CN108638016A - A kind of Intelligent architectural structure detection robot control system - Google Patents
A kind of Intelligent architectural structure detection robot control system Download PDFInfo
- Publication number
- CN108638016A CN108638016A CN201810402065.7A CN201810402065A CN108638016A CN 108638016 A CN108638016 A CN 108638016A CN 201810402065 A CN201810402065 A CN 201810402065A CN 108638016 A CN108638016 A CN 108638016A
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- CN
- China
- Prior art keywords
- control system
- architectural structure
- fuselage
- robot control
- intelligent architectural
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention belongs to robot building structure inspection fields, disclose a kind of Intelligent architectural structure detection robot control system.Intelligent architectural structure detection robot set-up of control system has fuselage;There are four magnetic steamboats for the fuselage both sides setting;Fuselage lower end has been screwed telescopic rod;Described telescopic rod one end is connect with fuselage screw, and the other end has been connected by screw acceleration transducer;The nosing is equipped with wireless receiver;Fuselage interior is provided with accumulator, controller, memory, steamboat power plant, telescopic rod power plant.A kind of detection mode of present invention offer is flexible and at low cost, easy to carry, effectively eliminate check frequency, more comprehensively Intelligent architectural structure detects robot and control system for detection.
Description
Technical field
The invention belongs to robot building structure inspection technical fields more particularly to a kind of Intelligent architectural structure to detect machine
People's control system.
Background technology
Currently, as economic construction of China is grown rapidly, various complex large-sized steel buildings continuously emerge.Wherein, steel
Structure is widely used in large bridge, large space structure, skyscraper, Large-scale Railway transport hub, petroleum pipeline, nuclear power
It stands.However since the factors such as ineffective or even some buildings are safeguarded in excess load operation, detection, there are structure design defect, construction matter
The problems such as amount difference, accident is caused to happen occasionally, seriously threatens the people's lives and property safety.Therefore, it is strong to reinforce building structure
Health detects, and repair is particularly important in time.Widely used wired data acquisition method in structural health detection at present, but
It is that its wiring is cumbersome, needs to spend a large amount of human costs;Building structure health detection technology based on wireless sensor network needs
The integrity problem of powerup issue and signal transmission when solution system works long hours.Both above detection modes due to
Sensing station is fixed, and be there is check frequency and is detected incomplete problem.
In conclusion problem of the existing technology is:Traditional detection device exists since sensing station is fixed
Check frequency and the incomplete problem of detection, cannot meet the requirement of complex working condition.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of control systems of Intelligent architectural structure detection robot
System.
The invention is realized in this way a kind of Intelligent architectural structure detection robot set-up of control system has:
Fuselage;
There are four magnetic steamboats for the setting of fuselage both sides;
Fuselage lower end has been screwed telescopic rod.
Further, the steamboat is adhered to by magnetic with detected steel construction.
Further, described telescopic rod one end and fuselage screw connection, the other end have been connected by screw acceleration transducer.
Further, the nosing is equipped with wireless receiver by screw.
Further, the acceleration transducer measures steel construction vibration displacement, using acceleration spectrum be converted into displacement spectra come
It measures,
Its spectrum conversion is as follows:
The time-domain signal x (t) of sample length T forms discrete data x (n) after data acquisition.If acquired in time T
N number of data, the then normalized discrete Fourier transforms of x (t) (DFT);N and k is taken as 0,1,2, (N-1).DFT is used
Discrete fourier transform algorithm (FFT).The X (k) that x (n) is obtained after discrete Fourier transform is the plural sequence that a length is N
It is classified as:
X (k)=DFT [x (n)]=[(a0,jb0),(a1,jb1),···(aN-1,jbN-1)];
The amplitude of each harmonic component, circular frequency and first phase angle formula are in x (n):
According to Signal averaging principle, any periodic signal is the superposition of several harmonic signals, and acceleration signal is:
Its corresponding displacement is:
Relationship between the two amplitude and phase is:
Further, the wireless receiver sensitivity computing method is:
According to the definition of noise coefficient, input signal-to-noise ratio is:
Wherein:
NF:Noise coefficient, input noise power Ni=kTB;
Noise gate;
Then the receiving sensitivity of wireless receiver is:
Wherein:
K:Boltzmann constant (1.38 × 10-23J/K);
T:Absolute temperature, unit K;
B:Noise bandwidth, unit HZ;
NFSYS:Wireless receiver noise coefficient;
Noise gate.
Advantages of the present invention and good effect are:
(1) by installing telescopic rod and force snesor additional in fuselage bottom, telescopic rod can realize acceleration transducer and be detected
Survey the contact of rigid body so that detected under complex working condition more comprehensively;
(2) by using magnetic steamboat so that steamboat contacts better with measured structure;
(3) displacement spectra is converted by using acceleration spectrum to measure, can reduce error band with the accuracy of data processing
The judgement come influences;
(4) by calculating wireless receiver sensitivity, suitable measure can be taken relevant equipment, is ensureing data just
Normalizing is transmitted.
Description of the drawings
Fig. 1 is Intelligent architectural structure detection provided in an embodiment of the present invention robot structural schematic diagram;
Fig. 2 is Intelligent architectural structure detection provided in an embodiment of the present invention robot control system architecture schematic diagram;
In figure:1, fuselage;2, magnetic steamboat;3, telescopic rod;4, acceleration transducer;5, force snesor;6, wireless receiving
Device;7, accumulator;8, controller;9, memory;10, magnetic steamboat power plant;11, telescopic rod power plant.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, Intelligent architectural structure provided in an embodiment of the present invention detects robot control system, the intelligence is built
Building structure detection robot set-up of control system has fuselage 1;There are four magnetic steamboats 2 for the setting of 1 both sides of fuselage;It uses 1 lower end of fuselage
Screw is fixed with telescopic rod 3;Magnetic steamboat 2 is adhered to by magnetic with detected steel construction;3 one end of telescopic rod and 1 screw of fuselage
Connection, the other end have been connected by screw acceleration transducer 4;Force sensor 5 is installed on telescopic rod 3;It is real by telescopic rod 3
Existing acceleration transducer 4 and the contact of detected rigid body;Fuselage interior is provided with accumulator 7, controller 8, memory 9, magnetism
Steamboat power plant 10, telescopic rod power plant 11;Nosing is equipped with wireless receiver 6, realizes the communication with remote controler
With control.
The acceleration transducer measures steel construction vibration displacement, is converted into displacement spectra using acceleration spectrum to measure,
Its spectrum conversion is as follows:
The time-domain signal x (t) of sample length T forms discrete data x (n) after data acquisition.If acquired in time T
N number of data, the then normalized discrete Fourier transforms of x (t) (DFT);N and k is taken as 0,1,2, (N-1).DFT is used
Discrete fourier transform algorithm (FFT).The X (k) that x (n) is obtained after discrete Fourier transform is the plural sequence that a length is N
It is classified as:
X (k)=DFT [x (n)]=[(a0,jb0),(a1,jb1),···(aN-1,jbN-1)];
The amplitude of each harmonic component, circular frequency and first phase angle formula are in x (n):
According to Signal averaging principle, any periodic signal is the superposition of several harmonic signals, and acceleration signal is:
Its corresponding displacement is:
Relationship between the two amplitude and phase is:
The wireless receiver sensitivity computing method is:
According to the definition of noise coefficient, input signal-to-noise ratio is:
Wherein:
NF:Noise coefficient, input noise power Ni=kTB;
Noise gate;
Then the receiving sensitivity of wireless receiver is:
Wherein:
K:Boltzmann constant (1.38 × 10-23J/K);
T:Absolute temperature, unit K;
B:Noise bandwidth, unit HZ;
NFSYS:Receiver noise coefficient;
Noise gate.
The present invention is fully charged by accumulator 7 in use, Intelligent architectural structure detection robot.By controlling remote controler, nothing
Line receiver 6 receives signal, and controller 8 sends out instruction, starts magnetic steamboat power plant 10, to make magnetic steamboat rotate,
And move to specified test position;On earth behind designated position, similarly start telescopic rod power plant 11, telescopic rod 3 made to extend,
Acceleration transducer 4 is set to be contacted with tested close structure, contact dynamics is measured by force snesor 5, and then control dynamics are reasonable;Add
Velocity sensor 4 contacted with tested close structure after can measurement structure Vibration Condition.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Every any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (6)
1. a kind of Intelligent architectural structure detects robot control system, which is characterized in that the Intelligent architectural structure detects machine
People's set-up of control system has:
Fuselage;
There are four magnetic steamboats for the setting of fuselage both sides;
Fuselage lower end has been screwed telescopic rod.
2. Intelligent architectural structure as described in claim 1 detects robot control system, which is characterized in that the steamboat passes through
It is magnetic to adhere to detected steel construction.
3. Intelligent architectural structure as described in claim 1 detects robot control system, which is characterized in that the telescopic rod one
End is connect with fuselage screw, and the other end has been connected by screw acceleration transducer.
4. Intelligent architectural structure as described in claim 1 detects robot control system, which is characterized in that the nosing
Wireless receiver is installed by screw.
5. Intelligent architectural structure as claimed in claim 3 detects robot control system, which is characterized in that the acceleration passes
Sensor measures steel construction vibration displacement, is converted into displacement spectra using acceleration spectrum to measure, spectrum conversion is as follows:
The time-domain signal x (t) of sample length T forms discrete data x (n) after data acquisition.If acquired in time T N number of
Data, the then normalized discrete Fourier transforms of x (t) (DFT);N and k is taken as 0,1,2, (N-1).DFT is with discrete
Fourier Transform Algorithm (FFT).The X (k) that x (n) is obtained after discrete Fourier transform is the sequence of complex numbers that a length is N
For:
X (k)=DFT [x (n)]=[(a0,jb0),(a1,jb1),···(aN-1,jbN-1)];
The amplitude of each harmonic component, circular frequency and first phase angle formula are in x (n):
According to Signal averaging principle, any periodic signal is the superposition of several harmonic signals, and acceleration signal is:
Its corresponding displacement is:
Relationship between the two amplitude and phase is:
6. Intelligent architectural structure as claimed in claim 4 detects robot control system, which is characterized in that the wireless receiving
Device sensitivity computing method is:
According to the definition of noise coefficient, input signal-to-noise ratio is:
Wherein:
NF:Noise coefficient, input noise power Ni=kTB;
Noise gate;
Then the receiving sensitivity of wireless receiver is:
Wherein:
K:Boltzmann constant (1.38 × 10-23J/K);
T:Absolute temperature, unit K;
B:Noise bandwidth, unit HZ;
NFSYS:Receiver noise coefficient;
Noise gate.
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CN201810402065.7A CN108638016A (en) | 2018-04-28 | 2018-04-28 | A kind of Intelligent architectural structure detection robot control system |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN201113988Y (en) * | 2007-10-08 | 2008-09-10 | 中兴通讯股份有限公司 | Receiving apparatus |
EP3050824A1 (en) * | 2015-01-28 | 2016-08-03 | Jakob Hatteland Logistics AS | Robot for transporting storage bins |
CN105823552A (en) * | 2016-05-06 | 2016-08-03 | 简燕梅 | Intelligent detection robot car for architectural structure vibration |
CN106289500A (en) * | 2016-07-20 | 2017-01-04 | 大连海事大学 | The remote supervision system of a kind of Miter Lock Gates safe condition and monitoring method thereof |
-
2018
- 2018-04-28 CN CN201810402065.7A patent/CN108638016A/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN201113988Y (en) * | 2007-10-08 | 2008-09-10 | 中兴通讯股份有限公司 | Receiving apparatus |
EP3050824A1 (en) * | 2015-01-28 | 2016-08-03 | Jakob Hatteland Logistics AS | Robot for transporting storage bins |
CN105823552A (en) * | 2016-05-06 | 2016-08-03 | 简燕梅 | Intelligent detection robot car for architectural structure vibration |
CN106289500A (en) * | 2016-07-20 | 2017-01-04 | 大连海事大学 | The remote supervision system of a kind of Miter Lock Gates safe condition and monitoring method thereof |
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Application publication date: 20181012 |