Research And Design Of A Bridge Pier And Tower Health Detection Robot System

The detection of bridge piers and towers relies on manual detection methods,which is not only time-consuming and labor-intensive,but also has serious safety hazards.In order to solve this problem,it is urgent to develop a wall-climbing robot for bridge pier and tower health detection instead of manual work.The wall-climbing robot is equipped with a detection device to detect the wall surface of the bridge pier and tower.It needs to have adsorption capacity,load capacity and certain obstacle-crossing capacity.The key technologies are mainly concentrated on adsorption devices and mobile equipment.On the basis of consulting the literature of wall-climbing robots at home and abroad,the article comparatively analyzes the adsorption principles and crawling principles of these robots.According to the characteristics of the bridge pier and tower surface,the thesis puts forward a scheme of a wall-climbing robot system in which the adsorption force is automatically adjusted according to the wall inclination.The thesis adopts the positive pressure adsorption method as the adsorption scheme of the wall-climbing robot.A wheeled mechanism is used as the mobile device of the robot.The six-axis sensor(MPU6500)was used to obtain the inclination of the pier tower wall.The fuzzy control algorithm is selected to realize the function of automatically adjusting the wall-climbing robot’s adsorption force with the wall inclination.The main work completed in the thesis are:For the bridge pier and tower inspection robot system,the adsorption scheme and crawling method were selected,and the crawling mechanism was also designed.After comparing and analyzing various adsorption schemes and crawling schemes,according to the characteristics of the bridge pier tower wall,this thesis selects positive pressure adsorption and wheeled mechanisms respectively.In order to ensure the reliability of the robot when it is parked on the wall,the crawling mechanism of the robot is designed using SolidWorks software to realize the self-locking of the mechanism.Kinematics analysis,statics analysis,dynamics analysis and posture analysis of the bridge pier and tower inspection robot are carried out.From the kinematics analysis,the kinematics equations and motion laws are obtained.From static analysis,safe adsorption conditions are obtained.According to the dynamics analysis,the robot is studied in the above three situations of straight line crawling,small radius steering and large radius steering,and the corresponding dynamic model is obtained.Based on the quaternion attitude analysis algorithm,the equation of the wall-inclination angle is solved by the attitude angle of the wall-climbing robot body.A virtual prototype of the bridge pier and tower inspection robot is constructed.Using SolidWorks / motion simulation software,a kinematics simulation study was conducted.The simulation results prove the rationality of the scheme.Design the hardware circuit of the control system of the bridge pier and tower inspection robot.Wall climbing robot hardware design includes: main control board circuit,pressure detection module circuit,six-axis sensor circuit,crawling mechanism drive circuit and wireless remote control circuit.The fuzzy PID control scheme is selected for the bridge pier and tower detection robot system.Use MATLAB / Simulink software to simulate the control scheme.The simulation results verify the robustness of the control scheme.The physical prototype was manufactured,and the experimental research was carried out at the same time.According to the content designed in this thesis,a physical prototype was manufactured and a control program was written.The experiment measured its ultimate adsorption force,and conducted a field crawling experiment.The experiment proves that the wall-climbing robot can crawl stably and reliably on the pier wall surface.