Magnetic adsorption robot and child-mother robot for bridge detection

Abstract

The invention discloses a magnetic adsorption robot and a child-mother robot for bridge detection, and belongs to the technical field of bridge detection, the magnetic adsorption robot comprises two vehicle bodies arranged front and back in the advancing direction of the magnetic adsorption robot, and a connecting joint with a self-adaptive angle is connected between the two vehicle bodies; mounting parts are arranged at the bottoms of the vehicle bodies, wheel carriers are hinged to the two sides of each mounting part through hinges, and each wheel carrier is provided with a magnetic adsorption wheel; a detection device, a control device and a battery module are arranged on the vehicle body, the control device is used for controlling the magnetic adsorption robot to move on the bridge, the detection device is used for detecting the bridge, and the battery module is used for providing power support. By arranging the connecting joints and the hinges, the magnetic adsorption wheels can be tightly attached to the adsorption face all the time, the adsorption capacity and the obstacle crossing capacity are improved, and the reliable inspection capacity is achieved; and meanwhile, the two magnetic adsorption robots with different sizes are arranged to form the child-mother robot, so that the safety and the cruising ability are further enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bridge detection, and in particular to a magnetic adsorption robot for bridge detection and a parent-child robot. BACKGROUND

[0002] The bridge is one of the key infrastructures in the transportation system, and it is difficult to comprehensively and accurately detect the complex bridge structure, which faces severe engineering and safety challenges. Therefore, the detection of complex bridge structure is very important, which is related to the safe operation and service life of the bridge. At present, the detection method for complex bridge structure such as steel arch structure is mainly manual detection.

[0003] The manual disease detection method has high risk, low efficiency, complicated operation, and delayed decision response, etc. The detection personnel need to carry detection equipment, reach the detection position of the bridge by building scaffolding and using a basket, etc. This method not only consumes a lot of manpower, material resources and time, but also has extremely low efficiency. At the same time, manual detection has great safety risk. The detection personnel faces falling, object impact and other dangers when working at high altitude.

[0004] With the development of science and technology, magnetic adsorption detection robots are gradually applied to the field of bridge detection. The current magnetic adsorption detection robots on the market mainly include two-wheel robots and three-wheel robots. The two-wheel magnetic adsorption robot has a relatively simple structure, and is adsorbed on the ferromagnetic surface of the bridge through two magnetic wheels. The three-wheel magnetic adsorption robot increases an auxiliary wheel on the basis of the two-wheel robot to improve the adsorption capacity of the robot on the wall surface. These detection robots generally have the shortcomings of poor bridge adaptability, poor obstacle crossing ability, poor load capacity and poor endurance. SUMMARY

[0005] The purpose of the present application is to overcome the deficiencies in the prior art, and to provide a magnetic adsorption robot for bridge detection and a parent-child robot, which solves the technical problems of poor bridge adaptability, poor obstacle crossing ability, poor load capacity and poor endurance of the existing magnetic adsorption detection robots.

[0006] To achieve the above purpose, the present application adopts the following technical scheme: In a first aspect, the present application provides a magnetic adsorption robot for bridge detection, comprising two vehicle bodies arranged in front and back along the forward direction of the magnetic adsorption robot, and a self-adaptive angle connecting joint connected between the two vehicle bodies. The bottom of each of the two vehicle bodies is provided with a mounting portion, and the two sides of the mounting portion are hingedly connected with a wheel frame whose rotation direction is perpendicular to the forward direction of the magnetic adsorption robot. A magnetic adsorption wheel is installed on each wheel frame. The vehicle body is provided with a detection device, a control device and a battery module, the control device is connected with each magnetic adsorption wheel for controlling the movement of the magnetic adsorption robot on the bridge, the detection device is used for detecting the bridge, and the battery module is connected with the detection device and the control device to provide power support.

[0007] Optionally, the connecting joint adopts a universal coupling.

[0008] Optionally, the detection device comprises a portable non-destructive testing instrument, a surface defect detector and a structural stress tester.

[0009] Optionally, the control device comprises a road condition recognition module and a driving module, the road condition recognition module is used for recognizing the road condition type on the travel path of the magnetic adsorption robot, and the driving module is used for adjusting the rotating speed of each magnetic adsorption wheel according to the road condition type.

[0010] Optionally, the alarm device is further connected with the detection device, and the alarm device alarms when the detection device detects an abnormality.

[0011] Optionally, the wireless module is further connected with the detection device and used for sending the detection result to an external terminal, and the wireless module is further connected with the control device and used for receiving the control instruction of the external terminal.

[0012] Optionally, a limiting plate is further arranged on one vehicle body and extends to the other vehicle body, and is used for limiting the relative rotation angle of the two vehicle bodies.

[0013] In the second aspect, the application provides a parent-child robot for bridge detection, comprising a parent vehicle and a child vehicle, the parent vehicle and the child vehicle both adopt the magnetic adsorption robot as described above, the size of the parent vehicle is larger than that of the child vehicle, the parent vehicle travels along a main path of bridge detection, and the child vehicle travels on a branch path led by the main path. A child vehicle carrying table is arranged on the vehicle body of the parent vehicle, one side of the child vehicle carrying table is rotationally provided with a walking plate, the child vehicle is arranged on the child vehicle carrying table and leaves or returns to the parent vehicle through the walking plate.

[0014] Optionally, a wire winder is arranged on the parent vehicle, the wire winder is used for releasing or winding a rope, an outer end of the rope is connected with the trolley, the rope is a safety rope and / or a wire rope, the safety rope is used for preventing the child vehicle from falling, and the wire rope is used for supplying power to the child vehicle.

[0015] Optionally, a charging seat is arranged on the child vehicle carrying table, and a charging spring piece corresponding to the charging seat is arranged on the child vehicle, and the charging is realized by connecting the charging spring piece with the charging seat.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: This invention provides a magnetic adsorption robot and its parent-child robot for bridge inspection. The magnetic adsorption robot, through the addition of connecting joints and hinges, can achieve close contact with curved surfaces of tubular structures of any diameter, as well as with planar steel structures. It automatically adjusts angles and posture, flexibly steers, and stably completes inspection tasks. By adjusting the rotation speed of the magnetic adsorption wheels, it can traverse obstacles within the bridge structure, completing bridge inspections without blind spots. Based on the magnetic adsorption robot, the addition of a parent-child robot, with the child and parent robots working collaboratively, significantly improves the inspection safety and endurance of the child robot, resulting in enhanced inspection capabilities. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the magnetic adsorption robot provided in an embodiment of the present invention; Figure 2 This is a bottom view of the magnetic adsorption robot provided in an embodiment of the present invention; Figure 3 This is a partial structural diagram of the bridge provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the mother-daughter robot provided in an embodiment of the present invention; The diagram is marked as follows: 1. Front carriage; 2. Rear carriage; 3. Connecting joint; 4. Hinge; 5. Wheel frame; 6. Magnetic adsorption wheel; 7. Detection device; 8. Control device; 9. Battery module; 10. Limiting plate; 11. Main arch; 12. Arch rib; 13. Web member; 14. Chord member; 15. Welded reinforcement structure; 16. Mother carriage; 17. Daughter carriage; 18. Cable reel; 19. Daughter carriage support platform; 20. Traveling plate. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0019] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] Example 1

[0022] like Figure 1 As shown, this embodiment of the invention provides a magnetic adsorption robot for bridge inspection, comprising two vehicle bodies arranged one in front of the other along the robot's forward direction, referred to as the front vehicle 1 and the rear vehicle 2, respectively. The front vehicle 1 and the rear vehicle 2 are connected by an adaptive-angle connecting joint 3. The connecting joint 3 ensures that the front vehicle 1 and the rear vehicle 2 can rotate relative to each other at a certain angle under different road conditions. Specifically, in this embodiment, the connecting joint 3 is a universal coupling. Universal couplings can adapt to connections at various angles, making them particularly suitable for connecting the front vehicle 1 and the rear vehicle 2 in this embodiment. In other optional embodiments, the operator can also set the connecting joint 3 as needed. Since the connecting joint 3 can rotate 360 ​​degrees, the stability will deteriorate when the rotation angle of the front vehicle 1 and the rear vehicle 2 is too large. Therefore, a limiting plate 10 is provided on the rear vehicle 2, extending to the front vehicle 1, to limit the relative rotation angle of the two vehicle bodies and ensure stability.

[0023] like Figure 2As shown, both the front vehicle 1 and the rear vehicle 2 are equipped with mounting parts at their bottoms. Wheel frames 5 are hinged to both sides of the mounting parts via hinges 4. The rotation direction of the wheel frames 5 is perpendicular to the forward direction of the magnetic adsorption robot. Each wheel frame 5 is equipped with a magnetic adsorption wheel 6. When traveling on curved surfaces of different diameters, the hinges 4 and connecting joints 3 ensure that the magnetic adsorption wheels 6 are tightly attached to the adsorption surface, ensuring that the magnetic adsorption robot always obtains a stable adsorption force during movement and can turn flexibly.

[0024] The leading vehicle 1 is equipped with a detection device 7 and a control device 8. The detection device 7 is used to inspect the bridge, and can carry non-destructive testing instruments, surface defect detectors, and structural stress testers, etc., for inspecting the bridge's arch ribs 12, chords 14, welds, and other structural components. The control device 8 is connected to each magnetic adsorption wheel 6 and is used to control the movement of the magnetic adsorption robot on the bridge. To be precise, each magnetic adsorption wheel 6 is connected to an independent motor, and the control device 8 is connected to the independent motor to drive the magnetic adsorption wheel 6.

[0025] Specifically, the control device 8 includes a road condition recognition module and a drive module. The road condition recognition module is used to identify the road condition type on the path of the magnetic adsorption robot, and the drive module is used to adjust the rotation speed of each magnetic adsorption wheel 6 according to the road condition type. The road condition recognition module includes a camera and a lidar. The camera and lidar can acquire images and perform 3D modeling of the road conditions, and, combined with the visual recognition model, can accurately analyze the road condition type. At the same time, the images acquired by the camera can also be combined with the visual recognition model to detect surface defects on bridges, and the point cloud data acquired by the lidar can be used for path planning and navigation of the magnetic adsorption robot.

[0026] like Figure 3 The diagram shows a partial schematic of a bridge, including a main arch 11, arch ribs 12, web members 13, chord members 14, and welded reinforcing structures 15. The intersection surfaces formed by the web members 13 and chord members 14, the chord members 14 welded to the main arch 11, and the web members 13 welded to the main arch 11 using rod-like structures of different diameters represent a type of road condition. When traversing these intersection surfaces, a magnetically adsorbed robot, through connecting joints 3 and hinges 4, autonomously adapts to structures of different diameters and heights, ensuring stable and safe passage.

[0027] The welded reinforcement structure 15 is a type of road condition, and the arch rib 12 is a type of road condition. Both the welded reinforcement structure 15 and the arch rib 12 require the front vehicle 1 to climb upwards. Therefore, when passing the welded reinforcement structure 15 or the arch rib 12, the two magnetic adsorption wheels 6 of the rear vehicle 2 are decelerated, generating a pulling force on the front vehicle 1. Under the action of the pulling force, the front vehicle 1 rotates upwards, thus smoothly climbing onto the welded reinforcement structure 15 or the arch rib 12.

[0028] The rear vehicle 2 is equipped with a battery module 9, which is connected to the detection device 7 and the control device 8, providing power. The battery module 9, being relatively heavy, contributes to the stability of the magnetically adsorbed robot's movement when mounted on the rear vehicle 2. The rear vehicle 2 can also be equipped with an alarm device and a wireless module. The alarm device, such as an audible and visual alarm, is connected to the detection device 7 and sounds an alarm when the detection device 7 detects an anomaly, prompting personnel to take appropriate measures to prevent the fault from escalating. The wireless module, such as a ZigBee module, is connected to the detection device 7 to send the detection results to an external terminal. The wireless module is also connected to the control device 8 to receive control commands from the external terminal.

[0029] In summary, the magnetic adsorption robot provided in this embodiment can carry the detection device 7 and move stably on the bridge, continuously inspecting the bridge surface according to the preset usage mode and triggering conditions.

[0030] Example 2

[0031] like Figure 4 As shown, this embodiment of the invention provides a mother-daughter robot for bridge inspection, including a mother vehicle 16 and a daughter vehicle 17. Both the mother vehicle 16 and the daughter vehicle 17 adopt the magnetic adsorption robot provided in Embodiment 1 above. The size of the mother vehicle 16 is larger than that of the daughter vehicle 17. A daughter vehicle support platform 19 is provided on the body of the mother vehicle 16. A walking plate 20 is rotatably provided on one side of the daughter vehicle support platform 19. The daughter vehicle 17 is set on the daughter vehicle support platform 19 and leaves or returns to the mother vehicle 16 through the walking plate 20.

[0032] Since the testing task is usually undertaken by the daughter vehicle 17, the testing device 7 on the mother vehicle 16 can be removed, and more battery modules 9 can be added to improve the overall range.

[0033] When performing inspection tasks, the mother car 16 carries the daughter car 17 along the main path of bridge inspection. When a branch path is encountered from the main path, the mother car 16 stops at the branch point, the daughter car 17 gets off the mother car 16 and travels along the branch path to carry out inspection work. After completing the branch path inspection, it returns to the mother car 16 along the original path and goes to the next branch point.

[0034] The mother car 16 is equipped with a cable reel 18, which is used to release or reel in the rope. The outer end of the rope is connected to the trolley. The rope is a safety rope and / or a guide rope. The safety rope is used to prevent the daughter car 17 from falling, and the guide rope is used to supply power to the daughter car 17. Since the mother car 16 travels on a relatively flat main path, it can ensure sufficient magnetic attraction. When the daughter car 17 encounters extreme road conditions and falls, the safety rope can hold the daughter car 17, preventing it from falling to the ground and causing damage or injury to innocent bystanders. The guide rope can provide tethered power to the daughter car 17, improving its endurance.

[0035] Based on the aforementioned tethered power supply, wireless charging can also be used to improve the range of the sub-carrier 17. A charging base is provided on the sub-carrier platform 19, and a charging spring is provided on the sub-carrier 17 corresponding to the charging base. The charging spring is connected to the charging base for charging.

[0036] In summary, the mother-daughter robot provided in this embodiment, through the collaborative work of the daughter vehicle 17 and the mother vehicle 16, can greatly improve the inspection safety and endurance of the daughter vehicle 17, and has stronger inspection capabilities.

[0037] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A magnetic adsorption robot for bridge inspection, characterized in that, It includes two vehicle bodies arranged front and rear along the forward direction of the magnetic adsorption robot, and the two vehicle bodies are connected by a connecting joint with an adaptive angle. Both of the vehicle bodies have a mounting part at the bottom, and wheel frames are hinged to both sides of the mounting part. The rotation direction of the wheel frames is perpendicular to the forward direction of the magnetic adsorption robot, and each wheel frame is equipped with a magnetic adsorption wheel. The vehicle body is equipped with a detection device, a control device, and a battery module. The control device is connected to each of the magnetic adsorption wheels and is used to control the movement of the magnetic adsorption robot on the bridge. The detection device is used to detect the bridge. The battery module is connected to the detection device and the control device and provides power support.

2. The magnetic adsorption robot according to claim 1, characterized in that, The connecting joint uses a universal coupling.

3. The magnetic adsorption robot according to claim 1, characterized in that, The testing device includes a portable non-destructive testing instrument, a surface defect testing instrument, and a structural stress testing instrument.

4. The magnetic adsorption robot according to claim 1, characterized in that, The control device includes a road condition recognition module and a drive module. The road condition recognition module is used to identify the road condition type on the travel path of the magnetic adsorption robot, and the drive module is used to adjust the rotation speed of each of the magnetic adsorption wheels according to the road condition type.

5. The magnetic adsorption robot according to claim 1, characterized in that, It also includes an alarm device connected to the detection device, which issues an alarm when the detection device detects an anomaly.

6. The magnetic adsorption robot according to claim 1, characterized in that, It also includes a wireless module, which is connected to the detection device and is used to send the detection results to an external terminal. The wireless module is also connected to the control device and is used to receive control commands from the external terminal.

7. The magnetic adsorption robot according to claim 1, characterized in that, One of the vehicle bodies is also provided with a limiting plate that extends to the other vehicle body to limit the relative rotation angle between the two vehicle bodies.

8. A mother-daughter robot for bridge inspection, characterized in that, The system includes a mother vehicle and a daughter vehicle, both of which are magnetic adsorption robots as described in any one of claims 1-7, wherein the size of the mother vehicle is larger than the size of the daughter vehicle; the mother vehicle travels along the main path of bridge detection, and the daughter vehicle is used to travel on branch paths derived from the main path. The mother car is equipped with a daughter car carrier platform, and a traveling plate is rotatably mounted on one side of the daughter car carrier platform. The daughter car is mounted on the daughter car carrier platform and leaves or returns to the mother car via the traveling plate.

9. The mother-daughter robot according to claim 7, characterized in that, The mother car is equipped with a cable reel for releasing or winding a rope. The outer end of the rope is connected to the trolley. The rope is a safety rope and / or a guide rope. The safety rope is used to prevent the trolley from falling, and the guide rope is used to supply power to the trolley.

10. The mother-daughter robot according to claim 7, characterized in that, A charging base is provided on the carrier platform of the subcarriage, and a charging spring is provided on the subcarriage corresponding to the charging base, and the charging spring is connected to the charging base for charging.

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