Crawling trolley for wall surface detection
By setting up multi-camera and thickness measurement components on the front and rear ends of the crawler car, combined with the magnetic wall-climbing mechanism, the problems of low detection accuracy and efficiency of the traditional crawler car are solved, and efficient and comprehensive detection of the wall surface is achieved.
Patent Information
- Application Number
- CN202421852506.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-01
- Publication Date
- 2025-07-29
- Estimated Expiration
- 2034-08-01
AI Technical Summary
The detection accuracy and efficiency of traditional crawlers are low. The camera is only installed on the front end of the robot, making it difficult to fully detect the wall conditions.
The first and second shooting components are respectively provided at the front and rear ends of the crawling car, and comprehensive inspection is performed using the first camera and the second camera, and a thickness measurement component is equipped with an ultrasonic probe to detect the wall thickness, and a stable crawling is achieved with a magnetic wall-sucking mechanism.
It improves the accuracy and efficiency of wall detection, ensures complete coverage and thickness detection of the front and rear areas of the wall, and enhances the comprehensiveness and accuracy of the detection.
Smart Images
Figure CN223161886U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of self - moving detection, and particularly to a crawling vehicle for wall detection. Background Art
[0002] Magnetic adsorption wall - climbing robots, as mobile carriers for operation in unstructured environments, have been widely used in the production and construction of steel structures such as spherical (storage) tanks, pipelines, shipbuilding, aviation, automobiles, boilers, power stations, water turbines, buildings, locomotives, etc.; wall - climbing robots can take pictures of the wall surface while crawling on the inner wall of the tank. Traditional crawling vehicles only install cameras at the front end (the forward - moving direction side) of the robot, resulting in low detection accuracy and low efficiency. Utility Model Content
[0003] To overcome the above - mentioned drawbacks, the purpose of this application is to provide a crawling vehicle for wall detection, so as to improve the detection accuracy and efficiency.
[0004] To achieve the above purpose, this application adopts the following technical solutions:
[0005] This solution provides a crawling vehicle for wall detection, including:
[0006] A chassis,
[0007] A magnetic adsorption wall - climbing mechanism configured to drive the crawling vehicle to crawl on the wall;
[0008] A detection mechanism disposed on the chassis, which includes a shooting assembly. The shooting assembly includes a first shooting assembly and a second shooting assembly. Among them,
[0009] The first shooting assembly is disposed at the first end of the chassis and is configured to shoot the area to be crawled by the crawling vehicle,
[0010] The second shooting assembly is disposed at the second end of the chassis and is configured to shoot the area that the crawling vehicle has crawled.
[0011] Further, the first shooting assembly includes a first camera and a telescopic device. The telescopic device is configured to drive the first camera to move. The telescopic device includes a first linear module, and the first camera is connected to the first linear module.
[0012] Further, the second shooting assembly includes a second camera, a third camera, and a bracket. The second camera and the third camera are disposed on the bracket.
[0013] Furthermore, the detection mechanism further includes a thickness measurement component, which is arranged at the second end of the chassis and configured to measure the wall thickness of the crawling area of the crawling vehicle. The thickness measurement component includes an ultrasonic probe and a biaxial translation module, and the biaxial translation module is connected to the ultrasonic probe and configured to drive the ultrasonic probe to move.
[0014] Furthermore, the biaxial translation module includes a first movable frame and a second linear module. The driving end of the second linear module is connected to the first movable frame and configured to drive the ultrasonic probe on the first movable frame to move up and down.
[0015] Furthermore, the biaxial translation module further includes a second movable frame and a third linear module. The third linear module is arranged on the first movable frame, and the driving end of the third linear module is electrically connected to the second movable frame. The ultrasonic probe is arranged on the second movable frame, and the third linear module is configured to drive the ultrasonic probe on the second movable frame to translate.
[0016] Furthermore, the crawling vehicle further includes a cleaning component, which is arranged at the first end of the chassis and configured to clean the crawling area of the crawling vehicle. The cleaning component includes a brush head and a jet nozzle. The brush head is connected to a fourth linear module, and the fourth linear module is configured to drive the brush head to move up and down.
[0017] Furthermore, the magnetic adsorption wall-climbing mechanism includes a crawler belt and a magnetic adsorption part arranged on the crawler belt. The crawler belt is arranged on the chassis and configured to drive the chassis to move on the wall surface, and the magnetic adsorption part is configured to adsorb the chassis on the wall surface.
[0018] Furthermore, the magnetic adsorption wall-climbing mechanism further includes a driving motor and a synchronous chain device. The synchronous chain device includes a synchronous chain, a driving sprocket and a driven sprocket. The driving sprocket and the driven sprocket are connected by the synchronous chain, and the driving sprocket is connected to the output end of the driving motor.
[0019] Furthermore, the crawler belt includes a plurality of chain plates uniformly distributed along the synchronous chain, and the chain plates are fixed on the synchronous chain. The magnetic adsorption part includes a permanent magnet, and the permanent magnet is arranged on the surface of the chain plate facing away from the synchronous chain.
[0020] Furthermore, mounting grooves are formed on the surface of the chain plate, and the permanent magnets are embedded in the mounting grooves.
[0021] Beneficial effects
[0022] In this application, a first camera assembly is provided at the front end of the crawling vehicle to detect the area in front of the crawling vehicle and capture images at the same time, so as to judge whether there is damage on the wall surface. At the same time, a second camera assembly is provided at the rear end of the crawling vehicle to scan all areas passed by the crawling vehicle, capture images, and confirm the damage condition of the wall surface in the crawling area. By using the first camera assembly and the second camera assembly in cooperation for detection, the detection accuracy is improved.
[0023] In this application, a thickness measuring assembly is provided at the rear end of the crawling vehicle. The thickness of the wall surface in the crawling area of the robot is detected by an ultrasonic probe, and the damage condition of the wall surface is judged according to the wall thickness condition. Description of the Drawings
[0024] The drawings are used to provide an understanding of the technical solutions of the present disclosure and form a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the technical solutions of the present disclosure and do not constitute a limitation to the technical solutions of the present disclosure. The shapes and sizes of the components in the drawings do not reflect the actual proportions, and the purpose is only to schematically illustrate the content of this application.
[0025] Figure 1 It is a schematic diagram of the overall structure of the crawling vehicle in an embodiment of the present utility model.
[0026] Figure 2 It is a schematic diagram of the structure of the first shooting assembly and the cleaning assembly in an embodiment of the present utility model.
[0027] Figure 3 It is a schematic diagram of the structure of the second shooting assembly in an embodiment of the present utility model.
[0028] Figure 4 It is a schematic diagram of the structure of the thickness measuring assembly in an embodiment of the present utility model Figure 1 。
[0029] Figure 5 It is a schematic diagram of the structure of the thickness measuring assembly in an embodiment of the present utility model Figure 2 。
[0030] Figure 6 It is a schematic diagram of the crawler structure in an embodiment of the present utility model.
[0031] In the above drawings, 1, chassis; 2, first camera; 3, second camera; 4, ultrasonic probe; 5, first linear module; 6, bracket; 7, double-axis translation module; 71, first movable frame; 72, second linear module; 73, second movable frame; 74, third linear module; 8, third camera; 9, brush head; 10, air nozzle; 11, fourth linear module; 101, chain plate; 102, synchronous chain; 103, driving sprocket; 104, driven sprocket; 105, permanent magnet. Detailed Embodiments
[0032] The above solution will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are for illustrating the present application and not for limiting the scope of the present application. The implementation conditions adopted in the embodiments can be further adjusted according to the conditions of specific manufacturers, and the implementation conditions not specified are usually those in conventional experiments.
[0033] Unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should have the ordinary meanings understood by those of ordinary skill in the art to which the present application belongs. The "first", "second" and similar terms used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "including" or "comprising" mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. In this document, "electrical connection" includes cases where components are connected together through elements having a certain electrical effect. There is no particular limitation on the "element having a certain electrical effect" as long as it can transfer electrical signals between the components to be connected. The "element having a certain electrical effect" can be, for example, an electrode or a wiring, or a switching element such as a transistor, or other functional elements such as a resistor, an inductor or a capacitor. The "upper", "lower", "left", "right" etc. are only used to represent relative position relationships, and when the absolute position of the object being described changes, the relative position relationship may also change accordingly.
[0034] In the present application, the orientation or position relationship indicated by terms such as "upper", "lower", "inner", "middle" etc. is based on the orientation or position relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit that the indicated device, element or component must have a specific orientation, or be constructed and operated in a specific orientation.
[0035] Embodiment
[0036] This embodiment discloses a crawling vehicle for wall detection, which is used for wall detection (such as the wall detection of the water-cooled wall of a thermal power boiler). The crawling vehicle includes a chassis, a crawling mechanism, and a detection mechanism. The crawling mechanism is arranged on the chassis and is used to drive the crawling vehicle to crawl; the detection mechanism is arranged on the chassis. The detection mechanism includes a first shooting component and a second shooting component. The first shooting component is arranged at the first end (front end, usually the forward direction side) of the chassis and is used to shoot the area in front of the crawling vehicle (the first area). The second shooting component is arranged at the second end (rear end) of the chassis and is used to shoot the area behind the crawling vehicle (the second area). By using the first camera component and the second camera component in cooperation for detection, the detection accuracy is improved.
[0037] Next, in combination with Figures 1-6 to describe in detail the crawling vehicle proposed in this application.
[0038] As Figure 1 and Figure 2 shown, the first shooting component includes a first camera 2 and a telescopic device. The first camera 2 is used to detect the area in front of the crawling vehicle and shoot images at the same time. It can shoot the images of the wall while exploring the way for the area in front of the crawling vehicle to conduct a preliminary inspection of the wall. The inspection includes checking whether there are any damages on the wall.
[0039] In some embodiments, the first camera 2 is arranged at the front end of the chassis 1. The first camera 2 includes, but is not limited to, a circular 360-degree panoramic camera. And a telescopic device is arranged at the front end of the chassis 1. The telescopic device is used to drive the first camera 2 to extend / retract from the front end of the chassis 1. Extending out of the chassis 1 facilitates the first camera 2 to shoot, while retracting into the chassis 1 is to ensure that the first camera 2 can effectively avoid obstacles when the crawling vehicle crawls in some special positions (such as crawling from a lower plane to a higher plane).
[0040] In some embodiments, the telescopic device includes a first linear module 5 (such as a roller screw module, etc.). The first camera 2 is installed at the driving end of the linear module through a mounting plate, and the first camera 2 is driven by the linear module to translate to complete the extension / retraction action.
[0041] As Figure 1 and Figure 3 shown, the second shooting component includes a second camera 3, a third camera 8, and a bracket 6. The second camera 3 is used to scan all the areas passed by the crawling vehicle and shoot images. After the first camera 2 conducts a preliminary inspection, the second camera 3 conducts a secondary inspection of the wall again to ensure the detection accuracy. At the same time, the second camera 3 can shoot all the areas passed by the crawling vehicle into a complete image, which is convenient for subsequent summarization of the overall detection situation of the wall. And the third camera 8 is used as an auxiliary device to assist the second camera 3 in shooting and detecting.
[0042] In some embodiments, the second camera 3 and the third camera 8 are disposed on the bracket 6 at the rear end of the chassis 1, and the angles of the second camera 3 and the third camera 8 are adjustable. Preferably, as Figure 3 shown, the lens of the second camera 3 is perpendicular to the wall surface, and the lens of the third camera 8 forms a 45-degree angle with the wall surface.
[0043] As Figure 4 and Figure 5 shown, the detection mechanism further includes a thickness measurement component, which is used to detect the thickness of the wall surface and judge the damage condition of the wall surface based on the wall thickness situation.
[0044] In some embodiments, the thickness measurement component includes an ultrasonic probe 4 and a biaxial translation module 7 for driving the ultrasonic probe to move. As Figure 4 and Figure 5 shown, the biaxial translation module 7 includes a first movable frame 71 and a second linear module 72. The driving end of the second linear module 72 is connected to the first movable frame 71, and is configured to drive the ultrasonic probe 4 on the first movable frame 71 to move up and down; the biaxial translation module further includes a second movable frame 73 and a third linear module 74. The third linear module 74 is disposed on the first movable frame 71, and the driving end of the third linear module 74 is connected to the second movable frame 73. The ultrasonic probe 4 is disposed on the second movable frame 73, and the third linear module 74 is configured to drive the ultrasonic probe 4 on the second movable frame 73 to translate, so that the ultrasonic probe 4 can accurately move to the part to be detected and contact the wall surface for detection.
[0045] As Figure 1 and Figure 2 shown, the crawling vehicle further includes a cleaning component, which is used to clean the crawling area of the crawling vehicle and clean foreign matters (such as dust) on the wall surface to facilitate the camera to capture clear images.
[0046] In some embodiments, the cleaning component is disposed at the front end of the chassis 1 and includes a brush head 9 and an air nozzle 10 used in cooperation with the brush head 9. At the same time, the brush head 9 is connected to a fourth linear module 11 (such as a roller screw module), and the fourth linear module 11 drives the brush head 9 to move up and down.
[0047] As Figure 6As shown, the magnetic adsorption wall-climbing mechanism includes a crawler belt and a magnetic adsorption part arranged on the crawler belt. The magnetic adsorption part includes a permanent magnet. The crawler belt includes a number of chain plates 101 evenly distributed along the synchronous chain. The synchronous chain device includes a synchronous chain 102, a driving sprocket 103, and a driven sprocket 104. The driving sprocket 103 is connected to the output end of a driving motor. An installation groove is formed on the surface of the chain plate 101, and the permanent magnet 105 is embedded in the installation groove. Adsorption is achieved through the permanent magnet 105 to meet the requirement for the crawler mechanism to climb on a wall surface (such as the inner wall surface of a storage tank, etc.). In some embodiments, the permanent magnet 105 is embedded in the installation groove to make the surface of the chain plate 101 flat, which can meet the adsorption requirement of the permanent magnet 105 without affecting the normal crawling function of the crawler belt.
[0048] The above embodiments are only for illustrating the technical concept and features of the present application, and the purpose is to enable those who are familiar with this technology to understand the content of the present application and implement it accordingly. It should not be used to limit the protection scope of the present application. Any equivalent transformation or modification made in accordance with the spirit of the present application should be covered within the protection scope of the present application.
Claims
1. A crawling vehicle for wall detection, characterized by: Comprising: A chassis, A magnetic adsorption wall-climbing mechanism configured to drive the crawling vehicle to crawl on the wall surface; A detection mechanism provided on the chassis, which includes a photographing assembly. The photographing assembly includes a first photographing assembly and a second photographing assembly. Among them, The first photographing assembly is provided at the first end of the chassis and is configured to photograph the area to be crawled by the crawling vehicle. The second photographing assembly is provided at the second end of the chassis and is configured to photograph the area that the crawling vehicle has crawled.
2. The crawling vehicle according to claim 1, characterized in that: The first photographing assembly includes a first camera and a telescopic device configured to drive the first camera to move. The telescopic device includes a first linear module, and the first camera is connected to the first linear module.
3. The crawling vehicle according to claim 1, characterized in that: The second photographing assembly includes a second camera, a third camera and a bracket, and the second camera and the third camera are provided on the bracket.
4. The crawling vehicle according to claim 1, characterized in that: The detection mechanism further includes a thickness measurement component provided at the second end of the chassis and configured to measure the wall thickness of the crawling area of the crawling vehicle. The thickness measurement component includes an ultrasonic probe and a biaxial translation module connected to the ultrasonic probe and configured to drive the ultrasonic probe to move.
5. The crawling trolley according to claim 4, wherein: The biaxial translation module includes a first movable frame and a second linear module. The driving end of the second linear module is connected to the first movable frame and is configured to drive the ultrasonic probe on the first movable frame to lift.
6. The crawling trolley according to claim 5, wherein: The biaxial translation module further includes a second movable frame and a third linear module. The third linear module is provided on the first movable frame, and the driving of the third linear module is electrically connected to the second movable frame. The ultrasonic probe is provided on the second movable frame, and the third linear module is configured to drive the ultrasonic probe on the second movable frame to translate.
7. The crawling vehicle according to claim 1, characterized in that: The crawling vehicle further includes a cleaning component provided at the first end of the chassis and configured to clean the crawling area of the crawling vehicle. The cleaning component includes a brush head and a nozzle. The brush head is connected to a fourth linear module configured to drive the brush head to lift.
8. The crawling vehicle according to claim 1, characterized in that: The magnetic adsorption wall-climbing mechanism includes a crawler belt and a magnetic adsorption part provided on the crawler belt. The crawler belt is provided on the chassis and is configured to drive the chassis to move on the wall surface, and the magnetic adsorption part is configured to adsorb the chassis on the wall surface.
9. The crawling vehicle according to claim 8, characterized in that: The magnetic adsorption wall-climbing mechanism further includes a driving motor and a synchronous chain device. The synchronous chain device includes a synchronous chain, a driving sprocket and a driven sprocket. The driving sprocket and the driven sprocket are connected by the synchronous chain, and the driving sprocket is connected to the output end of the driving motor.
10. The crawling trolley according to claim 9, wherein: The crawler belt includes a plurality of chain plates evenly distributed along the synchronous chain, the chain plates are fixed on the synchronous chain, the magnetic attraction part includes a permanent magnet, and the permanent magnet is arranged on the surface of the chain plate facing away from the synchronous chain.
11. The crawling trolley according to claim 10, characterized in that: An installation groove is formed on the surface of the chain plate, and the permanent magnet is embedded in the installation groove.