Inspection robot and inspection method for detecting beam structure dimensions

Abstract

This invention relates to the field of inspection robot technology, specifically an inspection robot and its inspection method for detecting the dimensions of beam structures. It includes an inspection vehicle, a lifting platform mounted on the vehicle, a robotic arm mounted on the lifting platform and adjusted vertically by the platform, a ranging camera mounted at the end of the robotic arm, and a laser rangefinder mounted on the front and rear sides of the inspection vehicle. This invention utilizes the inspection vehicle's ability to move autonomously within the beam yard to find a suitable location for beam structure dimension detection. The invention uses the laser rangefinder to calculate the angle between the inspection vehicle and the beam, ensuring the shooting position is parallel to the beam, and directly calculates the beam structure dimensions from the photographs taken by the ranging camera, achieving fully automated measurement without manual operation.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, specifically an inspection robot and its inspection method for detecting the dimensions of beam structures. Background Technology

[0002] Currently, the measurement of beam structural dimensions relies heavily on manual inspection by personnel. This method suffers from low efficiency, harsh working conditions, high labor intensity, and safety hazards. With the continuous advancement of bridge engineering technology and the increasing complexity of bridge structures, traditional methods of beam structural dimension measurement are no longer sufficient to meet the needs of modern bridge maintenance and inspection.

[0003] The actual dimensions of existing bridge structures are not only technical indicators for verifying the quality of bridge construction, but also important factors for analyzing the causes of bridge structural defects, designing maintenance plans, and carrying out reinforcement construction. Their testing methods are widely used in various bridge-related businesses such as bridge inspection and evaluation, maintenance and renovation, and maintenance management.

[0004] Therefore, designing a fully automated device for detecting beam structural dimensions is a requirement of this industry. Summary of the Invention

[0005] This invention aims to provide a fully automated device for detecting the dimensions of beam structures, and to provide an inspection robot and method for detecting the dimensions of beam structures.

[0006] This invention adopts the following technical solution: an inspection robot for detecting the dimensions of beam structures, comprising:

[0007] Patrol vehicles,

[0008] A lifting platform, which is installed on the inspection vehicle;

[0009] A robotic arm is mounted on a lifting platform, and the lifting platform drives the robotic arm to adjust its vertical position.

[0010] A ranging camera, which is mounted on the end of a robotic arm;

[0011] A laser rangefinder is installed on the front and rear sides of the inspection vehicle.

[0012] In some embodiments, a quick-change structure is also included, through which the robotic arm connects to the ranging camera.

[0013] In some embodiments, the quick-change structure includes:

[0014] The main disk is mounted on the robotic arm;

[0015] A secondary disk, on which a connecting disk is mounted, is fixedly connected to a range measuring camera;

[0016] The main disk is connected to the secondary disk;

[0017] The main disk is equipped with a secondary disk position detection sensor, which is used to detect whether the secondary disk is in contact with the main disk.

[0018] In some embodiments, a cylinder is provided at the center of the main disk, the output end of the cylinder is a locking head, and multiple locking balls are provided on the outside of the locking head. After the cylinder is inflated, the locking balls are pushed outward.

[0019] A mounting hole is provided at the center of the auxiliary plate, which can be inserted into the mounting hole when the cylinder extends.

[0020] The main disk is equipped with a retraction detection sensor, an extension detection sensor, a secondary disk positioning detection sensor, and an electrical signal module;

[0021] The retraction detection sensor is used to detect whether the cylinder has fully retracted;

[0022] The cylinder extension detection sensor is used to detect whether the cylinder is fully extended.

[0023] The auxiliary plate alignment detection sensor is used to detect whether the quick-change auxiliary plate and the quick-change main plate are aligned.

[0024] The retracted position detection sensor, the extended position detection sensor, and the auxiliary disk position detection sensor transmit signals to the electrical signal module.

[0025] In some embodiments, the connection method between the primary disk and the secondary disk is as follows:

[0026] Determine whether a signal has been received from the retraction detection sensor. If received, control the robot arm to move to the installation position of the tooling for the next detection step, and control the cylinder in the main plate to extend.

[0027] Determine whether a signal has been received from the auxiliary plate positioning sensor. If received, control the cylinder on the main plate to extend, causing the locking ball to extend.

[0028] Determine whether a signal from the extended position detection sensor has been received. If so, determine that the connection between the main disk and the secondary disk is complete.

[0029] In some embodiments, the separation of primary and secondary disks is performed as follows:

[0030] Determine if the tooling to be disconnected is aligned with the installation position; if so, control the cylinder on the main panel to retract.

[0031] If a signal is received from the retraction detection sensor, the robot arm is controlled to reset the main disk and move away from the secondary disk.

[0032] A method for detecting the dimensions of a beam structure, using the aforementioned inspection robot, includes the following steps:

[0033] S1: The inspection robot moves to the preset location;

[0034] S2: Adjust the position of the rangefinder camera, use the rangefinder camera to take a photo of the beam cross-section, and use a laser rangefinder to measure the distance between the current position and the beam end face;

[0035] S3: Based on the data obtained in S2, calculate the height of the beam using the relationship table between shooting distance and target pixel;

[0036] S4: The robotic arm moves x meters to the left horizontally, and the ranging camera takes a picture of the left end face of the beam;

[0037] The robotic arm returns to its original position, then moves y meters to the right horizontally, and the ranging camera takes a picture of the right beam end face.

[0038] S5: Calculate the pixel value of the beam appearing in the beam width direction in the left beam end face photo and the right beam end face photo respectively;

[0039] S6: Calculate the beam width z in the two photos based on the beam pixel values ​​from step S5. Add the beam width z to the distance the robotic arm moves to the left and right to obtain the total beam width.

[0040] In some embodiments, in step S1, the location preset point is determined by the following method:

[0041] S11: The angle between the inspection vehicle and the beam end face is calculated in real time using laser rangefinders at the front and rear of the inspection vehicle and the length of the inspection vehicle. ;

[0042]

[0043] AC and BD represent the real-time distances measured by the front and rear laser rangefinders, respectively; CD represents the length of the inspection vehicle.

[0044] S12: The robotic arm adjusts the corresponding angle in real time to ensure that the rangefinder camera is shooting the beam end face.

[0045] In some embodiments, step S3 includes:

[0046] S31: Calculate the pixel values ​​from the top edge to the bottom edge of the beam along its height direction in the beam cross-section photograph, including:

[0047] The beam end face model is pre-annotated. The beam end face in the photograph is identified through the beam end face model. The upper edge ordinate and lower edge ordinate of the beam height direction are extracted according to the identified beam end face. The difference between the two ordinates is the pixel value P of the beam height.

[0048] S32: Calculate the height of the beam using the relationship table between shooting distance and target pixel count.

[0049] In some embodiments, step S5 includes: using a pre-annotated beam end face model, identifying the left beam end face photo and the right beam end face photo respectively; extracting the left edge of the left beam end face according to the identified target and calculating the pixel size of the left beam end face based on the edge position in the corresponding image; similarly obtaining the pixel size of the right beam end face; and adding the two pixel sizes to obtain the image pixel values ​​of the left and right ends of the beam.

[0050] In some embodiments, in step S6, after obtaining the pixel size of the left beam end face and the pixel size of the right beam end face in step S5, the actual size z1 of the left beam end face and the actual size z2 of the right beam end face are obtained by applying the relationship table of shooting distance and shooting target pixels in S3, respectively, z = z1 + z2. Therefore, the total width of the beam is equal to z plus the distance x that the robotic arm moves to the left plus the distance y that the robotic arm moves to the right, that is, the total width of the beam = x + y + z.

[0051] In some embodiments, z1+z2= l -a+ l -b=2 l- ( a+b ), of which 2 l To determine the actual length corresponding to the photos taken by the range measuring camera, 'a' represents the actual length of the outer side of the beam end face in the left photo, and 'b' represents the actual length of the outer side of the beam end face in the right photo.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] This invention designs a fully automated device for detecting the dimensions of beam structures. The device utilizes an inspection vehicle that can move autonomously within the beam yard to find suitable locations for beam dimension detection. It uses a laser rangefinder to calculate the angle between the inspection vehicle and the beam, ensuring the camera's position is parallel to the beam. The beam dimensions are then directly calculated from photographs taken by the rangefinder camera, achieving fully automated measurement without manual intervention. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the inspection robot used to detect the dimensions of beam structures according to the present invention;

[0055] Figure 2 A schematic diagram of the main disk structure;

[0056] Figure 3 A schematic diagram of the main board structure from another direction;

[0057] Figure 4 This is a schematic diagram of the sub-disk structure;

[0058] Figure 5 For inspecting the vehicle and the angle of the beam end face Schematic diagram;

[0059] Figure 6 This is a schematic diagram of the total width of the beam.

[0060] Figure 7 Schematic diagram of the shooting principle of a rangefinder camera;

[0061] In the diagram: 1-Inspection vehicle, 2-Laser rangefinder, 3-Robot arm, 4-Lifting platform, 5-Wheel, 6-Quick structure, 6.1-Main plate, 6.2-Electrical signal module, 6.3-Retracted position detection sensor, 6.4-Extended position detection sensor, 6.5-Cylinder, 6.6-Ball, 6.7-Sub-plate position detection sensor, 6.8-Sub-plate, 6.9-Mounting hole, 6.10-Connecting plate. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] like Figure 1 As shown, an inspection robot for detecting the dimensions of beam structures includes:

[0064] Inspection vehicle 1,

[0065] Lifting platform 4, which is installed on the inspection vehicle 1;

[0066] Robotic arm 3 is mounted on lifting platform 4, and the lifting platform 4 drives the robotic arm 3 to adjust its up and down position.

[0067] A ranging camera, which is mounted at the end of the robotic arm 3;

[0068] Laser rangefinder 2, which is installed on the front and rear sides of the inspection vehicle 1.

[0069] The inspection vehicle 1 serves as the driving unit and can move freely within the beam yard. When it reaches the designated position, the position of the ranging camera is adjusted in real time by the combined action of the robotic arm 3 and the lifting platform 4.

[0070] Specifically, it also includes a quick-change structure, through which the robotic arm 3 connects to the ranging camera.

[0071] like Figure 2-4As shown, the quick-change structure 6 includes:

[0072] Main disk 6.1, which is mounted on robotic arm 3;

[0073] A secondary disk 6.8 is provided, on which a connecting disk 6.10 is mounted, and the connecting disk 6.10 is fixedly connected to the ranging camera.

[0074] The main disk 6.1 is connected to the secondary disk 6.8;

[0075] A secondary disk position detection sensor 6.7 is installed on the main disk 6.1. The secondary disk position detection sensor 6.7 is used to detect whether the secondary disk 6.8 is in contact with the main disk 6.1.

[0076] Specifically, a cylinder 6.5 is located at the center of the main plate 6.1. The output end of the cylinder 6.5 is a locking head, and multiple locking balls 6.6 are arranged on the outside of the locking head. After the cylinder 6.5 is inflated, the locking balls 6.6 are pushed outward.

[0077] The auxiliary disk 6.8 has a mounting hole 6.9 at its center, which can be inserted into the mounting hole 6.9 when the cylinder 6.5 extends.

[0078] The main disk 6.1 is equipped with a retraction detection sensor 6.3, an extension detection sensor 6.4, a secondary disk positioning detection sensor 6.7, and an electrical signal module 6.2;

[0079] The retraction detection sensor 6.3 is used to detect whether the cylinder 6.5 has fully retracted;

[0080] The extension detection sensor 6.4 is used to detect whether the cylinder 6.5 is fully extended;

[0081] The auxiliary plate positioning detection sensor 6.7 is used to detect whether the quick-change auxiliary plate and the quick-change main plate are aligned;

[0082] The retracted position detection sensor 6.3, the extended position detection sensor 6.4, and the sub-disc position detection sensor 6.7 transmit signals to the electrical signal module 6.2.

[0083] The connection method between the primary disk 6.1 and the secondary disk 6.8 is as follows:

[0084] Determine whether a signal has been received from the retraction detection sensor 6.3. If received, control the robot arm 3 to move to the installation position of the tooling for the next detection step, and control the cylinder 6.5 in the main plate 6.1 to extend.

[0085] Determine whether a signal has been received from the auxiliary disk positioning detection sensor 6.7. If received, control the cylinder 6.5 on the main disk 6.1 to extend, causing the locking ball 6.6 to extend.

[0086] Determine whether a signal from the extension detection sensor 6.4 has been received. If so, determine that the connection between the main disk 6.1 and the secondary disk 6.8 is complete.

[0087] The method for separating the main board (6.1) and the secondary board (6.8) is as follows:

[0088] Determine if the tooling to be disconnected is aligned with the installation position. If so, control the cylinder 6.5 on the main panel 6.1 to retract.

[0089] If a signal is received from the retraction detection sensor 6.3, the robot arm 3 is controlled to drive the main disk 6.1 to reset and move away from the auxiliary disk 6.8.

[0090] The quick-change structure 6 serves as the connection between the robotic arm 3 and the rangefinder camera, allowing the robotic arm 3 to quickly connect to the rangefinder camera. At the start of operation, the rangefinder camera is placed in its original position and connected to the auxiliary disk 6.8. The robotic arm 3 aligns the main disk 6.1 with the auxiliary disk 6.8. The cylinder 6.5 at the center of the main disk 6.1 extends and inserts into the auxiliary disk 6.8. After the cylinder 6.5 is inflated, the ball 6.6 pushes outward and contacts the auxiliary disk 6.8, thus locking it in place.

[0091] A method for detecting the dimensions of a beam structure includes the following steps:

[0092] S1: Inspection robot 1 moves to the preset location.

[0093] In step S1, the preset location point is determined using the following method:

[0094] S11: As Figure 5 As shown, the angle between the inspection vehicle 1 and the beam end face is calculated in real time using the laser rangefinder 2 at the front and rear of the inspection vehicle 1 and the length of the inspection vehicle 1. ;

[0095]

[0096] AC and BD represent the real-time distances measured by the front and rear laser rangefinders, respectively; CD represents the length of the inspection vehicle.

[0097] S12: The robotic arm adjusts the corresponding angle in real time to ensure that the rangefinder camera is shooting the beam end face.

[0098] S2: Adjust the position of the rangefinder camera, use the rangefinder camera to take a photo of the beam cross-section, and use the laser rangefinder 2 to measure the distance between the current position and the beam end face.

[0099] S3: Based on the data obtained in S2, calculate the height of the beam using the relationship table between shooting distance and target pixel;

[0100] In step S3, the relationship between shooting distance and target pixel count is as follows:

[0101] .

[0102] This embodiment discloses the relationship between shooting distance and target pixel count at a shooting distance of 500mm. However, different shooting distances will have different ratio values. In this embodiment, a fixed shooting distance is required to obtain the relationship between pixel value and actual size during measurement. Using other shooting distances is still within the protection scope of this application.

[0103] Step S3 includes:

[0104] S31: Calculate the pixel values ​​from the top edge to the bottom edge of the beam along its height direction in the beam cross-section photograph, including:

[0105] The beam end face model is pre-annotated. The beam end face in the photograph is identified through the beam end face model. The upper edge ordinate and lower edge ordinate of the beam height direction are extracted according to the identified beam end face. The difference between the two ordinates is the pixel value P of the beam height.

[0106] S32: Calculate the beam height using the relationship table between shooting distance and target pixel count, including:

[0107] The beam height H = P / 9.07mm is obtained by applying the S3 shooting distance and target pixel relationship table to the pixel value P of the beam calculated using S3.

[0108] S4: The robotic arm moves x meters to the left horizontally, and the ranging camera takes a picture of the left end face of the beam;

[0109] The robotic arm returns to its original position, then moves y meters to the right in the horizontal direction, and the ranging camera takes a picture of the right end face of the beam.

[0110] S5: Calculate the pixel value of the beam appearing in the beam width direction in the left beam end face photo and the right beam end face photo respectively;

[0111] Step S5 includes: using the pre-annotated beam end face model, identifying the left beam end face photo and the right beam end face photo respectively; extracting the left edge of the left beam end face according to the identified target and calculating the pixel size of the left beam end face based on the edge position in the corresponding image; similarly, obtaining the pixel size of the right beam end face; and adding the two pixel sizes to obtain the image pixel values ​​of the left and right ends of the beam.

[0112] S6: Calculate the beam width z in the two photos based on the beam pixel values ​​from step S5. Add the beam width z to the distance the robotic arm moves to the left and right to obtain the total beam width.

[0113] like Figure 6As shown, after obtaining the pixel dimensions of the left beam end face and the right beam end face in step S5, the actual dimensions z1 of the left beam end face and z2 of the right beam end face are obtained by applying the relationship table of shooting distance and shooting target pixels in S3. z = z1 + z2. Therefore, the total width of the beam is equal to z plus the distance x that the robotic arm moves to the left plus the distance y that the robotic arm moves to the right. That is, the total width of the beam = x + y + z.

[0114] like Figure 7 As shown, when calculating z1, z1 = l -a;

[0115] in, l 'a' represents the actual length corresponding to half of the photo, equal to half the photo's pixels / 9.07mm. 'a' represents the actual length of the outer side of the beam's end face in the left photo, equal to the outer side of the beam's edge in the photo / 9.07mm.

[0116] Similarly, z2 = l -b, where b is the actual length of the outer side of the beam end face in the right photo, which is equal to the number of pixels on the outer side of the beam in the photo / 9.07mm.

[0117] z1+z2= l -a+ l -b=2 l- ( a+b ) ， Among them 2 l The actual length corresponding to the photo taken by the range measuring camera is a+b, which is the actual length of the outer side of the left and right side beam end faces.

[0118] Therefore, when calculating z1+z2, it is only necessary to know 2 l (Given data), then obtain the pixel size of the outer side of the beam end face from the photos on the left and right sides, and then calculate a+b according to the relationship table between shooting distance and target pixel.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for inspecting beam structural dimensions using an inspection robot, characterized in that, Inspection robots include: Inspection vehicle (1). A lifting platform (4) is installed on the inspection vehicle (1); The robotic arm (3) is mounted on the lifting platform (4) and the lifting platform (4) drives the robotic arm (3) to adjust its up and down position; A rangefinder camera, which is mounted on the end of the robotic arm (3); A laser rangefinder (2) is installed on the front and rear sides of the inspection vehicle (1); The quick-change structure (6) includes a main disk (6.1) and a secondary disk (6.8) connected to it. A cylinder (6.5) is set in the center of the main plate (6.1). The output end of the cylinder (6.5) is a locking head. Multiple locking balls (6.6) are set on the outside of the locking head. After the cylinder (6.5) is inflated, the locking balls (6.6) are pushed outward. The auxiliary disk (6.8) is provided with a mounting hole (6.9) at its center position, and the cylinder (6.5) extends into the mounting hole (6.9) when it extends. The main disk (6.1) is equipped with a retraction detection sensor (6.3), an extension detection sensor (6.4), a secondary disk positioning detection sensor (6.7), and an electrical signal module (6.2). The retraction detection sensor (6.3) is used to detect whether the cylinder (6.5) is fully retracted; The extension detection sensor (6.4) is used to detect whether the cylinder (6.5) is fully extended; The auxiliary plate positioning detection sensor (6.7) is used to detect whether the quick-change auxiliary plate and the quick-change main plate are aligned; The retracted position detection sensor (6.3), the extended position detection sensor (6.4), and the sub-disc position detection sensor (6.7) transmit signals to the electrical signal module (6.2); The method includes the following steps: S1: The inspection vehicle (1) moves to the preset location; S2: Adjust the position of the ranging camera, use the ranging camera to take a picture of the beam cross section, and use the laser rangefinder (2) to measure the distance between the current position and the beam end face; S3: Based on the data obtained in S2, calculate the height of the beam using the relationship table between shooting distance and target pixel; S4: The robotic arm moves x meters to the left horizontally, and the ranging camera takes a picture of the left end face of the beam; The robotic arm returns to its original position, then moves y meters to the right horizontally, and the ranging camera takes a picture of the right beam end face. S5: Calculate the pixel value of the beam appearing in the beam width direction in the left beam end face photo and the right beam end face photo respectively; S6: Calculate the beam width z in the two photos based on the beam pixel values ​​from step S5. Add the beam width z to the distance the robotic arm moves to the left and right to obtain the total beam width.

2. The method for detecting beam structure dimensions using an inspection robot according to claim 1, characterized in that, The robotic arm (3) is connected to the ranging camera via a quick-change structure.

3. The method for detecting beam structure dimensions using an inspection robot according to claim 2, characterized in that, The main disk (6.1) is mounted on the robotic arm (3), and the auxiliary disk (6.8) is equipped with a connecting disk (6.10), which is fixedly connected to the ranging camera; A secondary disk position detection sensor (6.7) is installed on the main disk (6.1). The secondary disk position detection sensor (6.7) is used to detect whether the secondary disk (6.8) is in contact with the main disk (6.1).

4. The method for detecting beam structure dimensions using an inspection robot according to claim 3, characterized in that: The connection method between the primary disk (6.1) and the secondary disk (6.8) is as follows: Determine whether a signal has been received from the retraction detection sensor (6.3). If received, control the robot arm (3) to move to the installation location of the tooling for the next detection step, and control the cylinder (6.5) in the main plate (6.1) to extend. Determine whether a signal is received from the auxiliary disk position detection sensor (6.7). If received, control the cylinder (6.5) on the main disk (6.1) to extend, causing the locking ball (6.6) to extend. Determine whether a signal has been received from the extension positioning detection sensor (6.4). If a signal is received, determine that the connection between the main disk (6.1) and the secondary disk (6.8) is complete.

5. The method for detecting beam structure dimensions using an inspection robot according to claim 4, characterized in that: The method for separating the main board (6.1) and the secondary board (6.8) is as follows: Determine if the tooling to be disconnected is aligned with the installation position. If so, control the cylinder (6.5) on the main panel (6.1) to retract. If a signal is received from the retraction detection sensor (6.3), the robot (3) is controlled to drive the main disk (6.1) to reset and leave the auxiliary disk (6.8).

6. The method for detecting beam structure dimensions using an inspection robot according to claim 1, characterized in that, In step S1, the preset location point is determined by the following method: S11: The angle between the inspection vehicle (1) and the beam end face is calculated in real time using the laser rangefinder (2) in front of and behind the inspection vehicle (1) and the length of the inspection vehicle (1). ; AC and BD represent the real-time distances measured by the front and rear laser rangefinders, respectively; CD represents the length of the inspection vehicle. S12: The robotic arm adjusts the corresponding angle in real time to ensure that the rangefinder camera is shooting the beam end face.

7. The method for detecting beam structure dimensions using an inspection robot according to claim 1, characterized in that, Step S3 includes: S31: Calculate the pixel values ​​from the top edge to the bottom edge of the beam along its height direction in the beam cross-section photograph, including: The beam end face model is pre-annotated. The beam end face in the photograph is identified through the beam end face model. The upper edge ordinate and lower edge ordinate of the beam height direction are extracted according to the identified beam end face. The difference between the two ordinates is the pixel value P of the beam height. S32: Calculate the height of the beam using the relationship table between shooting distance and target pixel count.

8. The method for detecting beam structure dimensions using an inspection robot according to claim 1, characterized in that, Step S5 includes: using a pre-annotated beam end face model, identifying the left beam end face photo and the right beam end face photo respectively; extracting the left edge of the left beam end face according to the identified target and calculating the pixel size of the left beam end face based on the edge position in the image; similarly obtaining the pixel size of the right beam end face; and adding the two pixel sizes to obtain the image pixel values ​​of the left and right ends of the beam.

9. The method for detecting beam structure dimensions using an inspection robot according to claim 1, characterized in that, In step S6, after obtaining the pixel size of the left beam end face and the pixel size of the right beam end face in step S5, the actual size z1 of the left beam end face and the actual size z2 of the right beam end face are obtained by applying the shooting distance and shooting target pixel relationship table in S3. z = z1 + z2. Therefore, the total width of the beam is equal to z plus the distance x that the robotic arm moves to the left plus the distance y that the robotic arm moves to the right, that is, the total width of the beam = x + y + z.

10. The method for detecting beam structural dimensions using an inspection robot according to claim 9, characterized in that, z1+z2= l -a+ l -b=2 l- ( a+b ), of which 2 l To determine the actual length corresponding to the photos taken by the rangefinder camera, 'a' represents the actual length of the outer side of the beam end face in the left photo, and 'b' represents the actual length of the outer side of the beam end face in the right photo.

Images