Snakelike robot tower detection method and system

Abstract

The application discloses a snake-shaped robot iron tower detection method and system, and relates to the field of detection robots, and comprises the following steps: step one, positioning of the snake-shaped robot; step two, movement of the snake-shaped robot; step three, vibration collection of the bolts; step four, analysis of the vibration waves; step five, information collection of the abnormal bolts; and step six, recycling of the robot. The iron tower detection method and system can automatically detect loosening of the bolts on the main frame of the iron tower, and can also collect information of the abnormal bolts on the iron tower, so that maintenance of the iron tower in the later period is facilitated.

Description

Technical Field

[0001] This invention mainly relates to the technical field of inspection robots, specifically a method and system for inspecting iron towers using a snake-like robot. Background Technology

[0002] After the tower is built, the bolts on the tower need to be checked regularly for looseness. Loose bolts can cause a decrease in the local structural rigidity of the tower, which can damage the overall stability and increase the risk of the tower collapsing.

[0003] The existing tower bolt loosening detection and tightening device includes a fixed frame, a tilting frame hinged to the fixed frame, and a tilting drive mechanism that drives the tilting frame to tilt and swing. A torque wrench mounting plate and a fixed arm mounting plate are slidably connected to the tilting frame. A fixed arm is fixedly connected to the fixed arm mounting plate. A torque wrench is mounted on the torque wrench mounting plate and is slidably connected to the torque wrench mounting plate along an arc centered on a sleeve. A tightening drive mechanism that drives the torque wrench to slide along the arc is mounted on the torque wrench mounting plate. This product can be combined with a crawling robot to realize the detection and tightening of loose bolts at high altitudes on towers. It can automatically align with the bolt and place two sleeves on both ends of the bolt. The fixed arm fixes one end of the bolt, and the rotation of the torque wrench detects and tightens the loose bolt, thereby reducing the danger of high-altitude operations and improving tower maintenance efficiency.

[0004] Existing products can automatically detect and tighten loose bolts by turning a torque wrench, but they are not convenient for quickly detecting and locating loose bolts on iron towers. Summary of the Invention

[0005] Therefore, the purpose of this invention is to provide a snake-like robot tower inspection method and system to solve the technical problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a snake-like robot tower inspection method, comprising the following steps:

[0007] Step 1: Positioning the snake robot. Use a drone to hoist the snake robot to the top of the tower. The snake robot will then use a magnetic crawling device to attach to the outer wall of the tower's main beam.

[0008] Step 2: Movement of the snake-like robot. The snake-like robot moves from top to bottom along the outer wall of the main beam of the iron tower using a magnetic crawling device.

[0009] Step 3: Vibration collection of bolts. When the snake robot passes over the bolts on the main beam of the tower, the mobile positioning device on the snake robot will bring the vibration detection device into contact with the bolt. The vibration detection device will vibrate the bolt and collect the vibration data fed back by the bolt.

[0010] Step 4: Vibration wave analysis. The bolt vibration data acquired by the vibration detection device is transmitted to the control center via the network. The control center analyzes the bolt vibration data and determines that the bolt is loose when the bolt vibration data exceeds the set value.

[0011] Step 5: Summarize the information on abnormal bolts. The control center will number the loose bolts and match the numbered bolts with the loosening information.

[0012] Step Six: Robot Retrieval. After the snake-like robot crawls to the bottom of the main beam of the tower, the staff retrieves it.

[0013] Preferably, the mobile positioning device includes a mounting box, multiple battery compartments disposed on the outer wall of the mounting box, two electric cylinders symmetrically disposed on both sides of the outer wall of the mounting box, and a positioning component disposed inside the mounting box with its actuating end extending to the outside of the mounting box. In this preferred embodiment, the mobile positioning device achieves precise positioning of the vibration detection device.

[0014] Preferably, the positioning component includes a stepper motor disposed within the mounting box and with its actuating end extending outside the mounting box, an elongated box disposed at the actuating end of the stepper motor, and a first linear module disposed within the elongated box. In this preferred embodiment, the position adjustment of the vibration detection device is achieved through the positioning component.

[0015] Preferably, the magnetic crawling device includes a guide rail, two vertical plates symmetrically arranged at both ends of the guide rail, a twisting and avoiding component at the bottom of the vertical plate, a magnetic foot component at the bottom of the twisting and avoiding component, an electric moving frame slidably connected to the guide rail, an L-shaped plate at the bottom of the long box, and a first electromagnetic foot at the bottom of the L-shaped plate.

[0016] The actuator of the electric cylinder is connected to the bottom of the electric moving frame. In this preferred embodiment, a magnetic crawling device enables the robot to move stably on the tower.

[0017] Preferably, the twisting avoidance component includes a round cover at the bottom of the vertical plate, an avoidance shaft rotatably connected to the top of the inner wall of the round cover, two limiting plates symmetrically arranged on the inner wall of the round cover, a first electromagnetic block at the top of the inner wall of the round cover, and a reset plate and an iron block arranged on the outer wall of the avoidance shaft.

[0018] A spring is provided between the reset plate and the limiting plate, and the iron block corresponds to the position of the first electromagnetic block. In this preferred embodiment, the magnetic foot component automatically avoids obstacles during the robot's movement by twisting the avoidance component.

[0019] Preferably, the magnetic foot component includes a second linear module disposed at the bottom of the avoidance shaft, and a second electromagnetic foot disposed at the actuating end of the second linear module. In this preferred embodiment, the magnetic foot component enables the robot to be magnetically fixed.

[0020] Preferably, the electric moving frame includes a sliding frame slidably connected to the guide rail rod, a plurality of second electromagnetic blocks disposed on the sliding frame and abutting against the guide rail rod, a drive motor disposed on the top of the sliding frame, a reducer disposed on the sliding frame with its input end connected to the output end of the drive motor, and a drive wheel disposed on the actuating end of the reducer with its outer wall abutting against the outer wall of the guide rail rod. In this preferred embodiment, the electric moving frame enables stable movement of the mobile positioning device.

[0021] Preferably, the vibration detection device includes a mounting plate disposed at the execution end of the first linear module, a power motor disposed on the outer wall of the mounting plate and having its execution end penetrating the mounting plate, a vertical plate disposed at the execution end of the power motor, a horizontal plate disposed on the outer wall of the vertical plate, a contact vibration sensor disposed on the outer wall of the vertical plate and having its detection end penetrating the vertical plate, and a magnetic vibrator disposed on the horizontal plate and having its execution end penetrating the horizontal plate. In this preferred embodiment, the vibration detection device is used to detect the vibration of bolts on the tower.

[0022] Preferably, a first camera is provided at both ends of the guide rail rod, and a second camera is provided at one end of the horizontal plate;

[0023] The outer wall of the vertical plate is equipped with a lifting hook. In this preferred embodiment, a camera is used to capture images of the robot's walking path and the bolts.

[0024] Based on the above technical solution for the snake-like robot tower inspection method, a snake-like robot tower inspection system will also be provided, including a control center, and a user terminal, drone, and crawling robot connected to the control center via a network.

[0025] The control center includes a data transceiver module, a user module, a drone control module, a robot control module, a vibration analysis module, and an abnormal bolt information aggregation module.

[0026] In summary, the present invention has the following main beneficial effects:

[0027] The tower inspection method and system of the present invention can automatically detect the loosening of bolts on the main frame of the tower, and can also summarize the information of abnormal bolts on the tower to facilitate the later maintenance of the tower.

[0028] Vibration information of each bolt on the tower is collected by a snake-like robot, and the vibration information is analyzed to determine the looseness of the bolts.

[0029] The snake-like robot uses a magnetic crawling device to achieve stable movement on the iron tower, a mobile positioning device to achieve precise positioning of the vibration detection device, a vibration detection device to detect the vibration of bolts on the iron tower, and a camera to capture images of the robot's walking path and the bolts.

[0030] The magnetic crawling device uses a positioning component to adjust the position of the vibration detection device, a twisting avoidance component to enable the magnetic foot component to automatically avoid obstacles during robot movement, a magnetic foot component to fix the robot magnetically, and an electric moving frame to enable stable movement of the mobile positioning device. Attached Figure Description

[0031] Figure 1 This is a flowchart of the tower inspection method of the present invention;

[0032] Figure 2 This is a framework diagram of the tower detection system of the present invention;

[0033] Figure 3 This is a structural framework diagram of the control center system of the present invention;

[0034] Figure 4 This is an isometric view of the robot structure of the present invention;

[0035] Figure 5 This is an exploded view of the robot structure of the present invention;

[0036] Figure 6 This is an isometric view of the electric mobile frame structure of the present invention;

[0037] Figure 7 This is an isometric view of the magnetic foot component structure of the present invention;

[0038] Figure 8 This is an exploded view of the mobile positioning device structure of the present invention;

[0039] Figure 9 This is a top view of the overall structure of the robot of the present invention;

[0040] Figure 10 This is a front sectional view of the overall structure of the robot of the present invention;

[0041] Figure 11 This is a side sectional view of the overall structure of the robot of the present invention;

[0042] Figure 12 This is an enlarged view of the structure at point A of the present invention;

[0043] Figure 13 This is an enlarged view of the structure at point B of the present invention.

[0044] Figure Descriptions: 10. Magnetic Crawling Device; 11. Guide Rail; 12. Vertical Plate; 121. Lifting Hook; 13. Twisting and Avoiding Component; 131. Round Cover; 132. Avoiding Shaft; 133. Limiting Plate; 134. First Electromagnetic Block; 135. Reset Plate; 136. Iron Block; 137. Spring; 14. Magnetic Foot Component; 141. Second Linear Module; 142. Second Electromagnetic Foot; 15. Electric Moving Frame; 151. Sliding Frame; 152. Second Electromagnetic Block; 153. Drive Motor; 154. Reducer; 155. Drive wheel; 16. L-shaped plate; 17. First electromagnetic foot; 20. Motion positioning device; 21. Mounting box; 22. Battery compartment; 23. Electric cylinder; 24. Positioning component; 241. Stepper motor; 242. Long box; 243. First linear module; 30. Vibration detection device; 31. Mounting plate; 32. Power motor; 33. Vertical plate; 34. Horizontal plate; 35. Magnetic vibrator; 36. Contact vibration sensor; 40. Control center; 50. First camera; 51. Second camera. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0046] The embodiments of the present invention will now be described.

[0047] Please refer to the appendix in this embodiment. Figure 1-3 As shown, in a preferred embodiment of the present invention, the snake-like robot tower detection method includes the following steps:

[0048] Step 1: Positioning the snake robot. Use a drone to hoist the snake robot to the top of the iron tower. The snake robot will then attach to the outer wall of the main beam of the iron tower using the magnetic crawling device 10.

[0049] Step 2: Movement of the snake robot. The snake robot moves from top to bottom along the outer wall of the main beam of the iron tower using the magnetic crawling device 10.

[0050] Step 3: Vibration collection of bolts. When the snake robot passes over the bolts on the main beam of the tower, the mobile positioning device 20 on the snake robot will bring the vibration detection device 30 into contact with the bolt. The vibration detection device 30 will vibrate the bolt and collect the vibration data fed back by the bolt.

[0051] Step 4: Vibration wave analysis. The bolt vibration data acquired by the vibration detection device 30 is transmitted to the control center 40 via the network. The control center 40 analyzes the bolt vibration data and determines that the bolt is loose when the bolt vibration data exceeds the set value.

[0052] Step 5: Summarize information on abnormal bolts. The control center 40 will number the loose bolts and match the numbered bolts with the loosening information.

[0053] Step Six: Robot Retrieval. After the snake-like robot crawls to the bottom of the main beam of the tower, the staff retrieves it.

[0054] It should be noted that in this embodiment, the user logs in on the user terminal. After logging in, the user binds the drone device and the snake robot. After the drone rope is connected to the hoisting hook 121, the user operates the drone to hoist the snake robot to the top of the main frame of the iron tower. After the snake robot is attached to the outer wall of the main beam of the iron tower by the magnetic crawling device 10, the drone control module controls the drone to return to home.

[0055] The robot control module receives the image information captured by the first camera 50 and, after analysis, triggers the magnetic crawling device 10. The snake robot moves from top to bottom along the outer wall of the main beam of the iron tower via the magnetic crawling device 10. When the snake robot passes the bolt on the main beam of the iron tower, the robot control module triggers the mobile positioning device 20 mounted on the snake robot to attach the vibration detection device 30 to the bolt, and triggers the vibration detection device 30 to vibrate the bolt and collect the vibration data fed back by the bolt.

[0056] The vibration detection device 30 acquires bolt vibration data and transmits it to the vibration analysis module via the network. The vibration analysis module analyzes the bolt vibration data and determines that the bolt is loose when the bolt vibration data exceeds the set value.

[0057] The abnormal bolt information summary module numbers the loose bolts, obtains the altitude information measured by the altitude sensor on the snake robot, and the image information captured by the second camera 51. It also stores the corresponding information of the numbered loose bolts, including the altitude information, image information, and bolt vibration data.

[0058] After the snake-like robot crawled to the bottom of the main beam of the iron tower, the staff retrieved the snake-like robot.

[0059] Furthermore, the control center 40 also includes a component size detection module, a component missing detection module, a wall thickness detection module, a rust point detection module, a weld detection module, an antenna size module, and a wire size module;

[0060] The component size detection module is used to analyze the image information captured by the first camera 50 and the second camera 51 to obtain the component size information of the iron tower;

[0061] The component missing detection module is used to analyze the image information captured by the first camera 50 and the second camera 51 to determine whether there are any missing components in the tower.

[0062] The wall thickness detection module is used to analyze the image information captured by the first camera 50 and the second camera 51 to obtain the wall thickness information of the components on the tower.

[0063] The rust spot detection module is used to analyze the image information captured by the first camera 50 and the second camera 51 to identify the rust spots on the tower.

[0064] The weld detection module is used to analyze the image information captured by the first camera 50 and the second camera 51 to obtain the weld information on the tower.

[0065] The antenna size module and the wire size module are used to analyze the antenna size and wire size based on the image information captured by the first camera 50 and the second camera 51;

[0066] Furthermore, the snake-like robot can be equipped with a tilt sensor, and the control center 40 also includes a tower top sway detection module. The tower top sway detection module can receive the tilt information measured by the tilt sensor and obtain the sway amplitude information of the tower through tilt information analysis.

[0067] Please refer to the appendix carefully. Figure 4 , 5As shown in Figures 6, 7, 9, 10, and 12, in another preferred embodiment of the present invention, the magnetic crawling device 10 includes a guide rail 11, two vertical plates 12 symmetrically arranged at both ends of the guide rail 11, a twisting and abutting component 13 at the bottom of the vertical plates 12, a magnetic foot component 14 at the bottom of the twisting and abutting component 13, an electric moving frame 15 slidably connected to the guide rail 11, an L-shaped plate 16 at the bottom of the long box 242, and a first electromagnetic foot 17 at the bottom of the L-shaped plate 16; the actuating end of the electric cylinder 23 is connected to the bottom of the electric moving frame 15; the twisting and abutting component 13 includes a round cover 131 at the bottom of the vertical plates 12, an abutting shaft 132 rotatably connected to the top of the inner wall of the round cover 131, two limiting plates 133 symmetrically arranged on the inner wall of the round cover 131, and a first electromagnetic block 134 at the top of the inner wall of the round cover 131. A reset plate 135 and an iron block 136 are disposed on the outer wall of the avoidance shaft 132; a spring 137 is provided between the reset plate 135 and the limiting plate 133; the iron block 136 corresponds to the position of the first electromagnetic block 134; the magnetic foot component 14 includes a second linear module 141 disposed at the bottom of the avoidance shaft 132, and a second electromagnetic foot 142 disposed at the execution end of the second linear module 141; the electric moving frame 15 includes a sliding frame 151 slidably connected to the guide rail rod 11, a plurality of second electromagnetic blocks 152 disposed on the sliding frame 151 and abutting against the guide rail rod 11, a drive motor 153 disposed at the top of the sliding frame 151, a reducer 154 disposed on the sliding frame 151 and whose input end is connected to the output end of the drive motor 153, and a drive wheel 155 disposed at the execution end of the reducer 154 and whose outer wall abuts against the outer wall of the guide rail rod 11.

[0068] It should be noted that, in this embodiment, when the magnetic crawling device 10 is working, taking the snake robot moving from top to bottom along the iron tower as an example, during the first step of movement, the magnetic foot component 14 magnetically attracts the outer wall of the iron tower, and the electric moving frame 15 drives the moving positioning device 20 to move to the bottom of the guide rail rod 11. After the moving positioning device 20 moves to the bottom of the guide rail rod 11, the first step of movement is completed.

[0069] During the second movement, the actuator of the electric cylinder 23 extends until the first electromagnetic foot 17 contacts the outer wall of the iron tower and is electromagnetically attracted to the outer wall of the iron tower. After the first electromagnetic foot 17 magnetically attracts the outer wall of the iron tower, the magnetic foot component 14 is de-energized. The actuator of the electric cylinder 23 continues to extend, and the first electromagnetic foot 17 separates from the outer wall of the iron tower. The electric moving frame 15 drives the guide rail rod 11 to move downward. After the guide rail rod 11 moves to the limit position, the actuator of the electric cylinder 23 retracts so that the snake robot can once again rely on the magnetic foot component 14 to magnetically attract the outer wall of the iron tower, thus completing the second movement.

[0070] The snake-like robot can crawl by repeating the first and second steps.

[0071] Furthermore, the direction can be changed during the second step of movement. When the direction is changed, the actuator of the stepper motor 241 is activated. At this time, the mounting box 21, electric cylinder 23 and guide rail rod 11 can be rotated with the actuator of the stepper motor 241 as the axis to change the direction of travel.

[0072] Furthermore, when the magnetic foot component 14 is working, the actuator of the second linear module 141 can drive the second electromagnetic foot 142 to move, so as to adjust the magnetic position. The second electromagnetic foot 142 can perform magnetic attraction after being powered on.

[0073] Furthermore, when the electric moving frame 15 is working, when the sliding frame 151 moves, the drive motor 153 increases the torque through the reducer 154 and drives the drive wheel 155 to rotate. The drive wheel 155 drives the sliding frame 151 to move along the guide rail 11. After the sliding frame 151 moves to the designated position, the second electromagnetic block 152 uses electromagnetic attraction to the guide rail 11 to complete the fixation of the sliding frame 151.

[0074] Furthermore, when the twisting obstacle avoidance component 13 is working, when the second linear module 141 needs to twist to avoid the obstacle, the first electromagnetic block 134 is de-energized, the second linear module 141 twists under the push of the obstacle, the obstacle avoidance shaft 132 rotates, after the second linear module 141 passes the obstacle, the spring 137 drives the obstacle avoidance shaft 132 to reset through the reset plate 135, and the first electromagnetic block 134 is connected to the electromagnetic magnet 136 to fix the obstacle avoidance shaft 132.

[0075] Please refer to the appendix carefully. Figure 8 , 10As shown in Figures 11 and 13, in another preferred embodiment of the present invention, the mobile positioning device 20 includes a mounting box 21, a plurality of battery compartments 22 disposed on the outer wall of the mounting box 21, two electric cylinders 23 symmetrically disposed on both sides of the outer wall of the mounting box 21, and a positioning component 24 disposed inside the mounting box 21 with its actuating end extending to the outside of the mounting box 21. The positioning component 24 includes a stepper motor 241 disposed inside the mounting box 21 with its actuating end extending to the outside of the mounting box 21, an elongated box 242 disposed at the actuating end of the stepper motor 241, and a first linear module 243 disposed inside the elongated box 242. The vibration detection device 30 includes... The system includes a mounting plate 31 disposed at the execution end of the first linear module 243, a power motor 32 disposed on the outer wall of the mounting plate 31 and having its execution end penetrating the mounting plate 31, a vertical plate 33 disposed at the execution end of the power motor 32, a horizontal plate 34 disposed on the outer wall of the vertical plate 33, a contact vibration sensor 36 disposed on the outer wall of the vertical plate 33 and having its detection end penetrating the vertical plate 33, and a magnetic vibrator 35 disposed on the horizontal plate 34 and having its execution end penetrating the horizontal plate 34. The guide rail rod 11 is provided with a first camera 50 at both ends, and a second camera 51 is provided at one end of the horizontal plate 34. The outer wall of the vertical plate 12 is provided with a lifting hook 121.

[0076] It should be noted that in this embodiment, the snake robot can only acquire bolt vibration information during the first step of movement. When acquiring bolt vibration information, the actuator of the electric cylinder 23 can drive the vibration detection device 30 to move, and the actuator of the stepper motor 241 can drive the first linear module 243 to rotate. The actuator of the first linear module 243 can drive the vibration detection device 30 to move.

[0077] When the vibration detection device 30 is working, the actuator of the power motor 32 drives the vertical plate 33 to rotate, and the moving positioning device 20 moves the vibration detection device 30 until the horizontal plate 34 is located on the top of the bolt and the vertical plate 33 is in contact with the outer wall of the bolt. The magnetic vibrator 35 is turned on to vibrate the bolt. The contact vibration sensor 36 receives the vibration information and transmits the vibration information to the sub-control center installed in the mounting box 21 through the wire. The sub-control center can transmit the vibration information to the control center 40 through the network.

[0078] According to the above embodiments, a snake-like robot tower detection system will also be provided, including a control center 40, which is connected to a user terminal, a drone and a crawling robot via a network.

[0079] The control center 40 includes a data transceiver module, a user module, a drone control module, a robot control module, a vibration analysis module, and an abnormal bolt information aggregation module.

[0080] The working principle of this invention is as follows:

[0081] Users log in on the user terminal. After logging in, they bind the drone equipment and the snake robot. After the drone rope is connected to the hoisting hook 121, the user operates the drone to hoist the snake robot to the top of the main frame of the iron tower. After the snake robot is attached to the outer wall of the main beam of the iron tower by the magnetic crawling device 10, the drone control module controls the drone to return to home.

[0082] The robot control module receives the image information captured by the first camera 50 and, after analysis, triggers the magnetic crawling device 10. The snake robot moves from top to bottom along the outer wall of the main beam of the iron tower via the magnetic crawling device 10. When the snake robot passes the bolt on the main beam of the iron tower, the robot control module triggers the mobile positioning device 20 mounted on the snake robot to attach the vibration detection device 30 to the bolt, and triggers the vibration detection device 30 to vibrate the bolt and collect the vibration data fed back by the bolt.

[0083] The vibration detection device 30 acquires bolt vibration data and transmits it to the vibration analysis module via the network. The vibration analysis module analyzes the bolt vibration data and determines that the bolt is loose when the bolt vibration data exceeds the set value.

[0084] The abnormal bolt information summary module numbers the loose bolts, obtains the altitude information measured by the altitude sensor on the snake robot, and the image information captured by the second camera 51. It also stores the corresponding information of the numbered loose bolts, including the altitude information, image information, and bolt vibration data.

[0085] After the snake-like robot crawled to the bottom of the main beam of the iron tower, the staff retrieved the snake-like robot.

[0086] The control center 40 also includes a component size detection module, a component missing detection module, a wall thickness detection module, a rust point detection module, a weld detection module, an antenna size module, a wire size module, a tower top sway detection module, and an anti-corrosion layer thickness detection module;

[0087] The component size detection module is used to analyze the image information captured by the first camera 50 and the second camera 51 to obtain the component size information of the iron tower;

[0088] The component missing detection module is used to analyze the image information captured by the first camera 50 and the second camera 51 to determine whether there are any missing components in the tower.

[0089] The wall thickness detection module is used to analyze the image information captured by the first camera 50 and the second camera 51 to obtain the wall thickness information of the components on the tower.

[0090] The rust spot detection module is used to analyze the image information captured by the first camera 50 and the second camera 51 to identify the rust spots on the tower.

[0091] The weld detection module is used to analyze the image information captured by the first camera 50 and the second camera 51 to obtain the weld information on the tower.

[0092] The antenna size module and the wire size module are used to analyze the antenna size and wire size based on the image information captured by the first camera 50 and the second camera 51;

[0093] The snake-like robot can be equipped with a tilt sensor, and the tower top sway detection module can receive the tilt information measured by the tilt sensor and obtain the sway amplitude information of the tower through tilt information analysis.

[0094] When the magnetic crawling device 10 is working, taking the snake robot moving from top to bottom along the iron tower as an example, in the first step of the movement, the magnetic foot component 14 magnetically attracts the outer wall of the iron tower, and the electric moving frame 15 drives the moving positioning device 20 to the bottom of the guide rail rod 11. After the moving positioning device 20 moves to the bottom of the guide rail rod 11, the first step of the movement is completed.

[0095] During the second movement, the actuator of the electric cylinder 23 extends until the first electromagnetic foot 17 contacts the outer wall of the iron tower and is electromagnetically attracted to the outer wall of the iron tower. After the first electromagnetic foot 17 magnetically attracts the outer wall of the iron tower, the magnetic foot component 14 is de-energized. The actuator of the electric cylinder 23 continues to extend, and the first electromagnetic foot 17 separates from the outer wall of the iron tower. The electric moving frame 15 drives the guide rail rod 11 to move downward. After the guide rail rod 11 moves to the limit position, the actuator of the electric cylinder 23 retracts so that the snake robot can once again rely on the magnetic foot component 14 to magnetically attract the outer wall of the iron tower, thus completing the second movement.

[0096] The snake-like robot can crawl by repeating the first and second steps.

[0097] During the second step of movement, the direction can be changed. When the direction is changed, the actuator of the stepper motor 241 is activated. At this time, with the actuator of the stepper motor 241 as the axis, the mounting box 21, the electric cylinder 23 and the guide rail rod 11 can rotate to change the direction of travel.

[0098] When the magnetic foot component 14 is working, the actuator of the second linear module 141 can drive the second electromagnetic foot 142 to move so as to adjust the magnetic position. The second electromagnetic foot 142 can perform magnetic attraction after being energized.

[0099] When the electric moving frame 15 is working, when the sliding frame 151 moves, the drive motor 153 increases the torque through the reducer 154 and drives the drive wheel 155 to rotate. The drive wheel 155 drives the sliding frame 151 to move along the guide rail 11. After the sliding frame 151 moves to the designated position, the second electromagnetic block 152 uses electromagnetic attraction to the guide rail 11 to complete the fixation of the sliding frame 151.

[0100] When the twisting obstacle avoidance component 13 is working, when the second linear module 141 needs to twist to avoid the obstacle, the first electromagnetic block 134 is de-energized, the second linear module 141 twists under the push of the obstacle, the obstacle avoidance shaft 132 rotates, after the second linear module 141 passes the obstacle, the spring 137 drives the obstacle avoidance shaft 132 to reset through the reset plate 135, and the first electromagnetic block 134 is connected to the electromagnetic magnet 136 to fix the obstacle avoidance shaft 132;

[0101] The snake-like robot can be equipped with an integrated anti-corrosion layer thickness detection camera, which includes a pulse light source and an infrared detection sensor. The anti-corrosion layer thickness detection module is used to trigger the pulse light source to pulse heat the coating surface. At the same time, the anti-corrosion layer thickness detection module receives the thermal radiation signal of the coating surface measured by the infrared detection sensor and obtains the anti-corrosion layer thickness information after analysis.

[0102] The snake robot can only acquire bolt vibration information during the first step of movement. When acquiring bolt vibration information, the actuator of the electric cylinder 23 can drive the vibration detection device 30 to move, and the actuator of the stepper motor 241 can drive the first linear module 243 to rotate. The actuator of the first linear module 243 can drive the vibration detection device 30 to move.

[0103] When the vibration detection device 30 is working, the actuator of the power motor 32 drives the vertical plate 33 to rotate, and the moving positioning device 20 moves the vibration detection device 30 until the horizontal plate 34 is located on the top of the bolt and the vertical plate 33 is in contact with the outer wall of the bolt. The magnetic vibrator 35 is turned on to vibrate the bolt. The contact vibration sensor 36 receives the vibration information and transmits the vibration information to the sub-control center installed in the mounting box 21 through the wire. The sub-control center can transmit the vibration information to the control center 40 through the network.

[0104] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the invention and are not intended to limit it. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and spirit of the invention, but such modifications, substitutions, and variations are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A method for inspecting iron towers using a snake-like robot, characterized in that, Includes the following steps: Step 1: Positioning of the snake robot. The snake robot is hoisted to the top of the iron tower using a drone. The snake robot is attached to the outer wall of the main beam of the iron tower by a magnetic crawling device (10). Step 2: Movement of the snake robot. The snake robot moves from top to bottom along the outer wall of the main beam of the iron tower by means of the magnetic crawling device (10). Step 3: Bolt vibration collection. When the snake robot passes over the bolts on the main beam of the tower, the mobile positioning device (20) mounted on the snake robot will attach the vibration detection device (30) to the bolt. The vibration detection device (30) will vibrate the bolt and collect the vibration data fed back by the bolt. Step 4: Analysis of vibration waves. The bolt vibration data acquired by the vibration detection device (30) is transmitted to the control center (40) via the network. The control center (40) analyzes the bolt vibration data and determines that the bolt is loose when the bolt vibration data exceeds the set value. Step 5: Information summary of abnormal bolts. The control center (40) numbers the loose bolts and matches the numbered bolts with the loosening information. Step Six: Robot Retrieval. After the snake-like robot crawls to the bottom of the main beam of the tower, the staff retrieves the snake-like robot. The mobile positioning device (20) includes a mounting box (21), multiple battery compartments (22) disposed on the outer wall of the mounting box (21), two electric cylinders (23) symmetrically disposed on both sides of the outer wall of the mounting box (21), and a positioning component (24) disposed inside the mounting box (21) and extending to the outside of the mounting box (21). The positioning component (24) includes a stepper motor (241) disposed inside the mounting box (21) and extending to the outside of the mounting box (21). The machine (241) has a long box (242) at the execution end, and a first linear module (243) disposed in the long box (242). The magnetic crawling device (10) includes a guide rail (11), two vertical plates (12) symmetrically disposed at both ends of the guide rail (11), a twisting avoidance component (13) disposed at the bottom of the vertical plate (12), a magnetic foot component (14) disposed at the bottom of the twisting avoidance component (13), an electric moving frame (15) slidably connected to the guide rail (11), and a first linear module (243) disposed in the long box (241). 2) The bottom L-shaped plate (16) and the first electromagnetic foot (17) located at the bottom of the L-shaped plate (16); the actuator of the electric cylinder (23) is connected to the bottom of the electric moving frame (15), the twisting avoidance component (13) includes a round cover (131) located at the bottom of the vertical plate (12), an avoidance shaft (132) rotatably connected to the top of the inner wall of the round cover (131), two limiting plates (133) symmetrically located on the inner wall of the round cover (131), and a limiter plate (133) located on the top of the inner wall of the round cover (131). The first electromagnetic block (134) and the reset plate (135) and the iron block (136) are provided on the outer wall of the avoidance shaft (132); a spring (137) is provided between the reset plate (135) and the limiting plate (133), the iron block (136) is positioned corresponding to the first electromagnetic block (134), and the magnetic foot component (14) includes a second linear module (141) provided at the bottom of the avoidance shaft (132) and a second electromagnetic foot (142) provided at the execution end of the second linear module (141).

2. The snake-like robot tower inspection method according to claim 1, characterized in that, The electric moving frame (15) includes a sliding frame (151) slidably connected to the guide rail rod (11), a plurality of second electromagnetic blocks (152) disposed on the sliding frame (151) and abutting against the guide rail rod (11), a drive motor (153) disposed on the top of the sliding frame (151), a reducer (154) disposed on the sliding frame (151) and whose input end is connected to the output end of the drive motor (153), and a drive wheel (155) disposed on the execution end of the reducer (154) and whose outer wall abuts against the outer wall of the guide rail rod (11).

3. The snake-like robot tower inspection method according to claim 1, characterized in that, The vibration detection device (30) includes a mounting plate (31) disposed on the execution end of the first linear module (243), a power motor (32) disposed on the outer wall of the mounting plate (31) and whose execution end passes through the mounting plate (31), a vertical plate (33) disposed on the execution end of the power motor (32), a horizontal plate (34) disposed on the outer wall of the vertical plate (33), a contact vibration sensor (36) disposed on the outer wall of the vertical plate (33) and whose detection end passes through the vertical plate (33), and a magnetic vibrator (35) disposed on the horizontal plate (34) and whose execution end passes through the horizontal plate (34).

4. The snake-like robot tower inspection method according to claim 3, characterized in that, The guide rail rod (11) is equipped with a first camera (50) at both ends, and the horizontal plate (34) is equipped with a second camera (51) at one end. The outer wall of the vertical plate (12) is provided with a hoisting hook (121).

5. A snake-like robot tower inspection system, applied to the snake-like robot tower inspection method according to any one of claims 1-4, characterized in that, Includes a control center (40), user terminals connected to the control center (40) via a network, drones, and crawling robots; The control center (40) includes a data transceiver module, a user module, a drone control module, a robot control module, a vibration analysis module, and an abnormal bolt information aggregation module.

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