Gap magnetic adsorption type curved surface morphology detection robot and curved surface morphology measuring method

Abstract

The invention provides a gap magnetic adsorption type curved surface morphology detection robot and a curved surface morphology measuring method, belonging to the mobile robot and machine vision measuring technology field. The robot comprises two driving wheels, a universal wheel, three motors, a straight line laser, a motor-drive circuit, a controller, a camera, an angle sensor, a permanent magnet body and like. By utilizing gap permanent magnetism adsorption principle and a curved surface adaptive scheme of arranging magnetic patch at the surrounding of the wheels symmetrically in a concentration way, that the robot is adsorbed on a magnetic conductive curved surface with different curvature and can move flexibly is realized. A plurality of straight line laser beams which are rotated to different angles are projected to a surface to be measured. The camera is used to shoot sequence image of the surface to be measured with laser stripes. Combined with distance detected by a laser range finder, three dimensional morphology of the surface is detected. Through a wireless video transmission module, video is transmitted to a host computer to display. The robot provided in the invention has the advantages of compact structure, flexible movement, and large adaptation curvature scope, and especially is suitable for all position three dimensional morphology detection of magnetic conductive curved surface workpiece in a narrow space.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, and in particular relates to a gap magnetic suction type curved surface shape detection robot and a measurement method, which are mainly used for surface condition detection of complex curved large structural parts such as water turbine blades. Background technique [0002] For maintenance operations on large structural parts with complex curved surfaces such as large water turbine blades, it is first necessary to inspect the surface condition of the curved surface to determine the degree of surface damage and the specific location of defects (such as corrosion pits). At present, the general method of detection is to manually observe and measure by workers after setting up scaffolding. The working environment is harsh and the labor intensity is high. In order to improve inspection efficiency and realize automatic inspection, there is an urgent need for a robot that can inspect the surface c...

AI Technical Summary

Problems solved by technology

The disadvantages of this device are: the adaptive mechanism is complex, and it needs to rely on the redundant degrees of freedom to continuously adjust according to the shape of the curved surface to achieve a certain degree of surface adaptability. The joint adjustment time limits the movement speed of the robot, and there are no detection parts. Without image acquisition and transmission functions, it is impossible to obtain the three-dimensional shape information of the curved surface

Existing video inspection robots, such as the patented "A Video Inspection Robot for Drainage Pipes" (CN 101832447), do not have the function of wall climbing and adsorption, and do not have the function of three-dimensional measurement, nor are they suitable for complex curved surface structures with variable curvature. All position detection

However, there are existing detection devices or methods for large-scale three-dimensional curved surfaces, such as the patent "a digital detection system for complex curved surfaces" (CN 201514207) and the patent "judgment method for detecting cracks in hydraulic turbine runners in service" (CN 101710079), The former needs to obtain the CAD model of the complex surface in advance and use an expensive three-coordinate measuring machine, while the latter needs to build a platform for manual inspection of the workpiece

[0004] Existing three-dimensional measurement methods or devices based on multi-light knives, such as "multi-light knife quasi-full-field non-contact three-dimensional profile measuring instrument" (CN 2463784) and "three-dimensional profile measuring device with adjustable height measurement range of double-sided light knife type" (CN 2676151), its disadvantage is that it needs to move the workbench horizontally to realize scanning measurement, which has high cost, takes up a lot of space, and requires high machining accuracy of the device

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