Flying climbing robot for detecting cracks of long-span bridge concrete structure

Abstract

The invention provides a flying climbing robot for detecting cracks of a long-span bridge concrete structure, and the flying climbing robot comprises a wing plate device which comprises a left wing plate and a right wing plate; the connecting rod power set device is arranged between the left wing plate and the right wing plate and provides power for up-down rotation of the left wing plate and the right wing plate; the camera device is used for controlling the flying climbing robot and collecting information; the propeller device is arranged on the left wing plate and the right wing plate and provides power for the flying climbing robot to move in the air; the wheel set device is arranged below the left wing plate and the right wing plate and provides power for the flying climbing robot to move on the ground; and the electric control device comprises a main control board, a power distribution board, a capacitor board and a power source, the main control board is used for controlling the connecting rod power set device, the camera device, the propeller device and the wheel set device, and the capacitor board is used for storing electricity for the flying climbing robot.

Description

Technical Field

[0001] The invention relates to the technical field of bridge performance evaluation, and in particular to a flying climbing robot for detecting cracks in a concrete structure of a large-span bridge. Background Art

[0002] With the development of the bridge industry, extra-large span bridges have gradually come into being. Cable-stayed bridges and suspension bridges, as cable systems, have become important structural forms of modern large-span bridges due to their large spanning capacity. Among them, towers and cable towers play a decisive role in the overall stability of the bridge. Cable-stayed bridges and suspension bridges are large-scale in construction, with main spans exceeding 100 meters, spans exceeding 1,000 meters, and main cable towers reaching hundreds of meters in height. Most of the cable towers of large-span bridges in my country are made of reinforced concrete. The towers of large-span bridges are numerous and large in size, and are mostly distributed in areas that are difficult for humans to reach, such as rivers, lakes, sea level, and the center of valleys.

[0003] During the long-term use of such large buildings, material strain of concrete and steel structures is inevitable. First of all, as the main load-bearing component, reinforced concrete cable towers will creep under long-term loads, that is, deformation will occur along the direction of the force. When the deformation stress exceeds the tensile strength of concrete, cracks may occur. Secondly, concrete materials have a common problem - due to the slow heat conduction rate of the longitudinal concrete structure, in the early stage of hardening of large-volume concrete, the temperature difference between the inside and outside is large, resulting in internal thermal expansion far exceeding the expansion deformation of the concrete surface, causing large tensile stress on the concrete surface, and cracking when the external temperature changes during use. Finally, concrete components are subjected to monotonous short-term loads. After repeated loads, fatigue cracks will occur when the tensile strain exceeds the limit tensile value. This leads to special periods, such as earthquakes, when the building may extend cracks or even collapse. Therefore, people's inspection of its quality has become a top priority.

[0004] Existing bridge performance evaluation usually uses manual inspection. However, for some large-span bridge towers and piers, it is difficult for humans to reach them, the cost of inspection is high, and the work is difficult to carry out. Traditional naked eye inspection has low efficiency and quality. Therefore, the technical problem that needs to be solved urgently is to use special machinery instead of manual labor to evaluate and monitor bridge performance. Summary of the invention

[0005] The present invention is made to solve the above-mentioned problem, and aims to provide a flying climbing robot for detecting cracks in concrete structures of long-span bridges.

[0006] The present invention provides a flying climbing robot for detecting cracks in the concrete structure of a long-span bridge, which has the following characteristics, including: a wing plate device, including a left wing plate and a right wing plate; a connecting rod power group device, which is arranged between the left wing plate and the right wing plate, and provides power for the up and down rotation of the left wing plate and the right wing plate; a camera device, which is used to control the flying climbing robot and collect information; a propeller device, which is arranged on the left wing plate and the right wing plate, and provides power for the flying climbing robot when it moves in the air; a wheel group device, which is arranged under the left wing plate and the right wing plate, and provides power for the flying climbing robot when it moves on the ground; and an electric control device, including a main control board, a distribution board, a capacitor board and a power supply, the main control board is used to control the connecting rod power group device, the camera device, the propeller device and the wheel group device, and the capacitor plate is used to store electricity for the flying climbing robot.

[0007] In the flying climbing robot for detecting cracks in the concrete structure of a large-span bridge provided by the present invention, it can also have the following characteristics: wherein, the connecting rod power group device includes a middle plate, a transmission mechanism motor, a plurality of gears, a plurality of connecting rods and a plurality of rocker arms, the plurality of gears include a power output gear, a reduction gear, a right power gear and a left power gear, the transmission mechanism motor drives the power output gear to rotate, the power output gear is meshed with the reduction gear, the reduction gear rotates coaxially with the right power gear, the right power gear is meshed with the left power gear, the connecting rod includes a left connecting rod and a right connecting rod, one end of the left connecting rod is connected to the left power gear, and one end of the right connecting rod is connected to the right power gear, the plurality of rocker arms include a left rocker arm and a right rocker arm, the left rocker arm is connected to the other end of the left connecting rod, and the right rocker arm is connected to the other end of the right connecting rod.

[0008] The flying climbing robot for detecting cracks in the concrete structure of a large-span bridge provided by the present invention may also have the following feature: the size of the power output gear is smaller than the large reduction gear, so that the transmission mechanism motor can transmit a larger torque.

[0009] The flying climbing robot for detecting cracks in concrete structures of large-span bridges provided by the present invention may also have the following features: the power output gear, the reduction gear, the right power gear, the left power gear, the left connecting rod, the right connecting rod, the left rocker arm and the right rocker arm are all made of alloy quenched and tempered steel in carbon tempered steel, and can withstand a variety of working loads.

[0010] The flying climbing robot for detecting cracks in the concrete structure of a large-span bridge provided by the present invention may also have the following features: wherein, the camera device includes a forward-looking positioning camera and a bottom scanning camera. The forward-looking positioning camera is arranged at the front side of the flying climbing robot to provide a first-person perspective of the flight for ground workers who control the robot. The bottom scanning camera is arranged at the bottom of the flying climbing robot to scan the concrete surfaces of bridge piers, cable towers, etc. when collecting information.

[0011] The flying climbing robot for detecting cracks in the concrete structure of a large-span bridge provided by the present invention may also have the following features: the propeller device includes a plurality of propellers, the plurality of propellers are symmetrically arranged on the left wing plate and the right wing plate, and a propeller motor for driving the propeller is provided at the bottom of each propeller.

[0012] The flying climbing robot for detecting cracks in the concrete structure of a large-span bridge provided by the present invention may also have the following features: there are four propellers, each of which has at least four propeller blades, thereby providing lift for the flying climbing robot.

[0013] The flying climbing robot for detecting cracks in the concrete structure of a large-span bridge provided by the present invention may also have the following features: the left wing panel and the right wing panel are made of carbon plate material, which can withstand the flying weight of the flying climbing robot while reducing the mass of the flying climbing robot, thereby alleviating the pressure on the propeller motor.

[0014] In the flying climbing robot for detecting cracks in the concrete structure of a large-span bridge provided by the present invention, it may also have the following features: wherein, the wheel assembly device includes an omnidirectional wheel assembly and a wheel assembly motor, the omnidirectional wheel assembly includes an inner disc and an outer disc, the size of the inner disc is smaller than the outer disc, thereby ensuring the functional effectiveness of the omnidirectional wheel in a tilted state, the wheel assembly motor is arranged in the middle of the inner disc, and is used to drive the inner disc and the outer disc to move, the top of the omnidirectional wheel assembly is connected to the left wing plate and the right wing plate through the omnidirectional wheel support, and the inner disc and the outer disc of the omnidirectional wheel assembly are 10°-20° with the horizontal plane.

[0015] The flying climbing robot for detecting cracks in the concrete structure of a large-span bridge provided by the present invention may also have the following features: the omnidirectional wheels are made of a mixture of styrene-butadiene rubber and EPDM rubber, and the ratio of styrene-butadiene rubber to EPDM rubber is 3:(6-8), thereby increasing the friction force when the omnidirectional wheel group contacts the concrete plane.

[0016] Functions and Effects of the Invention

[0017] The flying climbing robot for detecting cracks in the concrete structure of a large-span bridge according to the present invention can well replace manual labor for the evaluation and monitoring of bridge performance. It can not only fly in the air but also crawl on the ground. It can easily enter the detection parts with a large height difference from the bridge deck, such as piers and cable towers. At the same time, it is small in size and does not need to occupy the bridge deck road or block the bridge deck for operation during the calling process, which can avoid causing traffic inconvenience. To use this flying climbing robot, you only need to release it, and it does not even need to be on the bridge deck where the piers and cable towers are located. It can be remotely controlled, and posture adjustment and quality inspection work can be performed through image transmission, which can greatly shorten the time spent on the journey and improve efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a bottom-up stereoscopic diagram of a flying climbing robot in an embodiment of the present invention;

[0019] Figure 2 is a top perspective view of a flying climbing robot in an embodiment of the present invention;

[0020] Figure 3 is a side view of a flying climbing robot in an embodiment of the present invention;

[0021] Figure 4 is a side view of a left wing plate in an embodiment of the present invention;

[0022] Figure 5 is a side view of a right wing plate in an embodiment of the present invention;

[0023] Figure 6 is a schematic structural diagram of a connecting rod power group device in an embodiment of the present invention;

[0024] Figure 7 is a schematic structural diagram of an electric control device in an embodiment of the present invention; and

[0025] Figure 8 Schematic diagram of the structure of the camera device in the embodiment of the present invention. DETAILED DESCRIPTION

[0026] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0027] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments and the accompanying drawings specifically illustrate the flying climbing robot for detecting cracks in the concrete structure of a large-span bridge of the present invention.

[0028] Figure 1 It is a bottom-up stereoscopic view of the flying climbing robot in an embodiment of the present invention. Figure 2 4 is a top view of a flying climbing robot in an embodiment of the present invention. Figure 3 is a side view of the flying climbing robot in an embodiment of the present invention.

[0029] like Figure 1-3As shown, the flying climbing robot 100 for detecting cracks in the concrete structure of a large-span bridge in this embodiment includes a wing panel device 10, a connecting rod power group device 20, a camera device 40, a propeller device 50, a wheel group device 60 and an electronic control device 70.

[0030] The dimensions of the flying climbing robot 100 of the present invention are as follows: about 65 cm in length and about 50 cm in width. In the pier construction specification, the minimum width of the gravity pier is 60 cm, so the dimensions of the robot are suitable for crack investigation and detection of most concrete piers.

[0031] The robot is about 20cm high in the unfolded state and about 33cm high in the climbing folded state, which greatly facilitates the robot to pass through narrow places. For example, when the robot passes through the gap of the cables in a large-span bridge, the smaller size gives the robot a high degree of freedom.

[0032] Figure 4 It is a side view of the left wing plate in the embodiment of the present invention. Figure 5 It is a side view of the right wing plate in an embodiment of the present invention.

[0033] like Figure 4-5 As shown, the wing panel device 10 includes a left wing panel 11 and a right wing panel 12 .

[0034] The left wing panel 11 and the right wing panel 12 are made of carbon plate material, which is about 65 cm long and 25 cm wide. They can withstand the flight weight of the flying climbing robot 100 while reducing the mass of the flying climbing robot 100, thereby alleviating the pressure on the propeller motor 51. The carbon fiber plate has high strength and is only 1 / 5 of the mass of steel, and has high toughness. In addition, the carbon fiber plate, as the arc-shaped outer shell of the middle plate, also has a certain degree of shock resistance to protect the internal devices.

[0035] Figure 6 It is a schematic structural diagram of a connecting rod power group device in an embodiment of the present invention.

[0036] like Figure 6 As shown, the connecting rod power group device 20 is arranged between the left wing plate 11 and the right wing plate 12 to provide power for the up and down rotation of the left wing plate 11 and the right wing plate 12.

[0037] The connecting rod power group device 20 includes a middle plate 32, a transmission mechanism motor 21, a plurality of gears, a plurality of connecting rods and a plurality of rockers.

[0038] Several gears include a power output gear 23, a reduction gear 24, a right power gear 26 and a left power gear 27. The transmission mechanism motor 21 drives the power output gear 23 to rotate. The power output gear 23 is meshed with the reduction gear 24. The size of the power output gear 23 is smaller than the reduction gear 24, so that the transmission mechanism motor 21 can transmit a larger torque. The reduction gear 24 rotates coaxially with the right power gear 26. The right power gear 26 is meshed with the left power gear 27. Gear supports 25 are provided on one side of the left power gear 27 and the right power gear 26. A motor support 22 is also provided on one side of the motor to fix the positions of the left power gear 27, the right power gear 26 and the motor.

[0039] The connecting rod includes a left connecting rod 28 and a right connecting rod 29, one end of the left connecting rod 28 is connected to the left power gear 27, and one end of the right connecting rod 29 is connected to the right power gear 26. The plurality of rockers include a left rocker 30 and a right rocker 31, the left rocker 30 is connected to the other end of the left connecting rod 28, and the right rocker 31 is connected to the other end of the right connecting rod 29. Rocker supports 33 are provided under the left rocker 30 and the right rocker 31, and the rocker supports 33 are used to connect the wheel assembly device 60.

[0040] The power output gear 23, the reduction gear 24, the right power gear 26, the left power gear 27, the left connecting rod 28, the right connecting rod 29, the left rocker 30 and the right rocker 31 are all made of alloy quenched and tempered steel in carbon modulated steel, which can withstand a variety of working loads. At the same time, the alloy quenched and tempered steel also has good hardenability, which is very suitable for the power structure of the flying climbing robot 100 that is not subjected to excessive force.

[0041] The power output gear 23 is driven by the transmission mechanism motor 21 to rotate, and the power output gear 23 then drives the reduction gear 24 to move in the opposite direction to change the rotation speed and accurately control the rotation angle of the rotors on both sides. The reduction gear 24 and the left power gear 27 and the right power gear 26 are connected to the rotating shaft through a flat key, so the rotational movement of the reduction gear 24 is transmitted to the left power gear 27 and the right power gear 26 through the key and the shaft (not shown in the figure).

[0042] The left power gear 27 and the right power gear 26 are symmetrically distributed, and the left connecting rod 28 and the right connecting rod 29 are also symmetrically distributed. When the left power gear 27 rotates, it can drive the left connecting rod 28 to move around the fixed point of the left power gear 27. When the right power gear 26 rotates, it can drive the right connecting rod 29 to move around the fixed point of the right power gear 26.

[0043] The left connecting rod 28 and the left rocker 30, the right connecting rod 29 and the right rocker 31 are connected by hinges respectively, and the middle sections of the left rocker 30 and the right rocker 31 are also connected to the gear support 25 by hinges, so that the two ends of the left rocker 30 and the right rocker 31 make circular motion around the fixed point of the support.

[0044] When the rotation of the transmission mechanism motor 21 is transmitted to the left power gear 27 and the right power gear 26, and the left power gear 27 and the right power gear 26 drive the left connecting rod 28 and the right connecting rod 29 to the highest point, the left rocker arm 30 and the right rocker arm 31 on both sides are in a downward closing state, which can drive the left wing plate 11 and the right wing plate 12 to close downward as well.

[0045] When the left connecting rod 28 and the right connecting rod 29 move downward, the left rocker 30 and the right rocker 31 on both sides are in a flat state, so that the left wing plate 11 and the right wing plate 12 are flat, and the robot is in a flying posture.

[0046] The middle plate body 32 is divided into two layers, the lower layer is provided with a middle frame 75, the upper layer is 10 cm high, the lower layer is 12 cm high, the total length is 40 cm, and the width is 18 cm.

[0047] Figure 7 Schematic diagram of the structure of the camera device in the embodiment of the present invention.

[0048] like Figure 7 As shown, the camera device 40 is used to control the flying climbing robot 100 and collect information.

[0049] The camera device 40 includes a forward-looking positioning camera 41 and a bottom scanning camera 42. The forward-looking positioning camera 41 is arranged at the front side of the flying climbing robot 100, and is used to provide a first-person perspective of the flight for ground workers who control the robot, so as to judge and control the robot's aerial posture. The bottom scanning camera 42 is arranged at the bottom of the flying climbing robot 100, and is used to scan concrete surfaces such as bridge piers and cable towers when collecting information.

[0050] The propeller device 50 is arranged on the left wing plate 11 and the right wing plate 12 to provide power for the flying climbing robot 100 when it moves in the air and control the flight posture. At the same time, it provides normal pressure when climbing on an inclined surface or a vertical plane, so that the robot is in close contact with the scanned plane.

[0051] The propeller device 50 includes four propellers, which are symmetrically arranged on the left wing plate 11 and the right wing plate 12. Each propeller has at least four propeller blades 52, thereby providing lift for the flying climbing robot 100. A propeller motor 51 for driving the propeller is provided at the bottom of each propeller.

[0052] The wheel assembly 60 is arranged under the left wing plate 11 and the right wing plate 12 to provide power for the flying climbing robot 100 when it moves on the ground. When controlling the climbing posture, relative to the robot's own forward and backward movement and left and right turning, a larger friction force can be generated between the tires and the plane to maintain the stability of the climbing posture.

[0053] The wheel assembly 60 includes an omnidirectional wheel assembly and a wheel assembly motor 61. The omnidirectional wheel assembly includes an inner disc 63 and an outer disc 62 to achieve 360° free movement. The size of the inner disc 63 is smaller than the outer disc 62, thereby ensuring the functional effectiveness of the omnidirectional wheel in a tilted state. The wheel assembly motor 61 is set in the middle of the inner disc 63 to drive the inner disc 63 and the outer disc 62 to move.

[0054] The omnidirectional wheel is made of a mixture of styrene-butadiene rubber and EPDM rubber, with the ratio of styrene-butadiene rubber to EPDM being 3:7, thereby increasing the friction when the omnidirectional wheel group contacts the concrete plane. At the same time, it has good wear resistance, which facilitates the stability of the robot's vertical climbing posture and long-term use.

[0055] The top of the omnidirectional wheel assembly 60 is connected to the left wing plate 11 and the right wing plate 12 through the rocker support 33, and the inner disk 63 and the outer disk 62 of the omnidirectional wheel assembly are 15 degrees with the horizontal plane.

[0056] The rocker support 33 is made of SLA photosensitive resin material and can be manufactured by 3D printing, which is convenient to produce.

[0057] Figure 8 Schematic diagram of the structure of the electric control device in the embodiment of the present invention.

[0058] like Figure 8 As shown, the electric control device 70 includes a main control board 71, a distribution board 74, a capacitor plate 72 and a power supply 73. The main control board 71 is used to control the connecting rod power group device 20, the camera device 40, the propeller device 50 and the wheel group device 60, and the capacitor plate 72 is used to store electricity for the flying climbing robot 100.

[0059] The main control board 71 and the capacitor board 72 are arranged on the middle board body 32 , and the power distribution board 74 and the power supply 73 are arranged in the middle frame 75 below the middle board body 32 .

[0060] The specific method of visual information processing after the camera device 40 of the present invention takes pictures is as follows:

[0061] For image big data from actual scenes that come from different shooting devices, have different shooting styles, and have different camera parameters, there is no need to adjust the brightness, rotate the perspective, adjust the size, and other complex operations on specific original images one by one. It is only necessary to convert the color image into a grayscale image through pre-set unified parameters and normalize the grayscale value to between 0 and 1. The program will automatically divide it into sub-units of the same size with crack images to form a sufficient number of sub-unit sets to enhance the database.

[0062] Through training on the relationship between the previous damage state and repeated loads or the degree of concrete aging, the ultimate function of predicting the damage state and remaining life can be achieved. This function is realized based on convolutional neural networks. Unlike conventional neural networks that cannot extract high-level features, the deep learning architecture can provide a higher-level representation for features. In the field of computer vision, the input of a convolutional neural network is generally an image. The input of the first layer of a convolutional neural network is a three-dimensional tensor. The convolutional neural network contains a large number of "layers". The input of each layer is calculated by this layer, and the output generated is the input of the next layer. The dimension of each layer's input will change accordingly with the calculation rules of different operation layers.

[0063] Simply put, we imitate human neural networks on the basis of computer image recognition, and identify a large number of pictures of concrete cracks and match them with the magnitude of the stress. In this way, after identifying cracks on any concrete plane, we can more accurately predict its lifespan and evaluate and monitor the performance of bridge concrete components.

[0064] The use process of the flying climbing robot 100 of the present invention is specifically as follows:

[0065] The propeller blades 52 of the flying climbing robot 100 are controlled to rotate by the electric control device 70, so that the flying climbing robot 100 climbs upwards, and at the same time, the flying climbing robot 100 is controlled to move in the horizontal direction by changing the rotation direction of some propellers.

[0066] When the robot reaches the position to be detected during horizontal flight, it needs to change to a vertical climbing posture. The posture change process is the key to the entire process. First, the robot flies forward horizontally until the front wheels touch the surface to be scanned. While maintaining forward momentum, the rotation speed of the left and right rear propellers is changed to lower the rear of the robot. Then, the left wing plate 11 and the right wing plate 12 are controlled to flip downward through the connecting rod power group device 20. The four wheels gradually approach the surface to be scanned to provide friction. Finally, all four propellers reverse to provide normal pressure perpendicular to the plane to be measured. At this time, the posture change process is completed.

[0067] Then, by controlling the wheel assembly 60, the flying climbing robot 100 is made to move forward, backward and turn on the ground, while performing concrete structure crack detection.

[0068] The distance between the bottom scanning camera 42 and the scanned plane is fixed during scanning. When in use, the inclination angle of the left wing plate 11 and the right wing plate 12 can be controlled by the connecting rod power group device 20 according to actual conditions, thereby changing the distance between the lower scanning camera and the scanned plane. It has a wide range of applications and can perform plane scanning and modeling in a high-precision moving manner under micro-motion control.

[0069] Considering that crack images taken at different distances may be confused in length during post-processing, which may lead to misjudgment of the size and length of the crack gap, if the crack skeleton line is long and the extension range is large, the left wing plate 11 and the right wing plate 12 can be rotated at a larger angle to increase the distance between the camera and the plane; conversely, if the crack is small and difficult to identify, a smaller angle can be used to reduce the distance between the camera and the plane.

[0070] In the specific process of scanning the bridge piers and towers, the full-plane coverage is achieved by multiple up and down movements. That is, after the flying climbing robot 100 moves from the bottom of the edge to the top, it turns and scans the side closely along the previous scanning route. Finally, the results of multiple straight line scans are merged to obtain the full-plane scanning result.

[0071] Finally, the transformation from the vertical climbing posture to the horizontal flight posture is the reverse process of the previous one. First, the rotation speed of the left and right rear propellers of the robot is changed to correct the posture of the rear part of the robot, and then the connecting rod power group device 20 is used to control the left wing plate 11 and the right wing plate 12 to flip upward, that is, the four blades are turned to restore the horizontal flight posture and fly back to the designated position.

[0072] Functions and Effects of the Embodiments

[0073] The flying climbing robot for detecting cracks in the concrete structure of a large-span bridge involved in the present invention can not only fly in the air, but also crawl on the ground. It can easily enter the detection parts with a large height difference from the bridge deck, such as piers and cable towers, and at the same time, it is small in size and does not need to occupy the bridge road or block the bridge deck for operation during the calling process, thereby avoiding traffic inconvenience. To use this flying climbing robot, you only need to release it, and it does not even need to be on the bridge deck where the piers and cable towers are located. It can also be remotely controlled, and posture adjustment and quality inspection work can be performed through image transmission, which can greatly shorten the time spent on the journey.

[0074] The inner and outer disks of the omnidirectional wheel assembly in the present invention are at an angle of 15° to the horizontal plane, which is compatible with the reinforced concrete cable towers commonly used in suspension bridges in my country. When the left and right plates of the climbing flying robot are flipped downward, the wheel assembly and the scanned surface can be at a specific angle so that they can fit well.

[0075] The flying climbing robot of the present invention can switch its posture between vertical climbing and horizontal flight, so as to better realize the scanning and detection operation of cracks in concrete structures.

[0076] The present invention can control the left wing plate and the right wing plate to rotate up and down through the connecting rod power group device, which is not only convenient for crack identification and life prediction, but also can construct a full-plane topographic map model based on several photos taken by a scanning camera.

[0077] Compared with the traditional drone image acquisition method, the flying climbing robot of the present invention is more stable as a whole during the image acquisition process, effectively reducing the instability of the wind on the drone posture and eliminating the uncertainty of the distance between the camera and the scanning surface.

[0078] The omnidirectional wheel in the present invention adopts a mixed material of styrene-butadiene rubber and ethylene-propylene-diene rubber, and the ratio of styrene-butadiene rubber to ethylene-propylene-diene rubber is 3:7. It can not only improve the friction when the omnidirectional wheel group contacts the concrete plane, but also has good wear resistance, which is convenient for the stability of the vertical climbing posture of the robot and long-term use.

[0079] The power output gear, reduction gear, right power gear, left power gear, left connecting rod, right connecting rod, left rocker and right rocker in the present invention are all made of alloy quenched and tempered steel in carbon modulated steel, which can withstand a variety of working loads. At the same time, the alloy quenched and tempered steel also has good hardenability, which is very suitable for the power structure of the flying climbing robot that is not subjected to excessive force.

[0080] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A flying climbing robot for detecting cracks in concrete structures of long-span bridges, characterized in that: include: A wing panel device, comprising a left wing panel and a right wing panel; A connecting rod power group device is arranged between the left wing plate and the right wing plate to provide power for the up and down rotation of the left wing plate and the right wing plate; A camera device, used to control the flying and climbing robot and collect information; A propeller device is arranged on the left wing plate and the right wing plate to provide power for the flying climbing robot when it moves in the air; A wheel assembly device is arranged under the left wing plate and the right wing plate to provide power for the flying climbing robot when it moves on the ground; as well as The electric control device includes a main control board, a power distribution board, a capacitor board and a power supply. The main control board is used to control the connecting rod power group device, the camera device, the propeller device and the wheel group device. The capacitor board is used to store electricity for the flying climbing robot.

2. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 1 is characterized in that: in, The connecting rod power group device includes a middle plate, a transmission mechanism motor, a plurality of gears, a plurality of connecting rods and a plurality of rocker arms. The plurality of gears include a power output gear, a reduction gear, a right power gear and a left power gear. The transmission mechanism motor drives the power output gear to rotate, and the power output gear is meshed with the reduction gear. The reduction gear rotates coaxially with the right power gear, and the right power gear is meshed with the left power gear. The connecting rod includes a left connecting rod and a right connecting rod. One end of the left connecting rod is connected to the left power gear, and one end of the right connecting rod is connected to the right power gear. The plurality of rocker arms include a left rocker arm and a right rocker arm. The left rocker arm is connected to the other end of the left connecting rod, and the right rocker arm is connected to the other end of the right connecting rod.

3. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 2 is characterized in that: in, The size of the power output gear is smaller than that of the large reduction gear, so that the transmission mechanism motor can transmit a larger torque.

4. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 2 is characterized in that: in, The power output gear, reduction gear, right power gear, left power gear, left connecting rod, right connecting rod, left rocker arm and right rocker arm are all made of alloy quenched and tempered steel in carbon modulated steel and can withstand various working loads.

5. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 1 is characterized in that: in, The camera device includes a forward-looking positioning camera and a bottom scanning camera. The forward-looking positioning camera is arranged at the front side of the flying climbing robot to provide a first-person perspective of the flight for ground workers who control the robot. The bottom scanning camera is arranged at the bottom of the flying climbing robot to scan concrete surfaces such as bridge piers and cable towers when collecting information.

6. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 1 is characterized in that: in, The propeller device comprises a plurality of propellers, and the plurality of propellers are symmetrically arranged on the left wing plate and the right wing plate. A propeller motor for driving the propeller is provided at the bottom of each propeller.

7. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 6 is characterized in that: in, There are four propellers, and each propeller has at least four propeller blades, thereby providing lift for the flying climbing robot.

8. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 1 is characterized in that: in, The left wing plate and the right wing plate are made of carbon plate material, which can bear the flight weight of the flying climbing robot while reducing the mass of the flying climbing robot, thereby alleviating the pressure on the propeller motor.

9. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 1 is characterized in that: in, The wheel assembly device includes an omnidirectional wheel assembly and a wheel assembly motor. The omnidirectional wheel assembly includes an inner disk and an outer disk. The inner disk is smaller than the outer disk, thereby ensuring the functional effectiveness of the omnidirectional wheel in a tilted state. The wheel assembly motor is arranged in the middle of the inner disk and is used to drive the inner disk and the outer disk to move. The top of the omnidirectional wheel assembly is connected to the left wing plate and the right wing plate through an omnidirectional wheel support. The inner disk and the outer disk of the omnidirectional wheel assembly are 10°-20° with the horizontal plane.

10. The flying climbing robot for detecting cracks in concrete structures of long-span bridges according to claim 9 is characterized in that: in, The omnidirectional wheel adopts a mixed material of styrene-butadiene rubber and EPDM rubber, and the ratio of the styrene-butadiene rubber to the EPDM rubber is 3:(6-8), so as to improve the friction force when the omnidirectional wheel group contacts the concrete plane.

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