CN111604878A - Detection robot - Google Patents
Detection robot Download PDFInfo
- Publication number
- CN111604878A CN111604878A CN202010490465.5A CN202010490465A CN111604878A CN 111604878 A CN111604878 A CN 111604878A CN 202010490465 A CN202010490465 A CN 202010490465A CN 111604878 A CN111604878 A CN 111604878A
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- robot
- controller
- inspection
- main body
- detected
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- 238000001514 detection method Methods 0.000 title claims abstract description 52
- 238000004140 cleaning Methods 0.000 claims abstract description 19
- 238000007689 inspection Methods 0.000 claims description 17
- 230000007547 defect Effects 0.000 claims description 12
- 238000010422 painting Methods 0.000 claims description 4
- 238000001179 sorption measurement Methods 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 238000004939 coking Methods 0.000 description 6
- 230000008021 deposition Effects 0.000 description 6
- 239000000428 dust Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 238000001816 cooling Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/06—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a detection robot, including: a robot main body; the walking device is arranged on the robot main body and used for driving the robot main body to walk along a working surface; the cleaning device is arranged on the robot main body and used for cleaning an object to be detected; and the detection device is arranged on the robot main body and used for detecting the cleaned object to be detected. The invention can improve the detection accuracy of the detection robot.
Description
Technical Field
The invention relates to the technology of mechanical equipment, in particular to a detection robot.
Background
With the development of science and technology and social economy, the thermal power water-cooled wall is usually detected by using a detection robot.
The existing detection robot comprises a robot body, a walking device and a detection device, wherein the walking device and the detection device are arranged on the robot body, the walking device is used for driving the robot body to walk along a working surface, and the detection device is used for detecting an object to be detected.
However, in practical applications, the environment and the condition of the object to be detected are complicated, which affects the accuracy of detection.
Disclosure of Invention
The invention provides a detection robot, which aims to improve the detection accuracy.
The present invention provides a detection robot, including:
a robot main body;
the walking device is arranged on the robot main body and used for driving the robot main body to walk along a working surface;
the cleaning device is arranged on the robot main body and used for cleaning an object to be detected;
and the detection device is arranged on the robot main body and used for detecting the cleaned object to be detected.
Based on the above, when the detection robot provided by the invention is used, the cleaning device can be used for cleaning an object to be detected so as to remove dirt such as dust deposition, coking and the like on the surface of the object to be detected, and then the detection device can be used for detecting the cleaned object to be detected. Therefore, the influence of dirt such as dust deposition, coking and the like on the surface of the object to be detected on detection can be eliminated, and the detection accuracy is improved.
Drawings
Fig. 1 is a schematic front structural diagram of a detection robot according to an embodiment of the present invention;
fig. 2 is a schematic back structure diagram of a detection robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control system of a detection robot according to an embodiment of the present invention.
Reference numerals:
101: a robot main body; 102: a traveling device; 103: a cleaning device;
104: a detection device; 105: a marking device; 106: a high pressure spray head;
107: a positioning system; 108: a controller; 109: an obstacle sensor;
110: provided is a high-definition camera.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and fig. 2, an embodiment of the invention provides a detection robot, including: a robot main body 101; the walking device 102 is arranged on the robot main body 101 and used for driving the robot main body 101 to walk along a working surface; the cleaning device 103 is arranged on the robot main body 101 and used for cleaning an object to be detected; and the detection device 104 is arranged on the robot main body 101 and is used for detecting the cleaned object to be detected.
When the detection robot in this embodiment is used, the object to be detected can be cleaned by the cleaning device 103 to remove dirt such as dust deposition, coking and the like on the surface of the object to be detected, and then the cleaned object to be detected can be detected by the detection device 104. Therefore, the influence of dirt such as dust deposition, coking and the like on the surface of the object to be detected on detection can be eliminated, and the detection accuracy is improved.
In this embodiment, the inspection robot further includes a marking device 105, the marking device 105 is disposed on the robot main body 101, the detecting device 104 is configured to perform defect detection on the cleaned object to be detected to determine a defect position, and the marking device 105 is configured to mark the defect position. The defect detection is carried out on the cleaned object to be detected through the detection device 104, the defect position can be accurately determined, then the marking device 105 is used for marking the defect position, the defect position can be accurately marked, and the subsequent processing is facilitated. In addition, dirt such as dust deposition, coking and the like on the surface of the object to be detected is eliminated, so that the definition of the mark is improved.
In this embodiment, the marking device 105 is a painting device, and the painting device is used for painting and marking the defect position. This makes the marking device 105 simple in structure and clear in marking.
In this embodiment, the detecting device 104 is a thickness gauge, the thickness gauge is used for detecting the cleaned object to be detected to confirm the position of the thinning point on the object to be detected, and the marking device 105 is used for marking the thinning point. Preferably, the thickness gauge is an electromagnetic ultrasonic thickness measuring probe.
In this embodiment, the cleaning device 103 includes a high-pressure nozzle 106, and the high-pressure nozzle 106 is disposed on the robot main body 101 and is used for spraying a cleaning liquid to clean the object to be detected. Therefore, dirt such as dust deposition, coking and the like on the surface of the object to be detected can be better eliminated by spraying high-pressure cleaning liquid to the object to be detected.
In this embodiment, the cleaning device 103 further includes a wiping device, and the wiping device is disposed on the robot main body 101 and is used for wiping the cleaned object to be tested. From this, can detach the water on the robot main part 101 through wiping, do benefit to the accuracy that further improves the test to can eliminate the influence of water to the mark, do benefit to the firmness that improves the mark.
Referring to fig. 3, in this embodiment, the detection robot further includes an adsorption device, a positioning system 107, and a controller 108, the adsorption device is configured to adsorb a working surface, the controller 108 is connected to the positioning system 107 and the walking device 102, the positioning system 107 is at least capable of obtaining position information of the detection device 104 in a vertical position coordinate and providing the position information to the controller 108, and the controller 108 is configured to control the walking device 102 to drive the robot main body 101 to walk along the working surface according to the position information. Therefore, when the object to be detected is a vertically extending water-cooling pipe wall and the pipe on the water-cooling pipe wall extends along the horizontal direction, the detection device 104 needs to move along the axial direction of the pipe to be detected and keep a positioning state with the pipe to be detected in the radial direction of the pipe to be detected under the driving of the walking device 102, when the position information of the detection device 104 in the vertical position coordinate changes, it is indicated that the detection device 104 has a relative displacement with the pipe to be detected in the radial direction of the pipe to be detected, at this moment, the controller 108 can control the walking device 102 to drive the robot main body 101 to walk along the working surface according to the position information so as to adjust the direction of the robot main body 101, it is ensured that the detection device 104 keeps the positioning state with the pipe to.
In this embodiment, the positioning system 107 includes a laser ranging device, the laser ranging device is connected to the controller 108, the laser ranging device is used for measuring a height parameter of the position of the detection device 104 and providing the height parameter to the controller 108, and the controller 108 controls the traveling device 102 to drive the robot main body 101 to travel along the working surface at least according to the height parameter. Therefore, the controller 108 can more accurately judge whether the detection device 104 has relative displacement with the pipe to be detected in the radial direction of the pipe to be detected through the height parameter of the position of the detection device 104, thereby being beneficial to further improving the detection accuracy.
In this embodiment, the detection robot further includes an obstacle sensor 109, the obstacle sensor 109 is connected to the controller 108, the obstacle sensor 109 is configured to sense an obstacle parameter and provide the obstacle parameter to the controller 108, and the controller 108 is configured to control the walking device 102 to drive the robot main body 101 to walk along the working surface according to the obstacle parameter. Therefore, the detection robot can realize the obstacle avoidance function, and the use reliability of the detection robot is improved.
In the present embodiment, the obstacle sensor 109 is an ultrasonic sensor. Therefore, the accuracy of obstacle parameter sensing is improved.
In this embodiment, the obstacle sensor 109 is an environment camera. The controller 108 is provided with an environment picture taken by the environment camera, and the controller 108 can identify the obstacle through the environment picture, so that the accuracy of obstacle parameter sensing is improved.
In this embodiment, the detection robot further includes a high definition camera 110, the high definition camera 110 is disposed on the robot main body 101, the high definition camera 110 is in communication connection with the remote device, and the high definition camera 110 is used for taking a picture of a detection position of the detection device 104 and providing the picture to the remote device. Therefore, the condition of the detection position can be observed conveniently by a worker through the remote equipment.
In this embodiment, the inspection robot further includes an illumination lamp, and the illumination lamp is disposed on the robot main body 101. Thereby, the sharpness of the image taken by the high definition camera 110 is improved by the illumination.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An inspection robot, comprising:
a robot main body;
the walking device is arranged on the robot main body and used for driving the robot main body to walk along a working surface;
the cleaning device is arranged on the robot main body and used for cleaning an object to be detected;
and the detection device is arranged on the robot main body and used for detecting the cleaned object to be detected.
2. The inspection robot of claim 1, further comprising a marking device disposed on the robot body, wherein the inspection device is configured to perform defect inspection on the cleaned object to be inspected to determine a defect position, and the marking device is configured to mark the defect position.
3. The inspection robot of claim 2, wherein the marking device is a painting device for painting-marking the defect location.
4. The inspection robot according to claim 2, wherein the inspection device is a thickness gauge for inspecting the cleaned object to be inspected to determine the position of the thinning point on the object to be inspected, and the marking device is configured to mark the thinning point.
5. The inspection robot as claimed in claim 1, wherein the cleaning device includes a high pressure nozzle provided on the robot body for spraying a cleaning liquid to clean the object to be inspected.
6. The inspection robot according to claim 4, wherein the cleaning device further comprises a wiping device provided on the robot body, the wiping device being configured to wipe the cleaned object to be inspected.
7. The inspection robot of claim 1, further comprising an adsorption device, a positioning system and a controller, wherein the adsorption device is used for adsorbing the working surface, the controller is connected with the positioning system and the walking device, the positioning system is capable of at least acquiring position information of the inspection device in a vertical position coordinate and providing the position information to the controller, and the controller is used for controlling the walking device to drive the robot main body to walk along the working surface according to the position information.
8. The inspection robot of claim 7, wherein the positioning system comprises a laser distance measuring device, the laser distance measuring device is connected to the controller, the laser distance measuring device is used for measuring a height parameter of a position of the inspection device and providing the height parameter to the controller, and the controller controls the traveling device to drive the robot body to travel along the working surface at least according to the height parameter.
9. The inspection robot of claim 7, further comprising an obstacle sensor connected to the controller, the obstacle sensor being configured to sense an obstacle parameter and provide the obstacle parameter to the controller, and the controller being configured to control the walking device to move the robot body along the working surface according to the obstacle parameter.
10. The inspection robot of claim 9, wherein the obstacle sensor is an ultrasonic sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010490465.5A CN111604878A (en) | 2020-06-02 | 2020-06-02 | Detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010490465.5A CN111604878A (en) | 2020-06-02 | 2020-06-02 | Detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN111604878A true CN111604878A (en) | 2020-09-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010490465.5A Pending CN111604878A (en) | 2020-06-02 | 2020-06-02 | Detection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113465481A (en) * | 2021-07-05 | 2021-10-01 | 张应娟 | Flatness detector for metal processing production |
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| KR101688122B1 (en) * | 2016-05-30 | 2016-12-20 | (주) 에코센스 | Photovoltaic Panel Cleaning Robot Detecting Cracks in Solar Panels Using Camera |
| CN109499979A (en) * | 2019-01-15 | 2019-03-22 | 北京史河科技有限公司 | Underwater cleaning robot |
| CN109707951A (en) * | 2018-12-21 | 2019-05-03 | 云南大红山管道有限公司 | Urban groundwater drainage pipeline networks detection method |
| CN110203297A (en) * | 2019-06-25 | 2019-09-06 | 北京史河科技有限公司 | Climb wall detection robot |
| CN110300889A (en) * | 2016-12-23 | 2019-10-01 | 壁虎机器人技术公司 | Detect robot |
| CN212497735U (en) * | 2020-06-02 | 2021-02-09 | 北京史河科技有限公司 | Detection robot |
-
2020
- 2020-06-02 CN CN202010490465.5A patent/CN111604878A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101688122B1 (en) * | 2016-05-30 | 2016-12-20 | (주) 에코센스 | Photovoltaic Panel Cleaning Robot Detecting Cracks in Solar Panels Using Camera |
| CN110300889A (en) * | 2016-12-23 | 2019-10-01 | 壁虎机器人技术公司 | Detect robot |
| CN109707951A (en) * | 2018-12-21 | 2019-05-03 | 云南大红山管道有限公司 | Urban groundwater drainage pipeline networks detection method |
| CN109499979A (en) * | 2019-01-15 | 2019-03-22 | 北京史河科技有限公司 | Underwater cleaning robot |
| CN110203297A (en) * | 2019-06-25 | 2019-09-06 | 北京史河科技有限公司 | Climb wall detection robot |
| CN212497735U (en) * | 2020-06-02 | 2021-02-09 | 北京史河科技有限公司 | Detection robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113465481A (en) * | 2021-07-05 | 2021-10-01 | 张应娟 | Flatness detector for metal processing production |
| CN113465481B (en) * | 2021-07-05 | 2023-12-12 | 深圳鑫思想科技有限公司 | Flatness detector for metal processing production |
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