The invention relates to the technical field of visual defect detection and robot obstacle crossing, in particular to a wall-climbing robot for water-cooled wall detection and an obstacle crossing method of the wall-climbing robot. The robot comprises a vehicle body, a walking and obstacle crossing mechanism arranged on the vehicle body and used for walking and obstacle crossing of the vehicle body, a detection and positioning system used for defect detection and defect position positioning, and a mechanical arm mechanism carrying the detection and positioning system for surface detection. A control and monitoring system for fully autonomous and semi-autonomous control of a wall-climbing robot. According to the method, the ResNet101 and the YOLOV5 are combined to carry out defect classification detection and defect target identification respectively, and defect classification and defect positioning can be carried out on the defects of the water cooling wall of the boiler rapidly and precisely.
本发明涉及视觉缺陷检测技术和机器人越障技术领域,具体是一种水冷壁检测爬壁机器人及其越障方法,机器人包括车身、设置在车身上用于车身的行走以及越障的行走和越障机构、用于缺陷的检测以及定位缺陷位置的检测和定位系统、携带检测和定位系统进行表面检测的机械臂机构、用于爬壁机器人的全自主及半自主控制的控制和监控系统。本发明采用ResNet101和YOLOV5相结合的方式分别进行缺陷分类检测和缺陷目标识别,可快速、高精度地对锅炉水冷壁缺陷进行缺陷分类于缺陷定位。
Water-cooled wall detection wall-climbing robot and obstacle crossing method thereof
一种水冷壁检测爬壁机器人及其越障方法
2025-02-25
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wall-climbing robot with obstacle crossing function and obstacle crossing method thereof
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