Intelligent crawling detection equipment based on knocking

Abstract

The utility model discloses intelligent crawling detection equipment based on knocking. The equipment comprises a crawling module, a control module, a power supply module, an adsorption module and a knocking and collecting module, the crawling module comprises a frame, a magnetic pulley, a mechanical arm and a crawling controller; the control module comprises a control circuit board, a Beidou unit and a wireless communication unit; the adsorption module comprises an electromagnetic chuck; the power supply module comprises a lithium battery; the knocking and collecting module comprises a lifting combined sleeve, an L-shaped hammer, a motor, a sound pressure sensor, a hammer head and an acceleration sensor. The intelligent crawling detection equipment based on knocking has the advantages of strong universality, strong adsorption capability, good obstacle avoidance capability, multiple selection of knocking parameters, multiple acquirable response parameters and the like.

Description

Technical Field

[0001] The utility model belongs to the technical field of knocking detection, and in particular relates to an intelligent crawling detection device based on knocking. Background Art

[0002] Due to its convenient operation and simple equipment, the tapping method is widely used for internal defect detection of structures. By acquiring and analyzing the responses of the structure such as sound, vibration and reaction force under the action of tapping, the location and degree of defects and other information are determined, providing data support for structural safety assessment and repair and reinforcement. However, at present, the tapping method mostly collects data through manual operation, which has a series of problems such as low efficiency, high safety risks of high-altitude operations, and poor accuracy of result judgment due to inconsistent tapping force. For this reason, some scholars have developed crawling robots to replace manual tapping, but there are still certain shortcomings, such as poor adsorption ability of crawling robots, easy to slip during vertical crawling; poor obstacle avoidance ability, key positions cannot be effectively detected; tapping parameter design is too single, etc.

[0003] Therefore, the utility model provides an intelligent crawling detection device based on knocking, which has strong adsorption ability, good obstacle avoidance ability and can adjust multiple knocking parameters. Utility Model Content

[0004] The purpose of the utility model is to provide an intelligent crawling detection device based on knocking to solve the problems mentioned in the above background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] An intelligent crawling detection device based on knocking, comprising a crawling module, a control module, a power supply module, an adsorption module and a knocking and collection module; the crawling module comprises a frame, a magnetic pulley, a mechanical arm and a crawling controller; the control module comprises a control circuit board, a Beidou unit and a wireless communication unit; the adsorption module comprises an electromagnetic suction cup; the power supply module comprises a lithium battery; the knocking and collection module comprises a lifting combination sleeve, an L-shaped hammer, a motor, a sound pressure sensor, a hammer head and an acceleration sensor;

[0007] In the crawling module, the interior of the frame is used to install a crawling controller, a lithium battery, a control circuit board, a Beidou unit, a wireless communication unit, an electromagnetic suction cup, a lifting combination sleeve and an acceleration sensor; the magnetic pulleys are respectively installed on the four lower corners of the bottom surface of the frame and the mechanical arm; one end of the mechanical arm is respectively installed at the lower corners of the two outer sides of the frame through a ball joint, and the other end is installed with a magnetic pulley; the crawling controller is connected to the magnetic pulley and the mechanical arm;

[0008] In the control module, the control circuit board is connected with the Beidou unit, the wireless communication unit, and the creeping controller, the lifting combination sleeve, the motor, the sound pressure sensor, the hammer head, the acceleration sensor and the electromagnetic sucker in other modules; the Beidou unit and the wireless communication unit are both installed inside the frame and connected to the control circuit board through a universal asynchronous receiver and transmitter interface, the Beidou unit is used to capture and detect position information, and the control circuit board transmits wireless information with the remote server through the wireless communication unit; the control circuit board is connected with the creeping controller, the lifting combination sleeve, the motor, the sound pressure sensor, the hammer head and the acceleration sensor through a serial peripheral interface, and controls the grasping and rotation commands of the creeping controller, the lifting action of the lifting combination sleeve, the impact force and frequency of the motor, the acquisition and stop of the sound pressure sensor, the acquisition and stop of the sensor inside the hammer head, and the acquisition and stop of the acceleration sensor through the pulse width modulation signal sent by the control circuit board; the control circuit board is connected to the electromagnetic sucker through the digital signal output port, so as to control the power on and off of the electromagnetic sucker;

[0009] The power supply module is located inside the vehicle frame, and the control module and the creep controller, lifting combination sleeve, motor, sound pressure sensor, hammer head, acceleration sensor and electromagnetic chuck in other modules are all connected to the power supply module;

[0010] In the knocking and collection module, the lifting combination sleeve is installed in the middle part of the front head inside the frame; the lifting combination sleeve includes a large diameter sleeve, a small diameter sleeve and a ball joint, the small diameter sleeve is sleeved in the large diameter sleeve, the ball joint is installed on the upper part of the small diameter sleeve, and the long arm end of the L-shaped hammer is connected to the ball joint; the motor is installed at the tail of the short arm of the L-shaped hammer; the hammer head is installed at the head of the short arm of the L-shaped hammer; a piezoelectric sensor is installed inside the hammer head; the sound pressure sensor is located near the head of the short arm of the L-shaped hammer; the acceleration sensor is installed at the side part of the front head inside the frame.

[0011] Furthermore, the wheel of the magnetic pulley is a magnetic magnet; the magnetic pulley is a universal wheel and can rotate 360 ​​degrees.

[0012] Furthermore, the mechanical arms are interlacedly connected to each other by connecting rods and ball joints.

[0013] Furthermore, the electromagnetic suction cup is located at the middle position of the inner side of the bottom of the frame, and a square hollow gap is opened at the middle position of the inner side of the bottom of the frame, and the gap area of ​​the hollow gap is smaller than the area of ​​the electromagnetic suction cup.

[0014] Furthermore, the creeping controller is located on both sides of the frame, the lithium battery is located on the left side of the frame, the Beidou unit, the control circuit board and the wireless communication unit are located on the rear side of the frame, the electromagnetic suction cup is located in the middle position of the frame, and the lifting combination sleeve and the acceleration sensor are located on the front side of the frame.

[0015] Furthermore, the sound pressure sensor and acceleration sensor use the pressure value of the piezoelectric sensor test not less than 10N as a trigger collection condition, and the collection time of the sound pressure sensor, acceleration sensor and piezoelectric sensor is set to 0.1s, and the collection frequency is 48KHz.

[0016] Compared with the prior art, the utility model has the following advantages:

[0017] (1) Low cost: The device has a simple structure and requires fewer devices, making it cheaper than traditional detection technologies such as infrared thermal imaging, ultrasonic waves, and fiber grating.

[0018] (2) Strong versatility: The device can perform vertical crawling detection on ferromagnetic structures, and can also perform horizontal movement detection on non-ferromagnetic structures.

[0019] (3) Strong adsorption capacity: By combining the three methods of electromagnetic suction cup, magnetic pulley and mechanical arm grasping operation, the firmness of the equipment during vertical detection is improved, and the risk of falling caused by gravity and knocking vibration is reduced.

[0020] (4) Good obstacle avoidance capability: The device is equipped with eight magnetic pulleys that can rotate 360°, and the moving direction of the device is accurately controlled by four crawling controllers. Due to the small size of the device, it can better avoid various obstacles and realize the detection of key parts.

[0021] (5) Multiple choices of striking parameters: The device controls the striking angle by adjusting the height of the long arm end of the L-shaped hammer through the lifting and lowering combination sleeve, and controls the frequency and strength of the hammer head's striking through the motor, thereby realizing the adjustment of the striking angle, frequency and strength.

[0022] (6) Multiple response parameters can be collected: The device uses sound pressure sensors, acceleration sensors and piezoelectric sensors in the hammer head to simultaneously collect three different signals: sound signals, acceleration signals and force signals, while traditional equipment can usually only collect a single signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the utility model.

[0024] Figure 2 It is another structural schematic diagram of the utility model.

[0025] Figure 3 It is a cross-sectional view of the mechanical arm of the present utility model.

[0026] Figure 4 It is a cross-sectional view of the knocking and collecting module of the utility model.

[0027] Figure 5 It is a top view of the frame of the utility model.

[0028] Figure 6 It is the internal layout diagram of the frame of the utility model.

[0029] Figure 7 This is a vertical crawling detection state diagram of the utility model.

[0030] Legend: 1. Frame; 2. Crawling controller; 3. Lithium battery; 4. Control circuit board; 5. Electromagnetic suction cup; 6. Lifting combination sleeve; 7. Magnetic pulley; 8. Robotic arm; 9. Beidou unit; 10. Wireless communication unit; 11. Motor; 12. Sound pressure sensor; 13. Hammer head; 14. Acceleration sensor; 15. Large diameter sleeve; 16. Small diameter sleeve; 17. Ball joint; 18. L-shaped hammer; 19. Piezoelectric sensor; 20. Measured steel tube concrete structure; 21. Bottom of the frame; 22. Hollow gap; 23. Connecting rod. DETAILED DESCRIPTION

[0031] The utility model is further described below in conjunction with the accompanying drawings of the specification.

[0032] Reference Figures 1 to 7 It can be seen that a knocking-based intelligent crawling detection device includes a crawling module, a control module, a power supply module, an adsorption module, and a knocking and collection module;

[0033] The crawling module includes a frame 1, eight magnetic pulleys 7, four mechanical arms 8 and four crawling controllers 2; the interior of the frame 1 is used to install the crawling controller 2, the lithium battery 3 of the power supply module, the control circuit board 4 of the control module, the Beidou unit 9 and the wireless communication unit 10, as well as the electromagnetic suction cup 5 of the adsorption module and the lifting combination sleeve 6 and the acceleration sensor 14 of the knocking and collection module; four of the eight magnetic pulleys 7 are installed at the four lower corners of the bottom surface of the frame 1, and the other four are installed on the four mechanical arms 8 respectively. The function of the magnetic pulley is to increase the adhesion with the measuring and detection structure. and drive the movement of the entire device; the mechanical arm 8 includes three connecting rods 23 and three ball joints 17, one end of the mechanical arm is respectively installed at the lower corners of the two outer sides of the frame 1 through the ball joints 17. When there is no need to hold and fix, the mechanical arm 8 can be disassembled and the four pulleys of the frame can be used to move the entire device; the crawling controller 2 is connected to the magnetic pulley 7 and the mechanical arm 8, and is used to control the stop and slide, sliding angle and sliding speed of the eight magnetic pulleys 7, and the holding and rotation operations of the mechanical arm 8, wherein the holding operation of the mechanical arm 8 is used to increase the fixing effect on the structure to be measured. Preferably, the wheel of the magnetic pulley is a magnetic magnet, which is used for both movement and increasing the adsorption effect on the steel structure to be measured; the magnetic pulley is a universal wheel, which can rotate 360° and can move to any set angle. The control module includes a control circuit board 4, a Beidou unit 9 and a wireless communication unit 10; the control circuit board 4, the Beidou unit 9 and the wireless communication unit 10 are all installed inside the frame 1; the Beidou unit 9 and the wireless communication unit 10 are connected to the control circuit board 4 through a universal asynchronous receiver and transmitter interface, the Beidou unit 9 is used to capture and detect position information, and the control circuit board 4 transmits wireless information to a remote server through the wireless communication unit 10; the control circuit board 4 is connected to the creeping controller 2, the lifting combination sleeve 6, the motor 11, the sound pressure sensor 12, the hammer head 13 and the acceleration sensor 14 through a serial peripheral interface, and the pulse width modulation signal emitted by the control circuit board 4 is used to control the grasping and rotation commands of the creeping controller 2, the lifting action of the lifting combination sleeve 6, the impact force and frequency of the motor 11, the acquisition and stop of the sound pressure sensor 12, the acquisition and stop of the internal sensor of the hammer head 13, and the acquisition and stop of the acceleration sensor 14; the control circuit board 4 is connected to the electromagnetic suction cup 5 of the adsorption module through the digital signal output port to control the power-on and power-off states of the electromagnetic suction cup 5.

[0034] The power supply module includes a lithium battery 3, which is located in the frame 1 and supplies power to the control module and other modules including the creeping controller 2, the lifting combination sleeve 6, the motor 11, the sound pressure sensor 12, the hammer head 13, the acceleration sensor 14 and the electromagnetic suction cup 5 to maintain the operation of the equipment.

[0035] like Figure 3The cross-sectional view of the mechanical arm of the tapping-based intelligent crawling detection device is shown. The mechanical arm 8 is composed of three connecting rods 23 and three ball joints 17 that are interlaced with each other to form a multi-degree-of-freedom system, thereby increasing the flexibility of the device's rotation.

[0036] Depend on Figure 4 It can be seen that the knocking and collection module includes a large-diameter sleeve 15, a small-diameter sleeve 16 and a ball joint 17. The small-diameter sleeve 16 is sleeved in the large-diameter sleeve 15, and the ball joint 17 is installed on the upper part of the small-diameter sleeve 16. The long arm end of the L-shaped hammer 18 is connected to the ball joint 17. The height of the knocking is adjusted by the lifting and lowering operation of the small-diameter sleeve 16, thereby controlling the knocking angle; the motor 11 is installed at the tail of the short arm of the L-shaped hammer 18, and is used to control the impact force and frequency of the hammer head 13; the hammer head 13 is installed at the head of the short arm of the L-shaped hammer 18, and is used to impact the structure to be tested. The piezoelectric sensor 19 can measure the force signal response information of the knocking process; the sound pressure sensor 12 is located near the short arm head of the L-shaped hammer 18, and is used to collect the sound signal during the knocking process; the acceleration sensor 14 is installed on the front side of the frame, and is used to collect the structural vibration response caused by the knocking process; the sound pressure sensor 12 and the acceleration sensor 14 both use the test pressure value of the piezoelectric sensor 19 not less than 10N as the trigger collection condition, and the collection time of the sound pressure sensor 12, the acceleration sensor 14 and the piezoelectric sensor 19 are all set to 0.1s, and the collection frequency is 48KHz.

[0037] exist Figure 5 , 6 In the embodiment, the adsorption module includes an electromagnetic suction cup 5, which is located in the middle of the bottom inner side of the vehicle frame 1. When powered on, the electromagnetic suction cup generates suction to fix the vehicle frame on the structure to be tested. In order to reduce the influence of the vehicle frame on the suction of the electromagnetic suction cup, a square hole 22 is opened in the middle of the bottom inner side of the vehicle frame 1. The hole area of ​​the hole 22 is smaller than the area of ​​the electromagnetic suction cup 5, so that the electromagnetic suction cup 5 can be fixed in the vehicle frame 1 without falling from the hole.

[0038] exist Figure 6 In the figure, four creeping controllers 2 are respectively located on both sides of the frame 1, the lithium battery 3 is located on the left side of the frame 1, the Beidou unit 9, the control circuit board 4 and the wireless communication unit 10 are located on the rear side of the frame 1, the electromagnetic suction cup 5 is located in the middle position of the frame 1, and the lifting combination sleeve 6 and the acceleration sensor 14 are located on the front side of the frame 1. Through the reasonable arrangement of different accessories, specific functions can be achieved and the overall balance of the equipment can be maintained.

[0039] The working principle of the intelligent crawling detection device based on knocking described in the utility model is as follows Figure 7As shown, after the intelligent crawling detection device moves to a specific area of ​​the steel tube concrete structure 20 to be tested, the control circuit board 4 sends instructions through the program, the electromagnetic suction cup 5 is energized, and the device is firmly fixed in the detection area through the generated electromagnetic suction force. Then, the lifting and lowering combination sleeve 6 adjusts the long arm end of the L-shaped hammer 18 to the designed height through the lifting operation. Then, the lifting and lowering combination sleeve 6 adjusts the rotation of the ball joint 17 so that the hammer head 13 can approach the surface of the steel tube concrete structure 20 to be tested. Then, the motor 11 drives the hammer head 13 to knock the surface of the steel tube concrete structure 20 to be tested according to the previously set frequency and force. During the knocking process, the piezoelectric sensor 19 in the hammer head 13 continuously tests the pressure value. When the pressure value is not less than 10N, the sound pressure sensor 12 and the acceleration sensor 14 are started. The piezoelectric sensor 19, the sound pressure sensor 12 and the acceleration sensor 14 are all continuously collected for 0.1s, and the collection frequency is 48KHz. After completing the data collection of a certain area point, the data is transmitted to the remote server for storage through the wireless communication unit 10. Subsequently, the electromagnetic suction cup 5 is powered off, and the intelligent crawling detection device crawls to the next designated area through the crawling module, and continues to repeat the above operations.

Claims

1. An intelligent crawling detection device based on knocking, characterized in that: It includes a crawling module, a control module, a power supply module, an adsorption module and a knocking and collection module; the crawling module includes a frame, a magnetic pulley, a mechanical arm and a crawling controller; the control module includes a control circuit board, a Beidou unit and a wireless communication unit; the adsorption module includes an electromagnetic suction cup; the power supply module includes a lithium battery; the knocking and collection module includes a lifting combination sleeve, an L-shaped hammer, a motor, a sound pressure sensor, a hammer head and an acceleration sensor; In the crawling module, the interior of the frame is used to install a crawling controller, a lithium battery, a control circuit board, a Beidou unit, a wireless communication unit, an electromagnetic suction cup, a lifting combination sleeve and an acceleration sensor; the magnetic pulleys are respectively installed on the four lower corners of the bottom surface of the frame and the mechanical arm; one end of the mechanical arm is respectively installed at the lower corners of the two outer sides of the frame through a ball joint, and the other end is installed with a magnetic pulley; the crawling controller is connected to the magnetic pulley and the mechanical arm; In the control module, the control circuit board is connected with the Beidou unit, the wireless communication unit, and the creeping controller, the lifting combination sleeve, the motor, the sound pressure sensor, the hammer head, the acceleration sensor and the electromagnetic sucker in other modules; the Beidou unit and the wireless communication unit are both installed inside the frame and connected to the control circuit board through a universal asynchronous receiver and transmitter interface, the Beidou unit is used to capture and detect position information, and the control circuit board transmits wireless information with the remote server through the wireless communication unit; the control circuit board is connected with the creeping controller, the lifting combination sleeve, the motor, the sound pressure sensor, the hammer head and the acceleration sensor through a serial peripheral interface, and controls the grasping and rotation commands of the creeping controller, the lifting action of the lifting combination sleeve, the impact force and frequency of the motor, the acquisition and stop of the sound pressure sensor, the acquisition and stop of the sensor inside the hammer head, and the acquisition and stop of the acceleration sensor through the pulse width modulation signal sent by the control circuit board; the control circuit board is connected to the electromagnetic sucker through the digital signal output port, so as to control the power on and off of the electromagnetic sucker; The power supply module is located inside the vehicle frame, and the control module and the creep controller, lifting combination sleeve, motor, sound pressure sensor, hammer head, acceleration sensor and electromagnetic chuck in other modules are all connected to the power supply module; In the knocking and collection module, the lifting combination sleeve is installed in the middle part of the front head inside the frame; the lifting combination sleeve includes a large diameter sleeve, a small diameter sleeve and a ball joint, the small diameter sleeve is sleeved in the large diameter sleeve, the ball joint is installed on the upper part of the small diameter sleeve, and the long arm end of the L-shaped hammer is connected to the ball joint; the motor is installed at the tail of the short arm of the L-shaped hammer; the hammer head is installed at the head of the short arm of the L-shaped hammer; a piezoelectric sensor is installed inside the hammer head; the sound pressure sensor is located near the head of the short arm of the L-shaped hammer; the acceleration sensor is installed at the side part of the front head inside the frame.

2. The intelligent crawling detection device based on knocking according to claim 1, characterized in that: The wheel of the magnetic pulley is a magnet with magnetism; the magnetic pulley is a universal wheel and can rotate 360 ​​degrees.

3. The intelligent crawling detection device based on knocking according to claim 1, characterized in that: The mechanical arms are connected to each other in an interlaced manner by connecting rods and ball joints.

4. The intelligent crawling detection device based on knocking according to claim 1, characterized in that: The electromagnetic suction cup is located at the middle position of the inner side of the bottom of the frame, and a square hollow gap is opened at the middle position of the inner side of the bottom of the frame, and the gap area of ​​the hollow gap is smaller than the area of ​​the electromagnetic suction cup.

5. The intelligent crawling detection device based on knocking according to claim 1, characterized in that: The creeping controller is located on both sides of the frame, the lithium battery is located on the left side of the frame, the Beidou unit, the control circuit board and the wireless communication unit are located on the rear side of the frame, the electromagnetic suction cup is located in the middle position of the frame, and the lifting combination sleeve and the acceleration sensor are located on the front side of the frame.

6. The intelligent crawling detection device based on knocking according to claim 1, characterized in that: The sound pressure sensor and acceleration sensor use the pressure value of the piezoelectric sensor test not less than 10N as the trigger collection condition, and the collection time of the sound pressure sensor, acceleration sensor and piezoelectric sensor is set to 0.1s, and the collection frequency is 48KHz.

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