The invention discloses a visual inspection wall-climbing robot and a control method. The visual inspection wall-climbing robot comprises a mechanical structure, a wall-climbing system and a detection system. The mechanical structure mainly comprises a main body bearing part, a pneumatic leg driving device and a magnetic type foot adsorption module. The wall climbing system mainly comprises a motor head raising mechanism, a pneumatic driving device and an electromagnetic attraction system, the mechanism can be attracted to a wall, and the climbing function is achieved through pneumatic driving. The detection system mainly comprises an infrared pan-tilt camera at the head, an industrial camera at the bottom and a visual detection light source, has camera attitude control and automatic detection functions, and can realize multidirectional and high-precision detection of the whole system. The robot has the advantages of being compact and small in structure, high in climbing capacity, high in detection precision and good in safety performance and can be applied to inspection work of various large port machines.
本发明公开了一种视觉巡检爬壁机器人及控制方法,包括机械结构、爬壁系统、检测系统。机械结构主要包括主体承重部分、气动腿部驱动装置、磁吸式足部吸附模块三个部分。爬壁系统主要包括电机抬头机构、气动驱动装置、电磁吸附系统三个部分,可以使机构吸附于墙壁上,并通过气动驱动实现攀爬功能。检测系统主要包括头部的红外云台摄像头、底部的工业相机和视觉检测光源三部分,具有相机姿态控制和自动检测功能,可实现整个系统多方位、高精度的检测。本发明具有结构紧凑小巧、攀爬能力强、检测精度高、安全性能好的特点,可应用于各种大型港机巡检工作中。
Visual inspection wall-climbing robot and control method
一种视觉巡检爬壁机器人及控制方法
15.04.2022
Patent
Elektronische Ressource
Chinesisch
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