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CN-121989272-A - Inspection robot based on vision

CN121989272ACN 121989272 ACN121989272 ACN 121989272ACN-121989272-A

Abstract

The invention discloses a vision-based inspection robot, belongs to the technical field of detection devices, and solves the problems of high safety risk, low efficiency and poor precision of manual detection. The robot comprises a left driving part, a right driving part and a lifting carrying platform, wherein the left driving part, the right driving part and the lifting carrying platform are flexibly connected through a connecting component and are adapted to multi-curved-surface attached crawling, the lifting carrying platform is provided with a standardized structure, various detection devices can be detachably carried, and the left driving part and the right driving part are powered by double batteries in parallel. The built-in soft-communication control system of the equipment is in bidirectional communication with each power component and each detection and transmission component, the defect detection algorithm module integrates detection and image data to complete intelligent defect recognition, units such as movement, edge calculation and the like are integrated, remote/autonomous movement control, local real-time operation, data classification storage and defect abnormality early warning are supported, automation and remodelling of detection operation are realized, and scene suitability and detection accuracy are improved.

Inventors

  • MA XIAOQIANG
  • SUN XIANGGUANG
  • CHEN LIN
  • LIU YANG

Assignees

  • 北京精准检科技有限公司

Dates

Publication Date
20260508
Application Date
20260403

Claims (10)

  1. 1. The vision-based inspection robot is characterized by comprising a left driving part (1), a right driving part (2) and a lifting carrying platform (5), wherein the left driving part (1) and the right driving part (2) are symmetrically arranged on two sides of the lifting carrying platform (5), the left driving part (1), the right driving part (2) and the lifting carrying platform (5) are connected through connecting components (7), a camera component (4) and a sky end transmission component (3) are integrally arranged on the left driving part (1), and a battery (6) and a battery fixing structure (8) for power supply are independently arranged on the left driving part (1) and the right driving part (2); The inspection robot is internally provided with a soft-pass control system, the soft-pass control system is connected with a left driving part (1), a right driving part (2) and a power executing component of a lifting carrying platform (5) in a two-way communication manner, a camera component (4), a sky end transmission component (3) and carried detection equipment, the soft-pass control system is internally provided with a defect detection algorithm module and is used for synchronously receiving detection data of the detection equipment and image data of the camera component (4) and carrying out fusion type defect identification analysis, and meanwhile, wireless control instruction interaction of the robot and a remote end and wireless transmission feedback of a detection result are realized through the sky end transmission component (3).
  2. 2. The vision-based inspection robot according to claim 1, wherein the left driving part (1) comprises a left casing (103), a left gear box cover (102) is arranged on one side of the left casing (103), a left bin cover (104) is arranged on the other side of the left casing, a left handle (101) which is convenient to take and place is arranged on the left gear box cover (102), an antenna (105) which is used for enhancing wireless communication is arranged on the left bin cover (104), a gear transmission group gland (112) and at least two driving motors (107) are arranged in the left casing (103), the driving motors (107) are fixedly connected to the inner side wall of the left casing (103) through motor glands (106), the output ends of the driving motors (107) are in transmission connection with a gear transmission group (108), the power output end of the gear transmission group (108) is connected with an output shaft (109), a bearing (111) which is used for reducing friction is sleeved on the output shaft (109) and is provided with a key groove and is provided with a key (110), the tail end of the output shaft (109) is provided with a detachable connection structure which is used for fixing a magnetic wheel (9), and the speed regulation system is controlled by the driving system.
  3. 3. The vision-based inspection robot according to claim 2, wherein the right driving part (2) comprises a right shell (203), a right gear box cover (202) is arranged on one side of the right shell (203), a right bin cover (204) is arranged on the other side of the right shell, a right handle (201) is arranged on the right gear box cover (202), an internal power transmission structure and a component assembling mode of the right driving part (2) are completely consistent with those of the left driving part (1), and a driving motor (107) of the right driving part (2) is also in communication connection with the soft communication control system and is subjected to synchronous speed regulation control.
  4. 4. The vision-based inspection robot according to claim 1, wherein the sky-end transmission assembly (3) comprises a sky-end wireless transmission module (301), a sky-end fixed bottom plate (302) and a sky-end fixed plate (303), the sky-end wireless transmission module (301) is clamped between the sky-end fixed bottom plate (302) and the sky-end fixed plate (303), the three are detachably fixed through fasteners, the sky-end fixed bottom plate (302) is in switching connection with the battery fixed structure (8), and the sky-end wireless transmission module (301) is a core wireless communication unit of the soft communication control system, so that wireless receiving and sending of instructions and data are realized.
  5. 5. The vision-based inspection robot according to claim 1, wherein the camera assembly (4) comprises a camera (401), an acrylic cover plate (402), a camera front cover (403), a camera fixing plate (404), a camera rear cover (405), a camera angle adjusting plate (406), a camera assembly fixing block (407), a light supplementing assembly (408) and an angle adjusting structure, the camera (401) and the light supplementing assembly (408) are fixedly connected into a whole through an integrated packaging structure, the packaging structure is assembled on the angle adjusting structure, the angle adjusting structure is fixedly connected to the outer side of a shell of the left driving part (1), and the camera (401) and the light supplementing assembly (408) are electrically connected with the soft communication control system and controlled by the soft communication control system to realize image acquisition and light supplementing adjustment; The light supplementing assembly comprises a camera front cover (403), a camera back cover (405), a camera fixing plate (404), a camera assembly fixing block (407) and a light supplementing assembly (408), wherein the acrylic cover (402) is fixedly connected to the outer side of the camera front cover (403), the camera front cover (403) is detachably connected with the camera back cover (405) to form a packaging cavity, the front end of the camera fixing plate (404) is arranged in the packaging cavity, the camera (401) is fixedly arranged at a preset position of the camera fixing plate (404), the light supplementing assembly (408) is embedded in a preset mounting position of the camera front cover (403) to form an integrated packaging structure with the camera (401), the camera back cover (405) is fixedly connected with the rear end of the camera fixing plate (404), the rear end of the camera back cover (405) is detachably connected with the camera angle adjusting plate (406), and the camera angle adjusting plate (406) is of a hinged angle locking structure.
  6. 6. The vision-based inspection robot according to claim 1, wherein the lifting carrying platform (5) comprises a fixed plate (501), a shaft frame group, an optical axis (506), a screw (512), a lifting motor (510), a lifting plate (511) and a wheel frame (513), the shaft frame group comprises a first shaft frame (502), a second shaft frame (503), a third shaft frame (504) and a fourth shaft frame (505), the shaft frame group is arranged at a preset position of the fixed plate (501), the optical axis (506) and the screw (512) are arranged between the shaft frame group in parallel, a linear bearing (507) is sleeved on the optical axis (506), an adaptive screw nut (509) is sleeved on the screw (512), the output end of the lifting motor (510) is in transmission connection with the end part of the screw (512), the lifting plate (511) is fixedly connected with the linear bearing (507) and the screw nut (509), and the lifting plate (511) is a lifting motor core carrier (510) of the detection equipment and is in communication control and is in communication with the lifting system to realize the lifting; The wheel frames (513) are of symmetrical structures and fixedly arranged at two side end parts of the fixed plate (501), one ends of the wheel frames (513) far away from the fixed plate (501) are matched and fixedly connected with the connecting assembly (7), and support is provided for connection of the lifting carrying platform (5) and the left and right driving parts.
  7. 7. The vision-based inspection robot according to claim 1, wherein the connection assembly (7) comprises a first connection ring (701), a second connection ring (702), a bayonet lock (703) and a snap ring (704), and the first connection ring (701) and the second connection ring (702) are hinged through the bayonet lock (703) and the snap ring (704), and can rotate around the bayonet lock (703) at multiple angles to form a flexible connection structure.
  8. 8. The vision-based inspection robot according to claim 1, wherein the defect detection algorithm module comprises a data preprocessing unit, a feature extraction unit and a defect recognition unit, the data preprocessing unit is used for carrying out noise reduction, normalization and space-time registration processing on detection data of detection equipment and image data of a camera component (4) to eliminate data acquisition deviation, the feature extraction unit is used for extracting multi-dimensional defect features from preprocessed fusion data, the defect features comprise geometric features, gray features and texture features, and the defect recognition unit is used for carrying out accurate matching recognition on the extracted defect features through an intelligent classification algorithm based on a preset defect sample library to output standardized detection results of defect types, defect positions and defect grades.
  9. 9. The vision-based inspection robot according to claim 1, wherein the soft-pass control system further comprises a motion control unit, the motion control unit can receive a remote wireless control instruction transmitted by the sky-end transmission assembly (3), and can also autonomously generate a motion instruction according to a real-time detection result of the defect detection algorithm module, the autonomous motion instruction comprises a driving speed regulation instruction, a steering instruction and a lifting regulation instruction of the lifting carrying table (5), and the motion control unit can accurately regulate speed of the driving motors (107) of the left driving part (1) and the right driving part (2) and the lifting motor (510) of the lifting carrying table (5) in a pulse width modulation mode, and flexible steering of the robot is realized through differential control of the driving motors (107) of the left driving part and the right driving part.
  10. 10. The vision-based inspection robot according to claim 8, wherein the soft-pass control system is further configured with an edge computing unit and a data storage unit, the edge computing unit is used for completing full-flow operation of a defect detection algorithm at a local end of the robot to realize real-time output of detection results, the data storage unit is used for classifying and storing preprocessed original data, extracted defect characteristic data and final defect detection results, all data stored by the data storage unit can be remotely and wirelessly fetched and uploaded through the sky end transmission assembly (3), the soft-pass control system is further provided with an abnormality early warning unit, and when the defect level identified by the defect identification unit reaches a preset threshold value, the abnormality early warning unit sends an abnormality early warning signal to a remote end through the sky end transmission assembly (3) and simultaneously automatically controls the camera assembly (4) to conduct high-definition image acquisition and real-time video feedback on a defect area.

Description

Inspection robot based on vision Technical Field The invention relates to the technical field of detection devices, in particular to a vision-based inspection robot. Background The detection technology is a core technology for acquiring the attribute and state information of the detected object by physical, chemical and other methods, is widely applied to various detection scenes such as pipelines, metal and nonmetal parts, bridges and the like, and has developed various detection devices such as an electromagnetic ultrasonic thickness gauge, an ultrasonic flaw detector, an eddy current flaw detector and the like at the present stage. The operation mode of the existing detection equipment is mostly dependent on manual handheld probe operation, so that the detection equipment has extremely high safety risk for detection scenes such as high altitude, large pipe walls, large flat plates and the like, is easy to cause insufficient detection precision and low detection efficiency due to subjectivity of manual operation, meanwhile, the fusion analysis of detection data and on-site images cannot be realized through manual detection, the defect condition is difficult to quickly and accurately judge, and the real-time transmission and storage management of the detection data are inconvenient, so that the intelligent, automatic and efficient requirements of modern detection operation cannot be met. Based on the above, it is needed to realize the automatic execution of the detection operation, the intelligent identification of the defects and the wireless transmission of the data by the deep fusion of the mechanical structure and the software control system of the vision-based inspection robot, so as to reduce the risk of manual operation. Disclosure of Invention The invention aims to overcome the defects of the prior art, provides a vision-based inspection robot, adapts to the crawling requirements of multiple scenes through flexible mechanical structure design, combines a soft-pass control system to realize automatic control of detection operation and fusion intelligent identification of defects, and solves the problems of safety risk, low efficiency and poor precision of manual detection. In order to solve the technical problems, the vision-based inspection robot comprises a left driving part, a right driving part and a lifting carrying platform, wherein the left driving part and the right driving part are symmetrically arranged on two sides of the lifting carrying platform, and the left driving part, the right driving part and the lifting carrying platform are connected by connecting components; The inspection robot is characterized in that a soft-pass control system is further configured in the inspection robot, the soft-pass control system is connected with a left driving part, a right driving part, a power executing part of a lifting carrying platform, a camera component, a sky end transmission component and carried detection equipment in a two-way communication mode, a defect detection algorithm module is arranged in the soft-pass control system and used for synchronously receiving detection data of the detection equipment and image data of the camera component and carrying out fusion type defect identification analysis, and meanwhile, wireless control instruction interaction of the robot and a remote end and wireless transmission feedback of detection results are realized through the sky end transmission component. The left driving part comprises a left shell, a left gear box cover is arranged on one side of the left shell, a left bin sealing cover is arranged on the other side of the left shell, a left handle convenient to take and place is arranged on the left gear box cover, an antenna for enhancing wireless communication is arranged on the left bin sealing cover, a gear transmission group gland and at least two driving motors are arranged in the left shell, the driving motors are fixedly and firmly connected to the inner side wall of the left shell through the motor gland, the output ends of the driving motors are in transmission connection with the gear transmission group, the power output ends of the gear transmission group are connected with an output shaft, a bearing for reducing friction is sleeved on the output shaft, a key slot is formed in the bearing, a detachable connecting structure for fixing a magnetic wheel is arranged at the tail end of the output shaft, and the driving motors are in communication connection with the soft communication control system and are controlled by the soft communication control system. Preferably, the right driving part comprises a right shell, a right gear box cover is arranged on one side of the right shell, a right bin sealing cover is arranged on the other side of the right shell, a right handle is arranged on the right gear box cover, an internal power transmission structure and a component assembling mode of the right driving part are completely consistent wit