Intelligent inspection crawling robot for steel structure

Abstract

The invention discloses a steel structure intelligent inspection crawling robot which comprises a robot vehicle body and an upper computer terminal, the robot vehicle body comprises a vehicle frame, and the robot vehicle body further comprises a motion control system, crawling leg driving steering engines and magnetic crawling legs; the frame comprises a chassis and two supports symmetrically distributed on the two sides of the chassis in the advancing direction of the chassis, and each support is perpendicular to the chassis. The modeling of the magnetic crawling legs is designed according to the bionic spider, and two groups of magnetic crawling legs are arranged; each group of magnetic crawling legs at least comprises two magnetic crawling legs; the two groups of magnetic crawling legs are symmetrically arranged along the advancing direction of the chassis; and each magnetic crawling leg included in each group of magnetic crawling legs is connected to the bracket through a crawling leg driving steering engine. Therefore, the intelligent inspection crawling robot for the steel structure can realize automatic inspection of the steel structure.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent detection of steel bridge fatigue damage. Specifically, it relates to an intelligent inspection and crawling robot for steel structures. Background Art

[0002] Due to a series of advantages such as light weight, high strength, good mechanical properties, excellent seismic performance, high industrialization level, fast construction speed, beautiful appearance, recyclability, and compliance with sustainable development policies, steel structures are widely used in the construction industry (such as large public buildings like stadiums, long-span bridges, industrial factories, large markets, etc.) and industry (such as large oil storage tanks, ships, wind power tower barrels, port cranes, etc.).

[0003] While these steel structures are being used, their maintenance problems also follow. First, steel structures are in the natural environment for a long time. As the service life increases, the protective paint on the surface of the steel structure will age and peel off, further leading to corrosion and rust of the steel structure. Second, during use, they continuously bear alternating loads, and a considerable number of steel structures have problems such as varying degrees of fatigue failure and structural fracture. Currently, the treatment of the above problems mainly relies on manual inspection and maintenance of the rust areas, welds, and surface cracks of large steel structures. This operation method has a long working time, a harsh environment, and it is difficult to guarantee the working quality. Therefore, there is an urgent need to apply intelligent, efficient, and accurate inspection and defect detection automation technologies and equipment in the steel structure maintenance work as soon as possible to get out of the current maintenance work dilemma.

[0004] With the development of the robot industry and data processing technologies in the 21st century, intelligent robot inspection technologies have gradually been applied in the field of steel structure defect detection, which is of great significance for improving the accuracy and efficiency of steel structure defect detection. However, the current intelligent inspection technology has relatively large defects. First, for the detection of the interior of hollow steel structures, this technology is easily affected by the steel structure itself, resulting in unstable GPS positioning signals and incorrect navigation information used in common traditional solutions. Second, the internal structure of some steel structures is complex. The current adsorption methods and motion modes of inspection robots make it easier to work on a single plane, but it is difficult to achieve automatic wall surface transition when working on different planes. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent inspection and crawling robot for steel bridge structures, which uses a bionic spider to design the shape of magnetic adsorption crawling legs, making the crawling robot suitable for steel structure inspection and improving the inspection work efficiency.

[0006] To achieve the above technical purpose, the present invention will adopt the following technical solutions:

[0007] An intelligent inspection crawling robot for steel structures, comprising a robot body and a host computer terminal. The robot body includes a frame, and the robot body further includes a motion control system, a crawling leg drive servo, and a magnetic adsorption crawling leg. Among them:

[0008] The frame includes a chassis and two brackets symmetrically distributed on both sides of the chassis along the advancing direction of the chassis. Each bracket is perpendicular to the chassis.

[0009] The magnetic adsorption crawling legs are designed according to a bionic spider, with a total of two groups. Each group of magnetic adsorption crawling legs includes at least two magnetic adsorption crawling legs. The two groups of magnetic adsorption crawling legs are symmetrically arranged along the advancing direction of the chassis. Each magnetic adsorption crawling leg included in each group of magnetic adsorption crawling legs is connected to the bracket through a crawling leg drive servo.

[0010] The crawling leg control servo is configured with a first angle sensor, which is used to detect the rotation angle of the crawling leg control servo and can transmit the detected rotation angle to the motion control system.

[0011] Under the control of the execution instruction issued by the host computer terminal, the motion control system controls the operation of the crawling leg control servo until the rotation angle feedback by the first angle sensor meets the requirements.

[0012] Preferably, the magnetic adsorption crawling legs are designed according to a bionic spider, including a first bracket, a first bracket servo, a second bracket, a second bracket servo, a third bracket, and an electromagnet. Among them:

[0013] The fixed part of the crawling leg drive servo is installed on the bracket, and the power output end of the crawling leg drive servo is connected to the first bracket.

[0014] The fixed part of the first bracket servo is installed on the first bracket, and the power output end of the first bracket servo is linked and connected to the root end of the second bracket.

[0015] The fixed part of the second bracket servo is installed at the tip of the second bracket, and the power output end of the second bracket servo is linked and connected to the root end of the third bracket.

[0016] An electromagnet is installed at the tip of the third bracket, and its magnetization and demagnetization are controlled through a circuit.

[0017] Preferably, the robot body further includes a positioning system.

[0018] The positioning system includes an ultrasonic ranging probe, a signal receiving device, and a signal transmission device; the ultrasonic ranging probe is fixed on the front side of the chassis and emits ultrasonic waves along the advancing direction of the robot body, and the reflected ultrasonic signal returns to the signal receiving device and is transmitted to the upper computer terminal through the signal transmission device; the upper computer terminal realizes the positioning and guidance of the robot body and automatic obstacle avoidance according to the signal fed back by the signal receiving device.

[0019] Preferably, the robot body further includes an image processing system;

[0020] The image processing system includes a high-definition camera, a camera attitude control device, a communication module, and an image processor;

[0021] The camera attitude control device and the image processor are respectively connected to the upper computer terminal through the communication module;

[0022] The high-definition camera is used to capture image data of the part to be detected on the surface of the steel structure and can upload the captured image data to the image processor;

[0023] The camera attitude control device is installed on the chassis and is connected to the chassis through a base servo, and the power output end of the camera attitude control device is linked to the high-definition camera;

[0024] The upper computer terminal controls the camera attitude control device to drive the high-definition camera to be aimed at the part to be detected on the surface of the steel structure; the image processor is used to receive the image data obtained by the high-definition camera and then upload the processed image data to the upper computer terminal for storage through the communication module.

[0025] Preferably, a lighting lamp is installed below the high-definition camera.

[0026] Preferably, the camera attitude control system includes a base servo, a first link bracket, a first bracket servo, a first bracket servo connecting piece, a second link bracket, a second bracket servo, and a camera rotation servo;

[0027] The fixed part of the base servo is installed on the chassis, and the power output end of the base servo is connected to the first bracket servo connecting piece; the fixed part of the first bracket servo is installed on the first bracket servo connecting piece, and the power output end of the first bracket servo is linked to the lower end of the first link bracket; the fixed part of the second bracket servo is installed on the upper end of the first link bracket, and the power output end of the second bracket servo is linked to the lower end of the second link bracket; the fixed part of the camera rotation servo is installed on the upper end of the second link bracket, and the power output end of the camera rotation servo is linked to the high-definition camera;

[0028] The camera rotation servo is configured with a second angle sensor; the second angle sensor is used to detect the rotation angle of the camera rotation servo and can transmit the detected rotation angle to the motion control system;

[0029] Under the control of the execution instruction of the upper computer terminal, the motion control system controls the operation of the camera rotation servo until the rotation angle feedback by the second angle sensor reaches the requirement.

[0030] Preferably, the motion control system includes a main control module and a servo control module;

[0031] The main control module is used to receive the control instruction of the upper computer terminal and send a control signal to the servo control module;

[0032] The servo control module is used to receive the control signal of the main control module to control the operation of each driving servo;

[0033] The servos controlled by the servo control module include a crawling leg control servo and a camera attitude control servo; and all driving servos are equipped with angle sensors and connected to the servo control module.

[0034] Preferably, a communication module is further included;

[0035] The communication module includes a wireless serial port and a wifi network card; the wireless serial port is connected to the main control module for the main control module to receive the control instruction sent by the upper computer terminal; the wifi network card is connected to the image processor for transmitting the image data processed by the image processor to the upper computer terminal.

[0036] Preferably, each group of magnetic adsorption crawling legs altogether includes three magnetic adsorption crawling legs.

[0037] Preferably, a large-capacity high-voltage lithium battery is loaded on the robot body; the large-capacity high-voltage lithium battery is located in the middle of two brackets and fixed on the chassis.

[0038] Based on the above technical purposes, compared with the prior art, the present invention has the following advantages:

[0039] (1) For the steel structure intelligent inspection crawling robot of the present invention, the chassis bracket and two groups of magnetic adsorption crawling legs are symmetrically fixed on the chassis, the battery is located in the middle of two brackets and fixed on the chassis; the robot body is symmetrical along the advancing direction of the chassis, and the whole device is stable and reliable, and can be installed at any position of the steel structure to meet the inspection needs.

[0040] (2) The intelligent inspection crawling robot for steel structures of the present invention can achieve the movement and rotation of the intelligent inspection crawling robot in any direction, as well as the automatic transition between different planes by controlling the rotation, telescoping, lifting and lowering of six magnetic adsorption crawling legs at specified angles and directions, enabling it to reach any part that needs to be inspected, reducing labor costs and improving work efficiency.

[0041] (3) The intelligent inspection crawling robot for steel structures of the present invention realizes the adsorption of the robot body on the steel structure through the electromagnets fixed at the tips of each crawling leg, and the presence, absence and magnitude of the electromagnetism are controlled by a circuit. The electromagnet adsorption technology is easy to operate, has good controllability, strong adsorption force and high reliability, improving the adsorption and movement efficiency of the crawling robot.

[0042] (4) The intelligent inspection crawling robot for steel structures of the present invention is provided with ultrasonic ranging probes, and performs the positioning and guiding of the robot according to the feedback signals of the ultrasonic ranging probes to adjust the traveling attitude and route of the robot, and can realize the automatic obstacle avoidance function according to the feedback signals through upper computer programming.

[0043] (5) The intelligent inspection crawling robot for steel structures of the present invention adopts a high-degree-of-freedom camera attitude control device, through which the high-definition camera can be aligned with the area to be detected at any inspection part, and image acquisition is carried out with the cooperation of lighting for supplementary lighting. The intelligence of the device is improved, and the quality and efficiency of image acquisition for the part to be detected are improved.

[0044] (6) The intelligent inspection crawling robot for steel structures of the present invention can always master the attitude of the robot body and the camera attitude control system by installing angle sensors on each driving servo, so as to better control it and complete the inspection work more efficiently.

[0045] (7) The intelligent inspection crawling robot for steel structures of the present invention adopts a large-capacity high-voltage lithium battery, and by setting a liquid crystal power display screen, the staff can directly view the power of the storage battery, and when the power is insufficient, it can be replenished in time through the charging interface or battery replacement, improving the continuity of the operation of the entire device.

[0046] (8) The intelligent inspection crawling robot for steel structures of the present invention has the advantage of having a communication module, enabling the main control module to receive control instructions sent by the upper computer terminal and also transmitting the images obtained by the image acquisition system to the upper computer for storage, improving the controllability of the robot during the inspection process and also enabling real-time work feedback. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a schematic three-dimensional structure diagram of the intelligent inspection crawling robot for steel structures of the present invention;

[0048] Figure 2 It is a schematic three-dimensional structure diagram of the intelligent inspection crawling robot for steel structures according to the present invention in another direction;

[0049] Figure 3 It is a schematic structure diagram of the robot body;

[0050] Figure 4 It is a schematic structure diagram of the magnetic adsorption crawling leg;

[0051] Figure 5 It is a schematic structure diagram of the image processing system;

[0052] Figure 6 It is a schematic diagram of adjusting the camera attitude control device to align the camera with the part to be detected;

[0053] In the figure: 1 - robot body; 11 - chassis; 12 - bracket; 13 - crawling leg drive servo; 14 - battery;

[0054] 2 - magnetic adsorption crawling leg; 21 - first bracket; 22 - first bracket servo; 23 - second bracket; 24 - second bracket servo; 25 - third bracket; 26 - electromagnet; 3 - camera attitude control system; 31 - base servo; 32 - first bracket servo connecting piece; 33 - first bracket servo; 34 - first link bracket; 35 - second bracket servo; 36 - second link bracket; 37 - camera rotation servo; 4 - high-definition camera; 5 - lighting lamp; 6 - image processing module; 7 - ultrasonic ranging probe; 8 - main control box. Specific embodiments

[0055] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention. Unless otherwise specifically stated, the relative arrangements, expressions and numerical values of the components and steps described in these embodiments do not limit the scope of the present invention. Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods and devices should be regarded as part of the specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0056] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper", etc. can be used here to describe the spatial positional relationship of a device or feature shown in the figure with other devices or features. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation described in the figure of the device. For example, if the device in the attached drawing is inverted, the device described as "above or over other devices or structures" will then be positioned as "below or under other devices or structures". Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations).

[0057] As Figures 1-5 shown, the intelligent inspection crawling robot for steel structures according to the present invention includes a host computer terminal, a robot body, a positioning system, a motion control system, and an image acquisition system, wherein:

[0058] The robot body 1 is used to execute motion instructions such as forward, backward, and steering sent by the motion control system, and is equipped with an upper system and an execution device, including a chassis 11, a bracket 12, a DC drive servo, and a magnetic adsorption crawling leg 2.

[0059] The motion control system includes a main control module and a servo control module; the main control module is used to receive control instructions from the host computer terminal and send control signals to the servo control module; the DC servo module is used to receive control signals from the main control module and drive the DC drive servo to rotate according to the control signals.

[0060] The image processing system is used to inspect the surface image data of the steel structure, and includes a camera attitude control system 3, a high-definition camera 4, a lighting lamp 5, an image processing module 6, and a communication module, wherein:

[0061] The camera attitude control system 3 is used for the attitude control of the high-definition camera 4 to make the high-definition camera 4 face the part to be detected on the surface of the steel structure; As Figure 5 shown, the camera attitude control system 3 according to the present invention is actually a multi-degree-of-freedom robotic arm, including a base servo 31, a first bracket servo connecting member 32, a first bracket servo 33, a first link bracket 34, a second bracket servo 35, a second link bracket 36, and a camera rotation servo 37;

[0062] The fixed part of the base servo 31 is installed on the chassis, and the power output end of the base servo 31 is connected to the first bracket servo connecting member 32; the fixed part of the first bracket servo 33 is installed on the first bracket servo connecting member 32, and the power output end of the first bracket servo 33 is linked and connected to the lower end of the first link bracket 34; the fixed part of the second bracket servo 35 is installed on the upper end of the first link bracket 34, and the power output end of the second bracket servo 35 is linked and connected to the lower end of the second link bracket 36; the fixed part of the camera rotation servo 37 is installed on the upper end of the second link bracket 36, and the power output end of the camera rotation servo 37 is linked and connected to the high-definition camera 4; each servo can control the rotation direction and angle. Under the collaborative operation of each servo, the camera attitude control system 3 has a very high degree of freedom and can adjust the attitude of the camera attitude control system 3 as required, so that the orientation of the high-definition camera 4 can be aligned with the part to be detected on the steel structure surface, that is, it can ensure that the part to be detected on the steel bridge structure surface is within the field of view of the high-definition camera 4, thereby obtaining the image data of the part to be detected on the steel bridge structure surface.

[0063] The image processing module 6 is used to receive and process the image data acquired by the high-definition camera 4.

[0064] The communication module includes a wireless serial port and a wifi network card. The wireless serial port is connected to the main control module and is used for the main control module to receive the control instructions sent by the upper computer terminal; the wifi network card is connected to the image processor and is used to transmit the image data processed by the image processor to the upper computer terminal. In the present invention, the motion control system and the communication module are installed in the main control box 8.

[0065] The vehicle frame includes a chassis 11 and two brackets 12 symmetrically distributed along the advancing direction of the chassis 11 on both sides of the chassis 11. Each bracket 12 is perpendicular to the chassis 11; there are two groups of magnetic adsorption crawling legs 2, with three in each group. The two groups of magnetic adsorption crawling legs are symmetrically arranged along the advancing direction of the chassis. Each magnetic adsorption crawling leg 2 is connected to the bracket through a crawling leg drive servo 13; the battery 14 is located in the middle of the two brackets 12 and is fixed on the chassis 11.

[0066] The crawler leg drive servo 13 is connected to the magnetic adsorption crawler leg 2 through a coupling; the magnetic adsorption crawler leg 2 has a magnetic adsorption function for adsorbing the robot body 1 on the surface of the inspection steel structure; the crawler leg drive servo 13 (a DC drive servo) provides a large drive torque matching the rotation of the magnetic adsorption crawler leg 2, and the crawler leg drive servo 13 is bolted to the bracket 12 on the robot body 1, that is, the fixed part of the crawler leg drive servo 13 is installed on the robot body 1, and its power output end is linked to the magnetic adsorption crawler leg 2. Therefore, driven by the power provided by the crawler leg drive servo 13, the magnetic adsorption crawler leg 2 drives the robot body to move along the inspection steel structure through horizontal rotation. Each joint of the magnetic adsorption crawler leg 2 is also connected by a DC servo. By controlling the magnetization and demagnetization of the electromagnet 26 at the tip of the magnetic adsorption crawler leg 2 through a circuit, the adsorption of the magnetic adsorption crawler leg 2 on the steel structure and its vertical expansion and lifting are completed.

[0067] An angle sensor is installed in each of the drive servos (including the base servo 31, the crawler leg drive servo 13, the first bracket servo 33, the second bracket servo 35, and the DC servos at each joint of the magnetic adsorption crawler leg 2). The rotation angle of each moving joint is obtained through the signal fed back by the angle sensor to master the postures of the robot body 1 and the camera attitude control system 3.

[0068] The positioning system includes an ultrasonic ranging probe 7 and a signal processing and transmission module in the main control box 8. The position of the robot can be determined through the positioning system, providing a basis for the upper computer to send control instructions required for the inspection work to the motion control system.

[0069] Based on the position information provided by the positioning system, the traveling route and direction of the robot can be planned. The upper computer sends instructions to the motion control system according to this information to control the robot to reach the parts that need to be inspected. And through the signal fed back by the angle sensor, the postures of the robot body itself and the camera attitude control system are mastered and adjusted to better complete the image acquisition and transmission of the parts to be inspected. Six magnetic adsorption crawler legs that can rotate at any angle in the horizontal direction and expand and lift in the vertical direction ensure the automatic transition of the robot on any intersecting steel structure plane.

[0070] The above is only a preferred specific embodiment of the present invention patent, but the protection scope of the present invention patent is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention patent, according to the technical solution of the present invention patent and its inventive concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention patent.

Claims

1. An intelligent inspection and crawling robot for steel structures, comprising a robot body and a host computer terminal. The robot body includes a frame, and is characterized in that, The described robot body further includes a motion control system, a crawling leg drive servo, and magnetic adsorption crawling legs; wherein: The frame includes a chassis and two brackets symmetrically distributed on both sides of the chassis along the forward direction of the chassis, and each bracket is perpendicular to the chassis; The magnetic adsorption crawling legs are designed based on bionic spiders, and there are two groups in total; each group of magnetic adsorption crawling legs includes at least two magnetic adsorption crawling legs; the two groups of magnetic adsorption crawling legs are symmetrically arranged along the forward direction of the chassis; each magnetic adsorption crawling leg included in each group of magnetic adsorption crawling legs is connected to the bracket through a crawling leg drive servo; The crawling leg control servo is equipped with a first angle sensor, which is used to detect the rotation angle of the crawling leg control servo and can transmit the detected rotation angle to the motion control system; Under the control of the execution instruction issued by the upper computer terminal, the motion control system controls the operation of the crawling leg control servo until the rotation angle feedback by the first angle sensor meets the requirements.

2. The intelligent inspection crawling robot for steel structures according to claim 1, characterized in that, The magnetic adsorption crawling leg includes a first bracket, a first bracket servo, a second bracket, a second bracket servo, a third bracket, and an electromagnet; wherein: The fixed part of the crawling leg drive servo is installed on the bracket, and the power output end of the crawling leg drive servo is connected to the first bracket; The fixed part of the first bracket servo is installed on the first bracket, and the power output end of the first bracket servo is linked to the root end of the second bracket; The fixed part of the second bracket servo is installed at the tip of the second bracket, and the power output end of the second bracket servo is linked to the root end of the third bracket; An electromagnet is installed at the tip of the third bracket, and its magnetization and demagnetization are controlled by a circuit.

3. The intelligent inspection crawling robot for steel structures according to claim 2, wherein, The described robot body further includes a positioning system; The positioning system includes an ultrasonic ranging probe, a signal receiving device, and a signal transmitting device; the ultrasonic ranging probe is fixed on the front side of the chassis and emits ultrasonic waves along the forward direction of the robot body, and the reflected ultrasonic wave signal returns to the signal receiving device and is transmitted to the upper computer terminal through the signal transmitting device; the upper computer terminal realizes the positioning and guidance of the robot body and automatic obstacle avoidance according to the signal fed back by the signal receiving device.

4. The intelligent inspection crawling robot for steel structures according to claim 3, wherein The described robot body further includes an image processing system; The image processing system includes a high-definition camera, a camera attitude control device, a communication module, and an image processor; The camera attitude control device and the image processor are respectively connected to the upper computer terminal through the communication module; The high-definition camera is used to capture image data of the part to be detected on the steel structure surface and can upload the captured image data to the image processor; The camera attitude control device is installed on the chassis and is connected to the chassis through a base servo, and the power output end of the camera attitude control device is linked to the high-definition camera; The upper computer terminal controls the camera attitude control device to drive the high-definition camera to aim at the part to be detected on the steel structure surface; the image processor is used to receive the image data obtained by the high-definition camera and then upload the processed image data to the upper computer terminal for storage through the communication module.

5. The intelligent inspection crawling robot for steel structures according to claim 4, characterized in that, A lighting lamp is installed under the high-definition camera.

6. The intelligent inspection crawling robot for steel structures according to claim 4, characterized in that The camera attitude control system includes a base servo, a first link bracket, a first bracket servo, a first bracket servo connecting member, a second link bracket, a second bracket servo, and a camera rotation servo. The fixed part of the base servo is installed on the chassis, and the power output end of the base servo is connected to the first bracket servo connecting member; the fixed part of the first bracket servo is installed on the first bracket servo connecting member, and the power output end of the first bracket servo is linked to the lower end of the first link bracket; the fixed part of the second bracket servo is installed on the upper end of the first link bracket, and the power output end of the second bracket servo is linked to the lower end of the second link bracket; the fixed part of the camera rotation servo is installed on the upper end of the second link bracket, and the power output end of the camera rotation servo is linked to the high-definition camera. The camera rotation servo is configured with a second angle sensor; the second angle sensor is used to detect the rotation angle of the camera rotation servo and can transmit the detected rotation angle to the motion control system. Under the control of the execution instruction of the upper computer terminal, the motion control system controls the operation of the camera rotation servo until the rotation angle feedback by the second angle sensor reaches the requirement.

7. The intelligent inspection crawling robot for steel structures according to claim 6, wherein, The motion control system includes a main control module and a servo control module. The main control module is used to receive the control instruction of the upper computer terminal and send a control signal to the servo control module. The servo control module is used to receive the control signal of the main control module to control the operation of each driving servo. The servos controlled by the servo control module include a crawling leg control servo and a camera attitude control servo; and all driving servos are installed with angle sensors and connected to the servo control module.

8. The intelligent inspection and crawling robot for steel structures according to claim 7, characterized in that It also includes a communication module. The communication module includes a wireless serial port and a wifi network card; the wireless serial port is connected to the main control module for the main control module to receive the control instruction sent by the upper computer terminal; the wifi network card is connected to the image processor for transmitting the image data processed by the image processor to the upper computer terminal.

9. The intelligent inspection crawling robot for steel structures according to claim 1, characterized in that, Each group of magnetic adsorption crawling legs altogether includes three magnetic adsorption crawling legs.

10. The intelligent inspection crawling robot for steel structures according to claim 1, characterized in that, A large-capacity high-voltage lithium battery is loaded on the robot body; the large-capacity high-voltage lithium battery is located in the middle of the two brackets and fixed on the chassis.

Images