A robot for monitoring vibration of engineering structures with deformable wheels

Abstract

The present application provides a vibration monitoring robot for engineering structures with deformable wheels, comprising a vehicle body, an acceleration measuring element, a wheel transformable mechanism and a rotary joint mechanism; the acceleration measuring element is mounted on the bottom surface of the vehicle body; the wheel transformable mechanism comprises an outer wheel hub, an inner wheel hub and a plurality of tire blocks, the inner wheel hub is rotationally connected to the outer wheel hub, and the plurality of tire blocks are evenly arranged along the circumferential direction of the outer wheel hub; the inner wheel hub and the outer wheel hub rotate relative to each other, which can drive the tire blocks to swing, so that the plurality of tire blocks gather and disperse, respectively forming a wheel structure and a leg structure; the free end of the rotary joint mechanism is connected to the wheel transformable mechanism, and the rotary joint mechanism can use its own rotation to drive the wheel transformable mechanism to swing, so that the wheel transformable mechanism contacts or separates from the ground. In the present application, by setting the wheel transformable mechanism, the robot can intelligently switch the motion mode, adapt to uneven roads, and can climb stairs, which expands the robot's use scenarios.

Description

Technical Field

[0001] The present application belongs to the technical field of engineering structure monitoring, and more specifically, to an engineering structure vibration monitoring robot with deformable wheels. Background Art

[0002] Engineering structures, such as houses, bridges, railways, roads, hydraulic engineering, offshore engineering, ports and underground engineering, will gradually deteriorate or even fail during operation due to environmental erosion, natural disasters, long-term damage accumulation, complex loads and material aging, which will seriously shorten their service life. During the service life of these engineering structures, especially after experiencing catastrophic events such as earthquakes, typhoons and explosions, it is very important to understand the health status of the structure, promptly discover the diseases in the hidden parts of the structure, and determine whether the building structure needs to be repaired and maintained. However, the traditional method of detecting the health status of engineering structures mainly relies on manual inspection, and identifies damage by checking the main components such as beams, plates and columns. This method has problems such as low efficiency, missed detection, large manpower requirements, difficulty in informatization of data, and heavy reliance on engineer experience.

[0003] In recent years, the application of cutting-edge technologies in robotics and computer science in structural health inspection and monitoring has received widespread attention. Robots used for structural health inspection and monitoring are an effective means to solve hardware problems and communication problems with users. In view of the time-consuming and labor-intensive traditional manual inspection methods, more and more intelligent devices or robots are being applied to the health status inspection and monitoring engineering applications of high-rise building structures.

[0004] (1) Intelligent inspection robot

[0005] Existing intelligent inspection robots achieve wide coverage, high flexibility and high efficiency of non-contact structural health monitoring while maintaining structural integrity. These robots are usually equipped with a variety of sensors and use advanced non-contact detection technology, which enables them to be applied to different types of engineering structures. For example, inspection robots equipped with cameras can use visual detection and computer vision technology to monitor the surface of the structure in real time, identify and record defects such as cracks, corrosion and deformation. In addition, these robots can also combine image processing algorithms to automatically analyze and quantify the severity of defects and generate visual inspection reports.

[0006] However, existing inspection robots are limited by their own working principles. They have too high requirements for the flatness of the road surface, poor climbing and obstacle-crossing capabilities, and cannot adapt to inspection tasks on rugged roads, stairs, and high-altitude environments. These limitations make it difficult for existing inspection robots to perform effective inspections in some complex engineering environments, especially in scenes with special terrain or high-altitude structures such as bridges, tunnels, and high-rise buildings. In addition, due to the limited coverage of the sensors carried by the robot, it is impossible to fully monitor all key parts of large or complex structures, especially the internal and hidden parts of the structure. These problems limit the comprehensiveness and accuracy of the inspection of inspection robots.

[0007] (2) Drones

[0008] Drones can easily access areas that are difficult or dangerous for inspectors to reach, especially high-altitude or severely damaged buildings, due to their strong spatial flexibility. When performing inspection tasks on building structures, drones can quickly cover large areas and significantly improve inspection efficiency, which is especially suitable for monitoring large-scale engineering structures such as bridges and high-rise buildings. In addition, drones can also be equipped with a variety of sensor equipment, including high-resolution cameras, infrared thermal imagers, lidar, etc., which can provide various types of monitoring data to achieve a more comprehensive and wider range of structural health assessments.

[0009] However, drones are extremely sensitive to severe weather conditions such as strong winds, heavy rain, and snow, and are highly dependent on GPS signals. When performing inspection tasks, drones are easily affected by wind loads, which may cause their flight to be unstable, thereby affecting the accuracy of vibration response data collection, which is not conducive to vibration monitoring of structures and health status assessment. In addition, flight safety is also an important consideration. When flying in densely populated areas such as cities, relevant laws and regulations must be strictly observed to avoid threats to public safety. Summary of the invention

[0010] The purpose of the embodiments of the present application is to provide an engineering structure vibration monitoring robot with deformable wheels, so as to solve the technical problems existing in the prior art that the existing robots have too high requirements on the flatness of the road surface and have poor climbing ability and obstacle crossing ability.

[0011] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide an engineering structure vibration monitoring robot with deformable wheels, comprising a body, an acceleration measuring element, a wheel transformable mechanism and a rotary joint mechanism; the acceleration measuring element is installed on the bottom surface inside the body; the wheel transformable mechanism comprises an outer wheel hub, an inner wheel hub and a plurality of tire blocks, the inner wheel hub is rotatably connected to the outer wheel hub, and the plurality of tire blocks are evenly arranged along the circumferential direction of the outer wheel hub; the inner wheel hub and the outer wheel hub rotate relative to each other, which can drive the tire blocks to swing, so that the plurality of tire blocks gather and disperse, and respectively form a wheel structure and a leg structure; the rotary joint mechanism is installed on the body, the free end of the rotary joint mechanism is connected to the wheel transformable mechanism, and the rotary joint mechanism can drive the wheel transformable mechanism to swing, so that the wheel transformable mechanism contacts or separates from the ground.

[0012] Optionally, the tire segments include spokes and arc parts, one end of the spokes is hinged to the inner hub, the other end of the spokes is hinged to the middle of the arc part, and one end of the arc part is hinged to the outer hub; the inner hub can drive the spokes to swing so that the spokes are in a first position and a second position, in which, in the first position, a plurality of arc parts gather together and abut against each other in turn to form the circular wheel structure; in the second position, a plurality of arc parts are dispersed to form the leg structure.

[0013] Optionally, the rotary joint mechanism includes a swing arm and a rotary drive member, one end of the swing arm is connected to the wheel convertible mechanism, the other end of the swing arm is connected to the output shaft of the rotary drive member, and the length direction of the swing arm is perpendicular to the axial direction of the output shaft.

[0014] Optionally, the robot further includes a chassis anti-skid mechanism, which is disposed on the bottom surface of the vehicle body and passes through the chassis of the vehicle body. When the robot performs a vibration monitoring task, the chassis anti-skid mechanism contacts the ground.

[0015] Optionally, the chassis anti-skid mechanism includes a rotating shaft and a plurality of friction pads, the rotating shaft is rotatably connected to the chassis of the vehicle body, and the friction pads are connected to the outer side wall of the rotating shaft; the plurality of friction pads are distributed along the circumferential direction of the rotating shaft; when the wheel convertible mechanism is separated from the ground, the rotating shaft rotates so that at least one of the friction pads is flush with the bottom surface of the vehicle body and the friction pad is in contact with the ground to fix the vehicle body.

[0016] Optionally, the chassis anti-skid mechanism further includes a driving member, wherein the driving member is connected to the rotating shaft, and the driving member is used to drive the rotating shaft to rotate.

[0017] Optionally, among the multiple friction pads, one friction pad corresponds to one type of ground; the robot also includes a sensor component, which is installed on the bottom surface of the interior of the vehicle body and is electrically connected to the driving member; the sensor component is used to detect the type of ground and control the rotation of the driving member through the control terminal so that the corresponding friction pad contacts the ground.

[0018] Optionally, a plurality of chassis anti-skid mechanisms are provided, and the plurality of chassis anti-skid mechanisms are all installed on the bottom surface inside the vehicle body and penetrate the chassis of the vehicle body.

[0019] Optionally, the robot further includes an environment sensing element, which is mounted on the top of the front side of the exterior of the vehicle body and is used for environmental perception and map construction around the robot.

[0020] Optionally, the robot further comprises a control terminal, which is electrically connected to the acceleration measuring element, the wheel transformable mechanism, the rotary joint mechanism, the chassis anti-skid mechanism, the sensor assembly and the environmental sensing element respectively.

[0021] The beneficial effect of the engineering structure vibration monitoring robot with deformable wheels provided by the present application is that: compared with the prior art, the engineering structure vibration monitoring robot with deformable wheels provided by the present application, by setting a wheel transformable mechanism, intelligently switches the robot's motion mode (wheel mode and leg mode), adapts to uneven roads, and can climb stairs, expanding the robot's use scenarios. When performing vibration monitoring on an engineering structure, by setting a rotating joint mechanism, the wheel transformable mechanism can be driven to swing, so that the wheel transformable mechanism is separated from the ground, so that the vehicle body is in contact with the ground, and then the acceleration measuring element on the bottom surface of the vehicle body can be more firmly in contact with the ground and directly measure the vibration acceleration response of the building structure, which ensures to the greatest extent that the vibration response data measured by the acceleration measuring element is consistent with the vibration response of the measured engineering building, and improves the measurement accuracy of the structural vibration response. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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 creative labor.

[0023] Figure 1 A schematic diagram of the three-dimensional structure of an engineering structure vibration monitoring robot with deformable wheels provided in an embodiment of the present application;

[0024] Figure 2A schematic structural diagram of a wheel transformable mechanism in a wheel mode in a vibration monitoring robot for an engineering structure with a deformable wheel provided in an embodiment of the present application;

[0025] Figure 3 A schematic diagram of the structure of a wheel transformable mechanism in a leg mode in a vibration monitoring robot for an engineering structure with deformable wheels provided in an embodiment of the present application;

[0026] Figure 4 A schematic diagram of the exploded structure of a wheel transformable mechanism and a drive mechanism in a vibration monitoring robot for an engineering structure with a deformable wheel provided in an embodiment of the present application;

[0027] Figure 5 A schematic diagram of the main structure of a rotary joint mechanism in a vibration monitoring robot for an engineering structure with deformable wheels provided in an embodiment of the present application;

[0028] Figure 6 A schematic diagram of the three-dimensional structure of a rotary joint mechanism in a vibration monitoring robot for an engineering structure with deformable wheels provided in an embodiment of the present application;

[0029] Figure 7 A schematic diagram of the state of a vibration monitoring robot for an engineering structure with deformable wheels performing a vibration acceleration response data measurement task provided in an embodiment of the present application;

[0030] Figure 8 A schematic structural diagram of an engineering structure vibration monitoring robot with deformable wheels in wheel mode provided in an embodiment of the present application;

[0031] Fig. 9 A schematic diagram of the structure of a vibration monitoring robot with deformable wheels in leg mode provided in an embodiment of the present application Figure 1 ;

[0032] Fig.10 A schematic diagram of the structure of a vibration monitoring robot with deformable wheels in leg mode provided in an embodiment of the present application Figure 2 ;

[0033] Fig.11 A schematic diagram of the installation of a chassis anti-skid mechanism in an engineering structure vibration monitoring robot with deformable wheels provided in an embodiment of the present application;

[0034] Fig.12 A schematic front view of a chassis anti-skid mechanism in an engineering structure vibration monitoring robot with deformable wheels provided in an embodiment of the present application;

[0035] Fig.13 A schematic side view of a chassis anti-skid mechanism in an engineering structure vibration monitoring robot with deformable wheels provided in an embodiment of the present application;

[0036] Fig.14 A working principle diagram of a laser radar in a vibration monitoring robot for an engineering structure with deformable wheels provided in an embodiment of the present application;

[0037] Fig.15 A flowchart of the working principle of a laser radar in a vibration monitoring robot for an engineering structure with deformable wheels provided in an embodiment of the present application;

[0038] Fig.16 A framework flow chart of a vibration acceleration response data measurement state of a vibration monitoring robot for an engineering structure with deformable wheels provided in an embodiment of the present application;

[0039] Fig.17 A framework flow chart of the non-vibration acceleration response data measurement state of a vibration monitoring robot for an engineering structure with deformable wheels provided in an embodiment of the present application.

[0040] Among them, the reference numerals in the figure are:

[0041] 100-body;

[0042] 200-acceleration measuring element;

[0043] 300-wheel transformable mechanism; 301-outer wheel hub; 302-inner wheel hub; 303-spokes; 304-arc member;

[0044] 400-rotating joint mechanism; 401-swing arm; 402-rotating driving member;

[0045] 500-driving mechanism; 501-armature; 502-rotor; 503-coil; 504-coupling; 505-motor;

[0046] 600-chassis anti-skid mechanism; 601-rotating shaft; 602-friction pad; 603-driving member;

[0047] 700-sensor assembly;

[0048] 800-environmental sensing element;

[0049] 900-control terminal;

[0050] 1000 - Battery box. DETAILED DESCRIPTION

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] See also Figure 1 The wheel-transformable engineering structure vibration monitoring robot provided in the embodiment of the present application is now described. The wheel-transformable engineering structure vibration monitoring robot comprises a vehicle body 100, an acceleration measuring element 200, a wheel transformable mechanism 300 and a rotary joint mechanism 400; the acceleration measuring element 200 is installed on the bottom surface of the vehicle body 100; Figure 2 and Figure 3 As shown, the wheel transformable mechanism 300 includes an outer wheel hub 301, an inner wheel hub 302 and a plurality of tire blocks, the inner wheel hub 302 is rotatably connected to the outer wheel hub 301, and the plurality of tire blocks are evenly arranged along the circumferential direction of the outer wheel hub 301; the inner wheel hub 302 and the outer wheel hub 301 rotate relative to each other, which can drive the tire blocks to swing, so that the plurality of tire blocks gather and disperse, and respectively form a wheel structure and a leg structure; the rotary joint mechanism 400 is installed on the vehicle body 100, and the free end of the rotary joint mechanism 400 is connected to the wheel transformable mechanism 300, and the rotary joint mechanism 400 can drive the wheel transformable mechanism 300 to swing, so that the wheel transformable mechanism 300 contacts or separates from the ground.

[0056] Compared with the prior art, the robot for monitoring vibration of engineering structures with deformable wheels provided by the present application, in the embodiment of the present application, by setting a wheel transformable mechanism 300, the robot's motion mode (wheel mode and leg mode) is intelligently switched, so as to adapt to uneven roads and be able to climb stairs, thus expanding the robot's use scenarios. When monitoring vibration of an engineering structure, by setting a rotary joint mechanism 400, the wheel transformable mechanism 300 can be driven to swing, so that the wheel transformable mechanism 300 is separated from the ground, so that the body 100 is in contact with the ground, and then the acceleration measuring element 200 on the bottom surface of the robot body can be close to the ground and directly measure the vibration acceleration response of the building structure, which ensures to the greatest extent that the vibration response data measured by the acceleration measuring element 200 is consistent with the vibration response of the measured engineering building, and improves the measurement accuracy of the structural vibration response.

[0057] In this embodiment, the acceleration measuring element 200 may be an acceleration sensor. Specifically, the acceleration sensor may be a servo-type three-axis accelerometer, which may 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.

[0058] In one embodiment of the present application, please refer to Figure 2 and Figure 3 The tire blocks include spokes 303 and arc pieces 304. One end of the spokes 303 is hinged to the inner hub 302, the other end of the spokes 303 is hinged to the middle of the arc piece 304, and one end of the arc piece 304 is hinged to the outer hub 301. The inner hub 302 can drive the spokes 303 to swing, so that the spokes 303 are in the first position and the second position, such as Figure 2 As shown, in the first position, the plurality of arc parts 304 gather together and abut one another in sequence to form a circular wheel structure; Figure 3 As shown, in the second position, the plurality of arc pieces 304 are dispersed to form a leg structure.

[0059] Understandably, existing inspection robots cannot effectively move and position themselves when encountering uneven surfaces, steps or stairs. This limitation not only reduces work efficiency, but also severely restricts the application of inspection robots in complex environments such as multi-story buildings and tunnels, resulting in their inability to fully cover and detect all parts of these structures, especially high-risk areas and hidden parts. As a result, potential hidden dangers in engineering structures cannot be discovered and handled in a timely manner, increasing the risk of structural failure and threatening the safe operation of important infrastructure.

[0060] The wheel-convertible mechanism 300 provided in this embodiment can intelligently switch the robot's motion mode according to the robot's environment and site, that is, the wheel mode ( Figure 7 , Figure 8 ) and leg mode ( Fig. 9 , Fig.10 ), so that the robot can imitate animals climbing stairs and adapt to different application scenarios. The wheel transformable mechanism 300 has two degrees of freedom, and its structure is simple and reliable.

[0061] Specifically, the tire blocks can be provided with three, that is, there are three arc pieces 304 and three spokes 303, and the three arc pieces 304 can be connected to form a circle. Figure 4 The wheel convertible mechanism 300 also includes a driving mechanism 500, which is used to drive the wheel convertible mechanism 300 to rotate; the driving mechanism 500 includes an armature 501, a rotor 502, a coil 503, a coupling 504 and a motor 505, the armature 501 is mounted on the outer wheel hub 301, the rotor 502 is mounted on the armature 501, the coil 503 is sleeved on the rotor 502, the output shaft of the motor 505 is connected to the rotor 502 through the coupling 504, and the rotor 502 drives the wheel convertible mechanism 300 to rotate. The relative rotation of the inner wheel hub 302 and the outer wheel hub 301 can be controlled by an electromagnetic clutch, so that the conversion between the wheel mode and the leg mode can be realized. It can be understood that the wheel convertible mechanism 300 is provided with four, namely two front wheels and two rear wheels; when climbing stairs in the leg mode, the positions of the arc parts 304 of the front wheels and the rear wheels remain consistent, which can reduce the wheelbase and reduce slippage. An equivalent brake ring is provided on the outer wheel hub 301, which can improve the robot's continuous stair climbing stability.

[0062] In one embodiment of the present application, please refer to Figure 5 and Figure 6 The rotary joint mechanism 400 includes a swing arm 401 and a rotary drive member 402. One end of the swing arm 401 is connected to the wheel transformable mechanism 300, and the other end of the swing arm 401 is connected to the output shaft of the rotary drive member 402. The length direction of the swing arm 401 is perpendicular to the axial direction of the output shaft.

[0063] It is understandable that at present, most inspection robots do not separate their wheels from the ground when performing building structure health inspection and monitoring tasks, which may cause measurement errors in vibration acceleration. This is because the vibration of the ground is directly transmitted to the robot structure, causing the sensor to capture the combined vibration of the ground and structure, rather than the structural vibration alone. In addition, the friction and impact noise generated by the contact between the wheels and the ground, as well as the vibration generated by the wheels themselves when moving on uneven ground, will also interfere with the measurement of the acceleration sensor.

[0064] The rotary joint mechanism 400 provided in this embodiment can intelligently switch the motion state of the robot wheels, i.e., the stationary measurement state ( Figure 7 ) and motion inspection status ( Figure 8 , Fig. 9 , Fig.10 ). When the robot needs to perform the engineering structure vibration monitoring task, the rotary drive member 402 rotates, and drives the wheel transformable mechanism 300 to swing through the swing arm 401, so that the wheel transformable mechanism 300 is separated from the ground, such as Figure 7 As shown, at this time, the robot body 100 moves down and is in full contact with the ground, and the acceleration sensor is installed in a position flush with the robot's internal chassis, so it can be close to the ground and directly measure the vibration acceleration response of the engineering structure, which maximizes the consistency between the vibration response data measured by the acceleration sensor and the vibration response of the measured engineering building. When the robot needs to perform other inspection tasks, the rotary drive member 402 rotates in the opposite direction to rotate the wheel transformable mechanism 300 to contact the ground, such as Figure 8 As shown, at this time, the body 100 of the robot moves up and leaves the ground, and can walk freely on the building ground to complete other measurement or inspection tasks.

[0065] In one embodiment of the present application, please refer to Fig.11 The robot also includes a chassis anti-skid mechanism 600, which is arranged on the bottom surface inside the vehicle body 100 and runs through the chassis of the vehicle body 100; when the robot performs the vibration monitoring task, the chassis anti-skid mechanism 600 contacts the ground.

[0066] It is understandable that the wheel transformable mechanism 300 is rotated to a suspended state by using the rotary joint mechanism 400, and the body 100 of the robot is in contact with the ground. If the friction between the robot chassis and the ground is insufficient, the robot is prone to slip when performing measurement tasks, especially on inclined or smooth surfaces. The acceleration sensor may be affected by additional vibration and movement, causing the vibration acceleration response data collected by the robot to contain unnecessary noise, affecting the accuracy of the structural vibration measurement. In addition, insufficient friction may cause the robot to slip and shake slightly on the ground, making it impossible for the acceleration sensor to work stably, generating inaccurate vibration data, and affecting the reliability of the overall monitoring results.

[0067] This embodiment increases the friction between the bottom surface of the vehicle body 100 and the ground by providing the chassis anti-skid mechanism 600, so that the vehicle body 100 (acceleration measuring element 200) and the building form a whole, thereby reducing the influence of the shaking of the vehicle body 100 on the vibration data measurement and improving the accuracy of the vibration measurement.

[0068] In one embodiment of the present application, please refer to Fig.12 and Fig.13 The chassis anti-skid mechanism 600 includes a rotating shaft 601 and a plurality of friction pads 602. The rotating shaft 601 is rotatably connected to the vehicle body 100, and the friction pads 602 are connected to the outer side wall of the rotating shaft 601. The plurality of friction pads 602 are distributed along the circumferential direction of the rotating shaft 601. When the wheel convertible mechanism 300 is separated from the ground, the rotating shaft 601 rotates so that at least one friction pad 602 is flush with the bottom surface of the vehicle body 100, and the friction pad 602 contacts the ground to fix the vehicle body 100.

[0069] In one embodiment of the present application, please refer to Fig.11 and Fig.12 The chassis anti-skid mechanism 600 also includes a driving member 603, which is connected to the rotating shaft 601 and is used to drive the rotating shaft 601 to rotate.

[0070] In one embodiment of the present application, among the multiple friction pads 602, one friction pad 602 corresponds to one type of ground; see Figure 1 The robot also includes a sensor component 700, which is installed on the bottom surface of the vehicle body 100 and is electrically connected to the driving member 603; the sensor component 700 is used to detect the type of the ground and control the driving member 603 to rotate a corresponding angle so that the corresponding friction pad 602 contacts the ground.

[0071] In this embodiment, one friction pad 602 corresponds to one type of ground, and each friction pad 602 can be made of different materials. The most suitable friction layer can be automatically selected according to the ground type. When the robot needs to perform a vibration monitoring task, the chassis anti-skid mechanism 600 can adjust the contact friction pad 602 according to the type of ground the robot is currently on, thereby improving the overall friction force, and maximally ensuring that when the robot performs the measurement task, the body 100 (acceleration sensor) and the ground become a whole, reducing the vibration measurement error caused by the shaking of the body. Specifically, the types of friction pads 602 may include rubber pads, polyurethane pads, and silicone pads. For example, on a slippery ground, you can switch to a rubber pad with anti-slip properties; on a rough ground, you can use a more wear-resistant polyurethane pad; on a carpet or wooden floor, you can switch to a soft and moderate silicone pad.

[0072] In one embodiment of the present application, see Fig.11 A plurality of chassis anti-skid mechanisms 600 are provided, and the plurality of chassis anti-skid mechanisms 600 are all installed on the bottom surface inside the vehicle body 100 and penetrate the chassis of the vehicle body 100 .

[0073] In one embodiment of the present application, see Figure 1The robot also includes an environment sensing element 800, which is installed on the top of the front side of the exterior of the vehicle body 100 for looking around.

[0074] In this embodiment, the environment sensing element 800 includes a laser radar (LiDAR), which uses the time of flight (TOF) principle to measure the distance between the robot and the object. Fig.14 As shown: The laser transmitter of the LiDAR emits laser pulses, which are reflected on the surface of the object and received by the LiDAR receiver. By calculating the time difference between the emission and reception of the laser pulse and combining it with the propagation speed of the laser, the robot can derive the distance to the object. Regardless of whether the robot is moving or stationary, the LiDAR will continuously perform a 360-degree full-scale scan, measure the distance between the robot and surrounding objects in real time, and perform preliminary mapping. If an obstacle is detected, the robot will respond immediately, avoid the obstacle, and reasonably plan a new path based on the location of the obstacle, so as to better complete the measurement and evacuation guidance tasks.

[0075] The working principle flow chart of LiDAR is as follows: Fig.15 As shown, the distance calculation formula based on the flight time principle is as follows:

[0076]

[0077] For lasers, the propagation speed is the speed of light, which is approximately m / s, The time from signal transmission to reception.

[0078] In complex environments, the superior performance of LiDAR is significantly reflected in its anti-interference ability and environmental adaptability. LiDAR can work stably in strong light, at night and in bad weather conditions, providing reliable environmental perception and ranging data. In emergency response scenarios, LiDAR-assisted robots can quickly identify safe passages and evacuation exits at disaster sites, generate the best and shortest evacuation routes, and provide effective evacuation guidance to the public. By updating path information in real time and dynamically adjusting evacuation strategies, the robot can provide effective emergency evacuation guidance in emergencies to ensure public safety.

[0079] In one embodiment of the present application, see Figure 1 The robot also includes a control terminal 900, which is electrically connected to the acceleration measuring element 200, the wheel transformable mechanism 300, the rotary joint mechanism 400, the chassis anti-skid mechanism 600, the sensor assembly 700 and the environment sensing element 800 respectively.

[0080] In one embodiment of the present application, see Figure 1The robot also includes a battery box 1000, which is electrically connected to the control terminal 900, the acceleration measuring element 200, the wheel transformable mechanism 300, the rotary joint mechanism 400, the chassis anti-skid mechanism 600, the sensor assembly 700 and the environmental sensing element 800; the battery box 1000 is used to power the robot.

[0081] In the wheel convertible mechanism 300, the operator can adjust the robot's motion mode by controlling the leg opening angle (spoke 303 opening angle) at the control terminal 900 to adapt it to walking on uneven roads. During operation, the three arc-shaped "legs" are simultaneously unfolded and retracted. When the inspection robot encounters an uneven ground or stairs or steps, the robot receives a command from the control terminal 900 to open the "legs" and spokes 303 and control their opening angles, such as Figure 3 As shown; when the robot experiences a smooth road surface or performs an inspection task, it is controlled by the control terminal 900, and the "legs" and spokes 303 are retracted by reversing the rotating disk of the inner hub 302, and switched to the wheel mode, as shown Figure 2 As shown, the action speed of the inspection robot is improved to complete the corresponding inspection work.

[0082] In this embodiment, the working process of the chassis anti-skid mechanism 600 is as follows:

[0083] Step 1: When the robot performs the vibration acceleration response data collection task, it detects the roughness and dryness and wetness conditions of the ground in real time through the sensor assembly 700 installed on the bottom surface of the vehicle body 100. The sensor assembly 700 includes an optical sensor, a contact sensor, and a humidity sensor. The optical sensor can detect the reflectivity and texture of the ground, the contact sensor can measure the hardness and roughness of the ground, and the humidity sensor can detect the humidity of the ground.

[0084] Step 2: The data collected by the sensor assembly 700 is transmitted to the robot control terminal 900 through the data bus. The control terminal 900 system has a built-in data processing module, which uses a preset algorithm to analyze the data of the sensor assembly 700 and determine the current ground type.

[0085] Step 3: The data collected by the sensor assembly 700 is transmitted to the control terminal 900 via the data bus, and the sensor data is analyzed using a preset algorithm to determine the current ground type. The control terminal 900 identifies the current ground type based on the analysis results of the sensor data, and controls the chassis anti-skid mechanism 600 to determine the friction pad 602 that needs to be switched to.

[0086] Step 4: After the chassis anti-skid mechanism 600 receives the command, the driving member 603 drives the rotating shaft 601 to rotate, and moves the friction pad 602 adapted to the corresponding ground type to a position in contact with the ground. In order to ensure the accuracy of the rotation, an encoder is installed in the control terminal 900 to monitor the rotation angle of the rotating shaft 601 in real time and feed it back to the control system.

[0087] The framework process of vibration acceleration response data measurement status, such as Fig.16 As shown:

[0088] When the robot of this embodiment performs the task of monitoring the acceleration response of the engineering structure vibration, it is necessary to switch the robot's motion mode to the wheel mode, use the sensor assembly 700 to detect the ground type, and select the appropriate friction pad 602. Finally, the rotating joint mechanism 400 is used to move the robot's wheels upward so that the body 100 is in full contact with the ground. At this time, the acceleration sensor is installed inside the body 100 close to the ground, and the robot's body 100 forms a whole with the building by friction. Therefore, the acceleration measurement element 200 can maximize the acquisition of vibration data with the same frequency, amplitude and phase as the building. The specific process is as follows:

[0089] Step 1: After the robot starts and reaches the designated location, the robot's built-in laser radar and various sensor components work together to complete the initial perception and initial positioning of the surrounding environment during the robot's movement. The laser radar uses the TOF principle to generate a high-resolution environmental map by emitting laser pulses and measuring their return time, and then feeds it back to the control terminal 900.

[0090] Step 2: After completing the initial positioning and preliminary mapping, the control terminal 900 controls the robot to plan the optimal path to the target detection point based on the obstacles and terrain changes in the environment, using the path planning algorithm pre-built into the control terminal 900, and ensure the safety and efficiency of the path.

[0091] Step 3: After reaching the designated target detection point, the robot first switches the motion mode to the wheel mode, then uses the sensor assembly 700 to detect the ground type and selects a suitable friction pad 602 to increase the friction between the bottom surface of the robot's body 100 and the ground, and finally uses the rotary joint mechanism 400 to move the robot's wheels upward so that the body 100 is in full contact with the ground.

[0092] Step 4: The control terminal 900 controls the built-in high-precision acceleration sensor to start collecting vibration acceleration response data of the engineering structure, monitor the tiny vibration of the structure in real time, record the acceleration data, and store it in the data processing unit of the robot.

[0093] Step 5: The collected vibration acceleration response data is transmitted to the processing unit in the control terminal 900 via the data bus, and relevant signal processing algorithms and filtering techniques are applied to analyze and process the data, eliminate noise and interference, and extract meaningful vibration feature information.

[0094] The framework process of non-vibration acceleration response data measurement state, such as Fig.17 As shown:

[0095] When the robot of this embodiment performs inspection tasks, it will intelligently switch its movement mode according to whether the current road surface is flat and whether it needs to climb stairs, and perform real-time obstacle avoidance and environment mapping through laser radar. The specific process is as follows:

[0096] Step 1: If the robot is on a flat surface, it needs to switch the motion mode to wheel mode to improve inspection efficiency. Figure 8 As shown; if encountering stairs or rough roads, the robot needs to switch its motion mode to leg mode to complete the inspection of uneven roads, such as Fig. 9 and Fig.10 The control terminal 900 is used to control the angle of the spokes 303 so that the robot can perform other inspection tasks (environmental parameters such as temperature, humidity, and gas concentration) on different ground types.

[0097] Step 2: As the robot moves, the LiDAR continuously performs 360-degree full-scale scanning to monitor the surrounding environment in real time. If an obstacle is detected, the robot will immediately respond by stopping or changing direction to avoid it. Combining the depth camera and LiDAR, the robot can accurately identify the size, shape, and location of obstacles and make corresponding obstacle avoidance actions.

[0098] Step 3: During the movement, the robot continuously uses SLAM technology to update the environment map and its own position in real time. After each obstacle avoidance operation, the robot will replan the path to ensure that it always moves along the optimal route. The real-time update of the environment map also provides accurate navigation data for subsequent tasks.

[0099] Step 4: In emergency response scenarios, the robot uses the real-time created environmental map and path planning algorithm to develop the optimal evacuation route, and provides evacuation guidance to the public through display screens and voice prompts to help people evacuate safely.

[0100] 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 robot for monitoring vibration of engineering structures with deformable wheels, characterized in that: include: Car body; An acceleration measuring element, the acceleration measuring element being mounted on a bottom surface inside the vehicle body; A wheel transformable mechanism, the wheel transformable mechanism comprising an outer wheel hub, an inner wheel hub and a plurality of tire blocks, the inner wheel hub being rotatably connected to the outer wheel hub, the plurality of tire blocks being evenly arranged along the circumferential direction of the outer wheel hub; the inner wheel hub and the outer wheel hub rotate relative to each other, which can drive the tire blocks to swing, so that the plurality of tire blocks gather and disperse, respectively forming a wheel structure and a leg structure; A rotary joint mechanism, wherein the rotary joint mechanism is mounted on the vehicle body, a free end of the rotary joint mechanism is connected to the wheel transformable mechanism, and the rotary joint mechanism can drive the wheel transformable mechanism to swing, so that the wheel transformable mechanism is in contact with or separated from the ground; The robot further includes a chassis anti-skid mechanism, which is arranged on the bottom surface of the vehicle body and passes through the chassis of the vehicle body. When the robot performs a vibration monitoring task, the chassis anti-skid mechanism contacts the ground; The chassis anti-skid mechanism includes a rotating shaft and a plurality of friction pads, wherein the rotating shaft is rotatably connected to the chassis of the vehicle body, and the friction pads are connected to the outer side wall of the rotating shaft; the plurality of friction pads are distributed along the circumferential direction of the rotating shaft; when the wheel convertible mechanism is separated from the ground, the rotating shaft rotates so that at least one of the friction pads is flush with the bottom surface of the vehicle body and the friction pad is in contact with the ground to fix the vehicle body.

2. The engineering structure vibration monitoring robot with deformable wheels as claimed in claim 1, characterized in that: The tire blocks include spokes and arc pieces, one end of the spokes is hinged to the inner hub, the other end of the spokes is hinged to the middle of the arc piece, and one end of the arc piece is hinged to the outer hub; The inner hub can drive the spokes to swing so that the spokes are in a first position and a second position. In the first position, a plurality of arc parts gather together and successively end and abut to form the circular wheel structure; in the second position, a plurality of arc parts disperse to form the leg structure.

3. The engineering structure vibration monitoring robot with deformable wheels as claimed in claim 1, characterized in that: The rotary joint mechanism includes a swing arm and a rotary drive member, one end of the swing arm is connected to the wheel convertible mechanism, the other end of the swing arm is connected to the output shaft of the rotary drive member, and the length direction of the swing arm is perpendicular to the axial direction of the output shaft.

4. The engineering structure vibration monitoring robot with deformable wheels as claimed in claim 1, characterized in that: The chassis anti-skid mechanism also includes a driving member, which is connected to the rotating shaft and is used to drive the rotating shaft to rotate.

5. The engineering structure vibration monitoring robot with deformable wheels as claimed in claim 4, characterized in that: Among the multiple friction pads, one friction pad corresponds to one type of ground; the robot also includes a sensor component, which is installed on the bottom surface of the interior of the vehicle body and is electrically connected to the driving member; the sensor component is used to detect the type of ground and control the rotation of the driving member through the control terminal so that the corresponding friction pad contacts the ground.

6. The engineering structure vibration monitoring robot with deformable wheels as claimed in any one of claims 1 to 5, characterized in that: The chassis anti-skid mechanism is provided in plurality, and the plurality of chassis anti-skid mechanisms are all installed on the bottom surface inside the vehicle body and penetrate the chassis of the vehicle body.

7. The engineering structure vibration monitoring robot with deformable wheels as claimed in claim 5, characterized in that: The robot also includes an environment sensing element, which is installed on the top of the front side of the exterior of the vehicle body and is used for environmental sensing and map construction around the robot.

8. The engineering structure vibration monitoring robot with deformable wheels as claimed in claim 7, characterized in that: The robot further comprises a control terminal, which is electrically connected to the acceleration measuring element, the wheel transformable mechanism, the rotary joint mechanism, the chassis anti-skid mechanism, the sensor assembly and the environment sensing element respectively.

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