choice for vibration response measurement.

[0056] In one embodiment of the present application, the distance sensing element 3 is an infrared rangefinder. This embodiment uses an infrared rangefinder as the distance sensing element 3, so that the vibration monitoring robot has an obstacle avoidance function. The infrared rangefinder uses the triangular reflection principle to measure the distance between the robot and the object. The specific working principle of the infrared rangefinder is as follows: the infrared transmitter of the infrared rangefinder emits infrared rays, which are reflected on the surface of the object and received by the CCD detector of the infrared rangefinder. By calculating the offset value of the reflection angle, the propagation speed of the infrared rays, and the time from the emission to the reception of the infrared rays, the vibration monitoring robot can obtain the distance between the object. When the vibration monitoring robot moves, the infrared rangefinder will continuously measure the distance between the vibration monitoring robot and the object. If an obstacle is detected, the vibration monitoring robot will immediately respond, avoid the obstacle, and plan a new path according to the position of the obstacle. Therefore, the vibration monitoring robot can avoid obstacles on the way, avoid collisions and damage, thereby realizing the obstacle avoidance function. At the same time, the vibration monitoring robot can also plan a more efficient and safe path by analyzing the position of the obstacle, so as to better complete the measurement and evacuation guidance tasks.

[0057] In this embodiment, the vibration monitoring robot has the function of creating environmental mapping and estimating its own position, and can sense and understand the surrounding environment and achieve autonomous navigation. The vibration monitoring robot obtains environmental information through an infrared rangefinder, converts the environmental information into digital data, and uses an algorithm to integrate the digital data into a three-dimensional model. This three-dimensional model usually includes information such as obstacles, terrain, and buildings in the environment, and can be continuously updated during the movement and task execution of the vibration monitoring robot, so as to better understand the environment, plan the optimal path to avoid obstacles, and quickly reach the destination. This greatly reduces the consumption of manpower, material resources and financial resources, and improves the work efficiency of the vibration monitoring robot.

[0058] In one embodiment of the present application, the vibration monitoring robot further includes a power supply 7, which is electrically connected to the acceleration sensing element 2, the distance sensing element 3, the drive motor 45, and the controller 6, respectively, for supplying power to the vibration monitoring robot.

[0059] The present application also provides a monitoring system for an engineering structure, the monitoring system is used to monitor the state of the engineering structure. The monitoring system includes a terminal (not shown) and the above-mentioned vibration monitoring robot, and the terminal is respectively connected to the acceleration sensing element 2, the distance sensing element 3, the traveling mechanism 4, and the telescopic mechanism 5 by signal.

[0060] Specifically, the terminal is connected to the control part of the driving motor 45 in the traveling mechanism 4 by signal, and is used to control the start and stop, speed, etc. of the driving motor 45; the terminal is connected to the controller 6 of the telescopic mechanism 5 by signal, and is used to control the telescopic movement of the telescopic motor. The terminal can be a mobile phone or a computer.

[0061] In one embodiment of the present application, the terminal includes a path planning module, which is used to analyze the location information of obstacles and plan the optimal path for the vibration monitoring robot to walk.

[0062] In one embodiment of the present application, the terminal also includes a data analysis module, which is used to process and analyze vibration data, perform vibration modal analysis and service status assessment on the engineering structure, and identify changes or defects in the engineering structure by comparing real-time monitoring data and benchmark test data.

[0063] The present application also provides a monitoring method for an engineering structure, the method adopts the above-mentioned monitoring system, and the method comprises: Figure 5 As shown, when the vibration monitoring robot is in the non-vibration monitoring working stage, the terminal controls the telescopic mechanism 5 to extend so that the traveling mechanism 4 contacts the ground, and the vibration monitoring robot moves freely on the engineering structure and avoids obstacles through the distance sensing element 3 to plan the optimal walking path; Figure 6 As shown, when the vibration monitoring robot is in the vibration monitoring working stage, the terminal controls the telescopic mechanism 5 to shorten, so that the traveling mechanism 4 is separated from the surface of the engineering structure, and the fuselage 1 is in full contact with the surface of the engineering structure. The terminal controls the acceleration sensing element 2 to start working, and the acceleration sensing element 2 outputs vibration data and feeds it back to the terminal; the terminal monitors and diagnoses changes or defects in the engineering structure by analyzing and processing the vibration data.

[0064] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A vibration monitoring robot for engineering structures, characterized in that: include: A fuselage, wherein the bottom surface of the fuselage is provided with an anti-slip structure; An acceleration sensing element, wherein the acceleration sensing element is arranged on the bottom surface inside the fuselage; A distance sensing element, the distance sensing element is arranged on the front end surface inside the fuselage; A traveling mechanism, the traveling mechanism is used to drive the fuselage to travel; the traveling mechanism comprises a driving wheel, a driving motor, a driving gear and a transmission gear, the driving motor is mounted on the fuselage, the driving gear is connected to the output end of the driving motor, the transmission gear is mounted on the rotating shaft of the driving wheel, and the driving gear is meshed with the transmission gear; as well as A telescopic mechanism, one end of which is connected to the fuselage; the other end of which is connected to the traveling mechanism, and the telescopic mechanism can drive the traveling mechanism to telescope toward the fuselage; the telescopic mechanism includes a telescopic motor, and a guide groove is provided on the fuselage, and the length direction of the guide groove is arranged along the telescopic direction of the telescopic motor.

2. The vibration monitoring robot according to claim 1, characterized in that: The traveling mechanism includes the two driving wheels, a wheel axle frame and two traveling wheels; the wheel axle frame is connected to the telescopic mechanism; the two driving wheels are mounted on the wheel axle frame and are respectively located on both sides of the fuselage.

3. The vibration monitoring robot according to claim 2, characterized in that: The telescopic mechanism also includes a controller; the controller is electrically connected to the telescopic motor; the telescopic motor is installed on the top surface inside the fuselage, and the output end of the telescopic motor is connected to the traveling mechanism.

4. The vibration monitoring robot according to claim 1, characterized in that: The acceleration sensing element is a servo-type three-axis accelerometer.

5. The vibration monitoring robot according to any one of claims 1 to 4, characterized in that: The distance sensing element is an infrared rangefinder.

6. A monitoring system for an engineering structure, characterized in that: The monitoring system comprises: A vibration monitoring robot as described in any one of claims 1 to 5, and a terminal, wherein the terminal is respectively connected to the acceleration sensing element, the distance sensing element, the traveling mechanism, and the telescopic mechanism by signal.

7. The monitoring system according to claim 6, characterized in that The terminal includes a path planning module, and the path planning module is used to analyze the location information of obstacles and plan the optimal path for the vibration monitoring robot to walk.

8. The monitoring system according to claim 7, characterized in that: The terminal also includes a data analysis module, which is used to process and analyze vibration data, perform vibration modal analysis and service status assessment on the engineering structure, and identify changes or defects in the engineering structure by comparing real-time monitoring data with benchmark test data.

9. A monitoring method for an engineering structure, characterized in that: The method adopts the monitoring system according to any one of claims 6 to 8, and the method comprises: When the vibration monitoring robot is in a non-vibration monitoring stage, the terminal controls the telescopic mechanism to extend so that the traveling mechanism contacts the ground, and the vibration monitoring robot moves freely on the engineering structure and avoids obstacles through the distance sensing element to plan the optimal walking path; When the vibration monitoring robot is in the vibration monitoring stage, the terminal controls the telescopic mechanism to shorten so that the traveling mechanism is separated from the surface of the engineering structure, and the fuselage is in full contact with the surface of the engineering structure. The terminal controls the acceleration sensing element to start working, and the acceleration sensing element outputs vibration data and feeds it back to the terminal; the terminal monitors and diagnoses changes or defects in the engineering structure by analyzing and processing the vibration data.

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