Detecting and clearing device and detecting and clearing method

Abstract

The invention belongs to the technical field of aircraft detection, and discloses a detection and removal device and a detection and removal method. The detection and removal device comprises a movement mechanism, a removal mechanism and a visual detection mechanism, the output end of the movement mechanism is configured to be capable of multi-degree-of-freedom movement; the removing mechanism is arranged at the output end of the movement mechanism and used for removing redundant materials; the visual detection mechanism is arranged at the output end of the movement mechanism and is used for detecting and identifying redundant objects; moreover, the visual detection mechanism is electrically connected to the movement mechanism and the removal mechanism, and the visual detection mechanism is configured to be capable of automatically identifying the redundant objects and driving the movement mechanism to drive the removal mechanism to move to the redundant object position so as to control the removal mechanism to remove the redundant objects; therefore, the detection of the to-be-detected area and the removal of redundant substances can be realized without deep operation of operators, the operation environment of the operators is greatly improved, and the operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft detection, and in particular to a detection and removal device and a detection and removal method. Background Art

[0002] During the assembly or maintenance of an aircraft, the operating environment for operators is very harsh due to the small, closed, poorly lit, and air-stagnant structures such as aircraft fuel tanks. It is also particularly difficult to inspect and remove excess objects such as the areas to be cleaned and parts to be disassembled.

[0003] At present, in the aircraft manufacturing process, the common method for removing excess materials is manual inspection and removal, which is inefficient; and the removal of certain parts also requires the removal of some structural parts, which increases the difficulty; on this basis, the removal method commonly used in this field is inspection through an endoscope, but the use of an endoscope also requires the cooperation of operators, and it can only perform detection and does not have a cleaning function. This requires the use of an endoscope to detect the presence of excess materials at the location, and then to remove them by dismantling the structure, so that the cleaning process requires more parts and structures and the operation is complicated.

[0004] Therefore, there is an urgent need for a detection and removal device and a detection and removal method to solve the above technical problems. Summary of the Invention

[0005] One purpose of the present invention is to provide a detection and removal device that can operate in a small space and remove excess materials, greatly improving the working environment of operators, realizing the removal of excess materials without dismantling the aircraft structure, and improving working efficiency.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] Detection and removal device, including:

[0008] a motion mechanism, wherein the output end of the motion mechanism is configured to be capable of multi-degree-of-freedom motion;

[0009] A cleaning mechanism, the cleaning mechanism being arranged at the output end of the motion mechanism and being used for cleaning out excess matter;

[0010] A visual detection mechanism, which is arranged at the output end of the motion mechanism and is used to detect and identify excess objects;

[0011] The visual detection mechanism is electrically connected to the motion mechanism and the cleaning mechanism. The visual detection mechanism is configured to automatically identify excess objects and drive the motion mechanism to drive the cleaning mechanism to move to the excess object position, so as to control the cleaning mechanism to remove the excess objects.

[0012] Optionally, the above-mentioned motion mechanism includes:

[0013] A plurality of sequentially connected motion joints, wherein two adjacent motion joints can be rotatably connected along a first direction and a second direction, wherein the first direction is perpendicular to the second direction;

[0014] A control drive component, wherein the output end of the control drive component is connected to the motion joint, and the control drive component is electrically connected to the visual detection mechanism, and the control drive component is used to drive the movement of each motion joint.

[0015] Optionally, the control drive assembly includes a plurality of rope driving members, and each of the motion joints is correspondingly connected to a plurality of the rope driving members, and the rope driving members are used to drive the motion joints to rotate.

[0016] Optionally, the motion joint comprises a first joint plate, a support column and a second joint plate, the first joint plate and the second joint plate are spaced apart, and both ends of the support column are connected to the first joint plate and the second joint plate respectively;

[0017] The first joint plate is symmetrically provided with two first connecting parts along the first direction, and the first connecting parts are rotatably connected to the adjacent motion joints;

[0018] The second joint plate is symmetrically provided with two second connection parts along the second direction, and the second connection parts are rotatably connected to the adjacent motion joints.

[0019] Optionally, a universal joint is provided between two adjacent motion joints to enable the two adjacent motion joints to be rotatably connected along the first direction and the second direction.

[0020] Optionally, the cleaning mechanism includes:

[0021] A grabbing member is provided at the output end of the motion mechanism and is used to grab excess objects;

[0022] A driving member, wherein the output end of the driving member is connected to the grabbing member, and the driving member is electrically connected to the visual detection mechanism, and the driving member is used to drive the grabbing member to grab excess objects.

[0023] Optionally, the cleaning mechanism further comprises a suction tube connected to an air pump for sucking up debris.

[0024] Optionally, the visual inspection mechanism includes:

[0025] A camera is provided at the output end of the motion mechanism, and is used to photograph the area to be inspected;

[0026] A light source component is provided at the output end of the motion mechanism, and is used to emit light to illuminate the area to be detected;

[0027] A controller, the camera and the light source are electrically connected to the controller, the controller is used to control the opening and closing of the light source and the camera, and to identify unnecessary objects in the picture taken by the camera;

[0028] The controller is also electrically connected to the motion mechanism and the cleaning mechanism.

[0029] Optionally, a control mechanism is also included, which is electrically connected to the motion mechanism, the visual detection mechanism and the cleaning mechanism. The control mechanism is configured to control the motion mechanism to drive the visual detection mechanism and the cleaning mechanism to move to the area to be detected, and control the cleaning mechanism to clear the excess objects by receiving the detection signal of the visual detection mechanism.

[0030] Another object of the present invention is to provide a detection and removal method that can operate and remove excess materials in a small space, greatly improving the working environment of the operators, realizing the removal of excess materials without dismantling the aircraft structure, and improving working efficiency.

[0031] To achieve this object, the present invention adopts the following technical solutions:

[0032] A detection and removal method, using the detection and removal device described in any of the above schemes, comprises the following steps:

[0033] S10: Setting a preset detection and removal route according to the area to be tested;

[0034] S20: The motion mechanism is driven to drive the cleaning mechanism and the visual inspection mechanism to move along a preset detection and cleaning route, and the visual inspection mechanism is driven to detect and identify the test area; when the visual inspection mechanism identifies excess objects, the motion mechanism is driven to deviate from the preset detection and cleaning route, and the cleaning mechanism is driven to the excess object location to remove the excess objects; when the cleaning work is completed, the motion mechanism is driven to return to the preset detection and cleaning route;

[0035] S30: Repeat step S20 until the end of the preset detection and removal route is reached and the detection and removal is completed, and then drive the motion mechanism back to the origin.

[0036] Beneficial effects of the present invention:

[0037] The present invention provides a detection and removal device and a detection and removal method. When inspecting and removing excess objects from an aircraft's inspection area, an operator opens a motion mechanism and controls the motion mechanism to enter the inspection area. During this process, a visual inspection mechanism detects and identifies excess objects. When the visual inspection mechanism identifies excess objects, the visual inspection mechanism controls the motion mechanism to drive the removal mechanism to the position where the excess objects are identified, and then controls the removal mechanism to remove the excess objects. In this process, there is no need for operators to perform in-depth operations, which greatly improves the operating environment of the operators. Inspections in narrow spaces can be achieved, and excess objects can be removed without dismantling the aircraft structure, thereby improving operating efficiency. At the same time, it is also more convenient to locate structural damage or mailbox leaks during maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is an axonometric diagram of a detection and removal device provided by some embodiments of the present invention;

[0039] Figure 2 yes Figure 1 A partial enlarged view of point A in the middle;

[0040] Figure 3 is an axonometric diagram of a motion joint provided by some embodiments of the present invention;

[0041] Figure 4 is an axonometric view of a universal joint provided by some embodiments of the present invention;

[0042] Figure 5 It is an axonometric diagram of the cleaning mechanism and the visual detection mechanism provided by some embodiments of the present invention.

[0043] In the picture:

[0044] 10. Motion mechanism; 11. Motion joint; 111. First joint plate; 1111. First connecting portion; 112. Support column; 113. Second joint plate; 1131. Second connecting portion; 114. Fixing member; 115. Fixing hole; 121. Rope; 13. Universal joint; 131. Main body; 132. First fixing portion; 133. Second fixing portion; 14. Base;

[0045] 20. Cleaning mechanism; 21. Grabbing element; 22. Straw;

[0046] 30. Visual inspection mechanism; 31. Camera; 32. Light source. DETAILED DESCRIPTION

[0047] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0048] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0049] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0050] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0051] See below Figures 1 to 5 The detection and removal device and the detection and removal method provided by the present invention are described in detail.

[0052] Please refer to Figure 1Specifically, the detection and cleaning device includes a motion mechanism 10, a cleaning mechanism 20 and a visual detection mechanism 30; wherein, the output end of the motion mechanism 10 is configured to be able to move with multiple degrees of freedom, so as to drive the cleaning mechanism 20 and the visual detection mechanism 30 to extend into various narrow areas to be detected for detection; the cleaning mechanism 20 is arranged at the output end of the motion mechanism 10, and the cleaning mechanism 20 is used to remove excess objects; the visual detection mechanism 30 is arranged at the output end of the motion mechanism 10, and the visual detection mechanism 30 is used to detect and identify excess objects; and the visual detection mechanism 30 is electrically connected to the motion mechanism 10 and the cleaning mechanism 20, and the visual detection mechanism 30 is configured to be able to automatically identify excess objects and drive the motion mechanism 10 to drive the cleaning mechanism 20 to move to the excess object position, so as to control the cleaning mechanism 20 to remove excess objects.

[0053] It should be noted that the area to be inspected in this embodiment is an area that needs to be inspected during aircraft assembly or maintenance; in other embodiments, the area to be inspected may also be an area in other fields that is difficult to inspect and clean, and is not specifically limited here.

[0054] When the inspection and removal device of this embodiment is used to inspect and remove excess objects from an aircraft's inspection area, an operator opens the motion mechanism 10 and controls the motion mechanism 10 to enter the inspection area. During this process, the visual inspection mechanism 30 detects and identifies excess objects. When the visual inspection mechanism 30 identifies excess objects, the visual inspection mechanism 30 controls the motion mechanism 10 to drive the removal mechanism 20 to the position where the excess objects have been identified, and then controls the removal mechanism 20 to remove the excess objects. During this process, the operator does not need to perform in-depth operations, which greatly improves the operator's working environment. Inspections in narrow spaces can be performed, and excess objects can be removed without dismantling the aircraft structure, thereby improving operational efficiency. At the same time, it is also easier to locate structural damage or fuel tank leaks during maintenance.

[0055] Please refer to Figure 1 and Figure 2 In this embodiment, the motion mechanism 10 includes a control drive assembly and a plurality of sequentially connected motion joints 11. Adjacent motion joints 11 can be rotatably connected along a first direction and a second direction, with the first direction being perpendicular to the second direction. The output end of the control drive assembly is connected to the motion joint 11, and the control drive assembly is electrically connected to the visual detection mechanism 30. The control drive assembly is used to drive the movement of each motion joint 11. During operation, the control drive assembly drives each motion joint 11 to rotate along the first direction and / or the second direction to enable the cleaning mechanism 20 and the visual detection mechanism 30 at the output end of the motion mechanism 10 to reach various positions. The motion arm formed by the combination of the motion joints 11 has a small diameter and is only long in the length direction, which improves the adaptability of the detection and cleaning device to narrow spaces to be inspected.

[0056] It should be noted that the first direction and the second direction in this embodiment are both perpendicular to the extension direction of the motion mechanism 10, and the first direction and the second direction only need to be perpendicular to each other, and both can satisfy the mutual rotation in two directions between two adjacent motion joints 11. The cooperation of multiple motion joints 11 can realize the multi-degree-of-freedom movement of the motion mechanism 10, thereby ensuring that the detection and cleaning device can reach various small and inconvenient areas to be detected by humans, thereby improving the adaptability of the detection and cleaning device.

[0057] In this embodiment, eight motion joints 11 are provided, which can meet the requirements of inspection and removal of redundant materials during aircraft assembly and maintenance.

[0058] Optionally, the lengths of several motion joints 11 located at the output end of the motion mechanism 10 are shorter, so that the angles and ranges of movement of the cleaning mechanism 20 and the visual inspection mechanism 30 located at the output end of the motion mechanism 10 are more precise, so as to facilitate the cleaning mechanism 20 to remove excess objects at various positions and facilitate the visual inspection mechanism 30 to detect various positions.

[0059] Specifically, the control drive assembly includes multiple rope driving components, and each motion joint 11 is connected to several rope driving components. The rope driving components are used to drive the motion joint 11 to rotate, that is, by driving each rope driving component, each motion joint 11 can be driven to rotate around the axis of the first direction and / or around the axis of the second direction.

[0060] Specifically, the rope driving component includes a driving part and a rope 121. The output end of the driving part is connected to the rope 121, and the end of the rope 121 is connected to the corresponding motion joint 11. By driving the rope 121 by the driving part, the corresponding motion joint 11 can be driven.

[0061] Furthermore, each driving unit is electrically connected to the visual detection mechanism 30 to achieve control of the motion mechanism 10 based on the visual detection mechanism 30 .

[0062] Optionally, the rope 121 and the motion joint 11 are connected via a fixing member 114 , which is disposed at the motion joint 11 . The corresponding rope 121 extends to the motion joint 11 and is fixed by the fixing member 114 to achieve a fixed connection between the rope 121 and the motion joint 11 .

[0063] Further optionally, in this embodiment, each motion joint 11 is correspondingly provided with three circumferentially spaced rope driving members to achieve better driving of each motion joint 11 .

[0064] Please refer to Figure 2 and Figure 3Furthermore, the motion joint 11 includes a first joint plate 111, a support column 112 and a second joint plate 113. The first joint plate 111 and the second joint plate 113 are arranged at intervals, and the two ends of the support column 112 are respectively connected to the first joint plate 111 and the second joint plate 113 to support the connection between the first joint plate 111 and the second joint plate 113; the motion joint 11 is formed by the above-mentioned structural combination, and the first joint plate 111 of one motion joint 11 is connected to the second joint plate 113 of another motion joint 11 to realize the composition of the motion arm.

[0065] In addition, the first joint plate 111 is symmetrically provided with two first connecting parts 1111 along the first direction, and the first connecting parts 1111 are rotatably connected to the adjacent motion joint 11; the second joint plate 113 is symmetrically provided with two second connecting parts 1131 along the second direction, and the second connecting parts 1131 are rotatably connected to the adjacent motion joint 11, thereby realizing the rotational connection between the two adjacent motion joints 11 along two mutually perpendicular directions.

[0066] Optionally, a plurality of fixing holes 115 are correspondingly provided on the first joint plate 111 and the second joint plate 113 for passing the rope 121, and some of the fixing holes 115 are provided with fixing parts 114 for fixing the rope 121; all the ropes 121 can be passed through the fixing holes 115 on each first joint plate 111 and the second joint plate 113 before reaching the corresponding motion joint 11, so as to guide and limit the rope 121, avoid the rope 121 from being disordered and blocking the movement of the motion joint 11, and improve the reliability of the movement of the motion joint 11.

[0067] For example, the first joint plate 111 and the second joint plate 113 are provided with a plurality of fixing holes 115, and three of the fixing holes 115, which are spaced apart from each other, are provided with fixing members 114 to secure the rope 121. Furthermore, the fixing members 114 are positioned differently on each motion joint 11, so that each motion joint 11 has three corresponding rope drive members.

[0068] Please refer to Figure 4 Furthermore, a universal joint 13 is provided between two adjacent motion joints 11 to enable rotational connection between the two adjacent motion joints 11 in a first direction and a second direction. That is, the two first connection portions 1111 are rotationally connected to the ends of the universal joint 13 in the first direction, and the two second connection portions 1131 are rotationally connected to the ends of the universal joint 13 in the second direction, thereby enabling rotational connection between the two adjacent motion joints 11 in two mutually perpendicular directions.

[0069] Specifically, the universal joint 13 includes a main body 131, two first fixing parts 132 and two second fixing parts 133. The two first fixing parts 132 are respectively arranged at the two ends of the main body 131 along the first direction, and the two second fixing parts 133 are respectively arranged at the two ends of the main body 131 along the second direction. The first fixing part 132 is fixedly connected to the first connecting part 1111, and the second fixing part 133 is fixedly connected to the second connecting part 1131, which can ensure the rotational connection of the first joint plate 111 and the universal joint 13 around the axis of the first direction, and the rotational connection of the second joint plate 113 and the universal joint 13 around the axis of the second direction.

[0070] Furthermore, the motion mechanism 10 also includes a base 14, and the driving part of the rope drive and other mechanisms are all arranged in the base 14. The motion joint 11 is arranged on the base 14, so that one end of the motion mechanism 10 can be fixed at various positions and the other end can move.

[0071] Please refer to Figure 1 and Figure 5 In this embodiment, the cleaning mechanism 20 includes a grabbing member 21 and a driving member. The grabbing member 21 is disposed at the output end of the motion mechanism 10 and is used to grab excess material. The output end of the driving member is connected to the grabbing member 21, which is also electrically connected to the visual inspection mechanism 30, and is used to drive the grabbing member 21 to grab excess material. When the visual inspection mechanism 30 detects and identifies excess material, the motion mechanism 10 drives the cleaning mechanism 20 to a designated location. The driving member drives the grabbing member 21 to grab the material. The motion mechanism 10 then drives the cleaning mechanism 20 to remove the excess material from the inspection area, thereby removing the excess material from that location.

[0072] Optionally, the driving member is a pneumatic device (not shown in the figure), which drives the opening and closing of the grabbing member 21, thereby enabling the grabbing member 21 to grab the excess objects. Further optionally, the pneumatic device is an air pump.

[0073] Furthermore, the cleaning mechanism 20 also includes a suction pipe 22, which is connected to the air pump. The suction pipe 22 is used to suck up debris so that excess matter can be completely removed, thereby improving the cleaning quality of the detection and cleaning device.

[0074] Optionally, in this embodiment, since the driving member is an air pump, there is no need to set up an additional air pump. The suction tube 22 can be directly connected to the driving member to achieve pneumatic control of the suction tube 22, thereby achieving the function of the suction tube 22 to remove debris.

[0075] Optionally, the suction tube 22 is a hard pipe to facilitate the suction of debris by the suction tube 22. The suction tube 22 is connected to the starting device by a hose, and the hose is passed through the motion mechanism 10. The setting of the hose will not affect the movement of the motion mechanism 10 and does not need to occupy external space.

[0076] Please continue to refer to Figure 1 and Figure 5 In this embodiment, the visual inspection mechanism 30 includes a camera 31, a light source 32 and a controller (not shown in the figure). The camera 31 is arranged at the output end of the motion mechanism 10, and the camera 31 is used to photograph the area to be inspected; the light source 32 is arranged at the output end of the motion mechanism 10, and the light source 32 is used to emit light to illuminate the area to be inspected; the camera 31 and the light source 32 are electrically connected to the controller, and the controller is used to control the opening and closing of the light source 32 and the camera 31, and to identify unnecessary objects in the pictures taken by the camera 31; the controller is also electrically connected to the motion mechanism 10 and the cleaning mechanism 20. When the motion mechanism 10 drives the visual detection mechanism 30 to move to a dark and enclosed environment, the controller controls the light source 32 to turn on so that the camera 31 can take pictures. The captured image is transmitted to the controller and identified. When excess objects are identified, the controller controls the motion mechanism 10 to move and drive the cleaning mechanism 20 to the corresponding excess object position. The controller then controls the cleaning mechanism 20 to clear the excess objects, and then controls the motion mechanism 10 to drive the excess objects to extend, thereby realizing the detection of the area to be detected and the removal of excess objects.

[0077] In this embodiment, the detection and removal device further includes a control mechanism (not shown in the figure), which is electrically connected to the motion mechanism 10, the visual detection mechanism 30, and the removal mechanism 20. The control mechanism is configured to control the motion mechanism 10 to drive the visual detection mechanism 30 and the removal mechanism 20 to move to the area to be detected, and to control the removal mechanism 20 to remove the excess matter by receiving the detection signal of the visual detection mechanism 30. The control mechanism serves as a general control device. When operating, the operator can use the control mechanism to grasp the image of each area to be detected, and control the motion mechanism 10, the visual detection mechanism 30, and the removal mechanism 20 through the control mechanism to remove the excess matter that is not recognized by the visual detection mechanism 30, thereby further improving the detection effect of the area to be detected and the accuracy of removing the excess matter.

[0078] Optionally, the control mechanism uses a host computer, which controls lower machines such as controllers, rope drivers and drivers through a PLC (Programmable Logic Controller) or a single-chip microcomputer to achieve control of the lower machines. This is a commonly used structure in this field and will not be described in detail here.

[0079] Optionally, the electrical connection between the above-mentioned controller and the rope drive and the drive, as well as the electrical connection between the control mechanism and the motion mechanism 10, the visual detection mechanism 30 and the cleaning mechanism 20 can all be carried out by data cable connection or WIFI connection to achieve model transfer between systems, and no specific limitation is made here.

[0080] This embodiment also provides a detection and removal method, which uses the detection and removal device described in any of the above-mentioned schemes to detect and remove excess objects in a small space, greatly improving the working environment of the operators, and realizing the removal of excess objects without dismantling the aircraft structure, thereby improving working efficiency.

[0081] Specifically, the detection and removal method includes the following steps:

[0082] S10: Setting a preset detection and removal route according to the area to be tested; enabling the detection and removal device to operate according to the preset detection and removal route and to detect and identify each position of the area to be tested.

[0083] Optionally, the preset detection and removal route can be manually driven and formulated by the operator, or can be set by the operator inputting a corresponding algorithm through the control mechanism, both of which can achieve the setting of the preset detection and removal route.

[0084] S20: Drive the motion mechanism 10 to drive the cleaning mechanism 20 and the visual inspection mechanism 30 to move along the preset detection and cleaning route, and drive the visual inspection mechanism 30 to detect and identify the test area; after the visual inspection mechanism 30 identifies the excess objects, drive the motion mechanism 10 to deviate from the preset detection and cleaning route, and drive the cleaning mechanism 20 to the excess object position to remove the excess objects, and after the cleaning work is completed, drive the motion mechanism 10 to reset to the preset detection and cleaning route; that is, when moving along the preset detection and cleaning route, after the camera 31 in the visual inspection mechanism 30 identifies the excess objects, the controller in the visual inspection mechanism 30 drives the motion mechanism 10 to deviate from the preset detection route to remove the excess objects according to the visual information provided by the camera 31, and then resets to continue moving along the preset detection and cleaning route.

[0085] Optionally, the deviation route can be automatically set by the controller in the visual detection mechanism 30 to determine the position of the excess objects, so as to achieve the setting of the deviation route of the motion mechanism 10, thereby ensuring that the cleaning mechanism 20 effectively removes the excess objects.

[0086] Furthermore, the above-mentioned excess materials are removed by the driving member in the cleaning mechanism 20 driving the grabbing member 21 to grab the excess materials, and the driving member driving the suction tube 22 to suck the debris, and then the motion mechanism 10 moves to the origin of the preset detection and cleaning route, that is, away from the area to be detected, so as to remove the grabbed excess materials and debris from the area to be detected.

[0087] S30: Repeat step S20 until the end of the preset detection and removal route is reached and the detection and removal is completed, and then drive the motion mechanism 10 back to the origin; thus, the detection of each position of the area to be detected and the removal of excess objects are completed.

[0088] Specifically, after the motion mechanism 10 returns to the deviation point of the preset detection and cleaning route, the motion mechanism 10 is driven to continue moving along the preset detection and cleaning route. After detecting and identifying excess objects, it deviates and clears them until the motion mechanism 10 moves to the end of the preset detection and cleaning route, and the cleaning mechanism 20 completes all cleaning work, and the visual inspection mechanism completes all inspection work, that is, the inspection and removal of excess objects in the area to be inspected are completed; then the inspection and cleaning device can be extended from the area to be inspected.

[0089] The detection and removal method in this embodiment is convenient and quick by adopting the detection and removal device, and does not require operators to perform manual detection and removal, thereby improving operation efficiency and operation accuracy.

[0090] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. Detection and removal device, characterized in that, include: A motion mechanism (10), wherein the output end of the motion mechanism (10) is configured to be capable of multi-degree-of-freedom motion; A cleaning mechanism (20), the cleaning mechanism (20) being arranged at the output end of the motion mechanism (10), and the cleaning mechanism (20) being used to clean out excess matter; A visual detection mechanism (30), the visual detection mechanism (30) being arranged at the output end of the motion mechanism (10), and the visual detection mechanism (30) being used to detect and identify superfluous objects; The visual detection mechanism (30) is electrically connected to the motion mechanism (10) and the cleaning mechanism (20). The visual detection mechanism (30) is configured to automatically identify excess matter and drive the motion mechanism (10) to drive the cleaning mechanism (20) to move to the excess matter position, so as to control the cleaning mechanism (20) to remove the excess matter.

2. The detection and removal device according to claim 1, characterized in that: The motion mechanism (10) comprises: A plurality of sequentially connected motion joints (11), wherein two adjacent motion joints (11) are rotatably connected along a first direction and a second direction, wherein the first direction is perpendicular to the second direction; A control drive component, wherein the output end of the control drive component is connected to the motion joint (11), and the control drive component is electrically connected to the visual detection mechanism (30), and the control drive component is used to drive the movement of each motion joint (11).

3. The detection and removal device according to claim 2, characterized in that: The control drive assembly comprises a plurality of rope drive members, and each of the motion joints (11) is correspondingly connected to a plurality of the rope drive members, and the rope drive members are used to drive the motion joint (11) to rotate.

4. The detection and removal device according to claim 2, characterized in that: The motion joint (11) comprises a first joint plate (111), a support column (112) and a second joint plate (113); the first joint plate (111) and the second joint plate (113) are arranged at intervals, and two ends of the support column (112) are respectively connected to the first joint plate (111) and the second joint plate (113); The first joint plate (111) is symmetrically provided with two first connecting portions (1111) along the first direction, and the first connecting portions (1111) are rotatably connected to the adjacent motion joints (11); The second joint plate (113) is symmetrically provided with two second connecting parts (1131) along the second direction, and the second connecting parts (1131) are rotatably connected to the adjacent motion joints (11).

5. The detection and removal device according to claim 2, characterized in that: A universal joint (13) is provided between two adjacent motion joints (11) to enable the two adjacent motion joints (11) to be rotatably connected along the first direction and the second direction.

6. The detection and removal device according to claim 1, characterized in that: The cleaning mechanism (20) comprises: A grabbing member (21) is provided at the output end of the motion mechanism (10), and the grabbing member (21) is used to grab excess objects; A driving member, wherein the output end of the driving member is connected to the grabbing member (21), and the driving member is electrically connected to the visual detection mechanism (30), and the driving member is used to drive the grabbing member (21) to grab excess objects.

7. The detection and removal device according to claim 6, characterized in that: The cleaning mechanism (20) further comprises a suction tube (22), wherein the suction tube (22) is connected to an air pump and is used for sucking debris.

8. The detection and removal device according to claim 1, characterized in that: The visual detection mechanism (30) comprises: A camera (31) is provided at the output end of the motion mechanism (10), and the camera (31) is used to photograph the area to be inspected; a light source component (32) disposed at an output end of the motion mechanism (10), the light source component (32) being used to emit light to illuminate the area to be detected; a controller, the camera (31) and the light source (32) being electrically connected to the controller, the controller being used to control the opening and closing of the light source (32) and the camera (31), and being used to identify superfluous objects in a picture taken by the camera (31); The controller is also electrically connected to the motion mechanism (10) and the cleaning mechanism (20).

9. The detection and removal device according to claim 1, characterized in that: The invention also includes a control mechanism, wherein the control mechanism is electrically connected to the motion mechanism (10), the visual detection mechanism (30) and the cleaning mechanism (20), and the control mechanism is configured to control the motion mechanism (10) to drive the visual detection mechanism (30) and the cleaning mechanism (20) to move to the area to be detected, and to control the cleaning mechanism (20) to remove excess objects by receiving a detection signal from the visual detection mechanism (30).

10. A detection and removal method, characterized in that: Using the detection and removal device according to any one of claims 1 to 9, the detection and removal method comprises the following steps: S10: Setting a preset detection and removal route according to the area to be tested; S20: driving the motion mechanism (10) to drive the cleaning mechanism (20) and the visual inspection mechanism (30) to move along a preset detection and cleaning route, and driving the visual inspection mechanism (30) to detect and identify the area to be tested; when the visual inspection mechanism (30) identifies the excess material, driving the motion mechanism (10) to deviate from the preset detection and cleaning route, and driving the cleaning mechanism (20) to the excess material position to remove the excess material; when the cleaning work is completed, driving the motion mechanism (10) to return to the preset detection and cleaning route; S30: Repeat step S20 until the end of the preset detection and clearing route is reached and the detection and clearing is completed, and then drive the motion mechanism (10) back to the origin.

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