A control method for a climbing robot used for pier and tower structure inspection

Abstract

The present invention relates to the technical field of large-scale infrastructure automated detection, detection operation robots, and control systems, and specifically to a control method for a climbing operation robot used for pier tower structure detection, wherein the robot comprises an annular frame, a crawling mechanism, and a host computer, wherein the crawling mechanism is detachably mounted on the frame, the crawling mechanism comprises a driving assembly and a crawling assembly, and a horizontal detection sensor is mounted at the frame corresponding to each crawling mechanism; the host computer is used to receive the inclination angle of the frame, and the host computer is used to control the movement of the crawling mechanism. The present invention installs a plurality of detachable crawling mechanisms on the frame, and a horizontal detection sensor is mounted at each crawling mechanism corresponding to the frame, and the position of the crawling mechanism is detected in real time by the horizontal detection sensor, and then the speed of each crawling mechanism is controlled by the host computer so that the height of each crawling mechanism is consistent, and as long as the height of the crawling mechanism is consistent, there will be no jamming phenomenon.

Description

Technical Field

[0001] The present invention relates to the technical field of large-scale infrastructure automated detection, detection operation robots, and control systems, and in particular to a climbing operation robot control method for pier tower structure detection. Background Art

[0002] With the development of my country's national economy, large-scale infrastructure has been built like mushrooms after rain. After years of development, my country has become a country with a large number of infrastructure. So far, most of my country's infrastructure has entered the use and maintenance period. During use, due to operation and harsh environmental conditions, the operation performance has been deteriorating. In particular, the cracks in the load-bearing piers and towers of the infrastructure will have a serious impact on the integrity and safety of the entire structure. In order to prevent structural failure, infrastructure operation and maintenance will become the focus for a long time in the future. In order to save maintenance costs, the health detection of pier and tower structures has become a difficult and hot spot in recent years.

[0003] Traditionally, the health monitoring of pier tower structures is done by visually inspecting the pier towers, which wastes a lot of manpower. In recent years, drone inspection solutions have emerged. However, drones have major defects in flying around piers. On the one hand, affected by the pier tower structure, the wind direction and wind force around them undergo unstable random mutations. Affected by the wind force, the hovering accuracy of the drone is limited, resulting in the inability to guarantee measurement accuracy and the inability to detect and identify small cracks on the surface of the pier tower. In addition, during the inspection process, the drone loses the GNSS signal due to obstruction, and the drone can only be operated manually, making it impossible to perform stable circling flight, let alone automatic multi-circle stable circling flight.

[0004] The flight time of drones is difficult to guarantee, and it is often necessary to replace batteries several times to complete a complete inspection. Therefore, it is difficult to ensure the continuity of two inspection points, resulting in low efficiency. In addition, if the structure around the pier is complex (such as suspension cables), drones can easily collide with the structure and cause explosions, causing secondary damage to the original structure, and safety is difficult to guarantee.

[0005] Therefore, with the development of science and technology in recent years, there has been a trend of using robots equipped with detection equipment to detect piers. Since existing robots are equipped with detection equipment during climbing or descending, if the force is uneven at one place, one side may be faster than the other, causing the robot to jam. Summary of the invention

[0006] Aiming at the problem that when the existing robot climbs or descends a pier, the robot may tilt and become stuck due to the weight of the robot and the load, the present invention provides a climbing left-right robot for pier structure detection and a control method thereof.

[0007] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0008] On the one hand, the present invention provides a climbing working robot for pier tower structure inspection, including an annular frame, a crawling mechanism and a host computer, at least two crawling mechanisms are evenly distributed along the circumference of the frame, the crawling mechanism includes a driving assembly and a crawling assembly, and each crawling mechanism is installed at the frame corresponding to the horizontal detection sensor; the host computer is used to receive the horizontal inclination angle θ detected by each horizontal detection sensor, and the host computer is used to control the movement of the crawling mechanism.

[0009] Preferably, the crawling assembly includes a driving wheel, a driven wheel, a mandrel, a driving motor and a rod seat, the mandrel is provided with a thread, the mandrel is threadedly connected to the frame, the rod seat is connected to the mandrel, the driving wheel and the driven wheel are installed on both sides of the rod seat, the driving motor is installed on the rod seat, the driving motor is connected to the driving wheel through a worm gear, and the driving assembly is connected to the host computer for controlling the driving motor. The mandrel is threadedly connected to the frame, so that the entire crawling mechanism can be easily disassembled from the frame for easy transportation and assembly. Installing the driven wheel on the basis of the driving wheel installed on the rod seat can increase the friction between the robot and the pier tower. The large reduction ratio can not only ensure the climbing driving force of the robot, but also ensure the self-locking of the robot during the intermittent static load-bearing measurement process of climbing, thereby saving the energy consumed by the driving motor for the body to be stationary.

[0010] Preferably, a base is installed on the frame, a threaded hole matching the mandrel is provided on the base, a connecting hole is provided on the side of the mandrel close to the rod seat; a preload spring is provided on the outer sleeve of the mandrel; an adjustment knob is provided on the end of the mandrel away from the driving wheel. In this way, the mandrel can be detachable from the frame, and a preload spring is provided on the mandrel, and the contact pressure between each crawling mechanism and the pier body is adjusted by the preload spring. Each crawling mechanism includes two mandrels, and the two mandrels are longitudinally arranged in the vertical direction, so that the rigidity of the robot to bear the load can be ensured. The contact pressure between each crawling mechanism and the pier body is determined by judging the compression amount of the preload spring.

[0011] Preferably, the level detection sensor is a gyroscope, which can measure angles in multiple directions with high accuracy.

[0012] Preferably, the frame includes m main brackets, multiple sub-brackets and m connecting buckles. The main bracket is composed of two parallel arc-shaped brackets. The sub-bracket is used to connect the two arc-shaped brackets of the main bracket. The arc-shaped bracket and the connecting buckle are both provided with pin holes. The connecting buckle is provided with a U-shaped groove. One end of the connecting buckle is hinged with the arc-shaped bracket, and the other end of the connecting buckle is provided with a connecting groove. The number of the main brackets and the connecting buckle is the same as the number of the crawling mechanisms, and the number of the crawling mechanisms is the same as the number of the main brackets. The radius of each arc-shaped bracket is the same. The adjacent main brackets are only in contact with each other and are only connected by the connecting buckle. Therefore, in order to facilitate the connection, a U-shaped groove is provided in the connecting buckle, so that the connecting buckle is embedded in the connecting buckle when connecting the adjacent brackets, and one end of the connecting buckle is hinged with the main bracket, and the other end of the connecting buckle can be connected to the adjacent main bracket by bolts. The frame is evenly divided into m parts, so that each frame is the same and the distance between adjacent crawling mechanisms is also the same. When both ends of the connecting buckle are evenly connected to the main bracket, the connecting buckle and the main bracket can be further connected by inserting a pin into the pin hole from top to bottom.

[0013] Preferably, six crawling mechanisms are evenly arranged on the frame, so that the angle of each crawling mechanism is 60°, which is convenient for installation.

[0014] Compared with the prior art, the present invention has the following beneficial effects: the present invention installs at least two crawling mechanisms on a frame, and a horizontal detection sensor is installed at each crawling mechanism on the frame. The horizontal position of the crawling mechanism is detected in real time by the horizontal detection sensor, and then the speed of each crawling mechanism is controlled by the host computer so that the height of each crawling mechanism is consistent. As long as the height of the crawling mechanism is consistent, there will be no jamming.

[0015] On the other hand, the present application also provides a climbing operation robot control method for pier tower structure detection, the robot control method is used for the robot described above, comprising the following steps:

[0016] S1, using a horizontal detection sensor to detect the inclination angle θ of the frame corresponding to each crawling mechanism and transmit the data to the host computer;

[0017] S2, the host computer determines the position extreme point of the crawling mechanism, and then calculates the relative displacement H required for crawling of the relative position extreme point of the crawling mechanism corresponding to each horizontal detection sensor x ;

[0018] S3, the host computer calculates the relative displacement H x The crawling speed of each crawling component is obtained so that the frame tends to the same horizontal plane.

[0019] Preferably, the upper computer determines the lowest point n of the crawling mechanism, and determines the lowest point n of the robot by comparing the size and positive and negative of each inclination angle θ. If the inclination angle θ is on the horizontal line, it is positive, otherwise if the inclination angle θ is below the horizontal line, it is negative; the point with a negative inclination angle and the largest inclination angle θ is the lowest point n, and the relative height H of the lowest point n is defined as n = 0, calculate the relative height position H of each point according to formula (1) or formula (2) x :

[0020] H x =L×sinθ x +L×sinθ x+1 +…+L×sinθ n-1 (x<n) (1)

[0021] H x =L×sinθ x +L×sinθ x+1 +…+L×sinθ1+L×sinθ2+…+L×sinθ n-1 (x>n) (2)

[0022] Wherein, x represents the number of the crawling mechanism to be calculated, x=1, 2, ..., m, where m is the total number of crawling mechanisms and n is the number of the crawling mechanism at the lowest point.

[0023] First, determine the positive or negative value of the inclination angle of each point, and then determine the size. The point corresponding to the maximum negative value of the inclination angle is the lowest point n. The height of each point relative to the lowest point is calculated using formula (1) or formula (2).

[0024] Preferably, according to the H x According to formula (3) or formula (4), the adjusted crawling speed V of each crawling component (22) is calculated: x :

[0025] If the robot is climbing upward, V x =VH x ×V×P (3)

[0026] If the robot is descending, V x =V+H x ×V×P (4)

[0027] Wherein, V is the set speed of the crawling component (22), P is the speed regulation proportional factor, and the value range of P is 1-100.

[0028] Preferably, the host computer converts the calculated speed of each drive motor into a pulse frequency and transmits it to the drive assembly, and controls the drive motor to control the active wheel movement to correct the inclination of the robot. The drive motor of the present invention is a servo motor, which is convenient to control and easy to achieve self-locking.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows: the robot in the prior art may freeze during operation, and the technicians in the field all thought that it was caused by excessive or uneven load, but they did not expect that it might be caused by the inconsistent levelness of the crawling mechanism at each point during climbing or descending. The present invention fundamentally solves the problem that the levelness of the frame is inconsistent due to excessive load or uneven load distribution. Therefore, as long as the levelness of the entire frame is solved, the problem of robot freezing is solved. The present invention detects the inclination angle of each crawling mechanism through a horizontal detection sensor, then determines the lowest point, calculates the relative height of other points relative to the lowest point, and then continues to control each crawling mechanism separately, so that each crawling mechanism is on the same plane, which fundamentally solves the phenomenon of freezing during the ascent or descent of the robot. The present invention provides a robot for high-precision detection of the surface of structures such as piers and towers, which can not only realize high-precision annular belt scanning, but also realize 360-degree automatic scanning and detection of the entire pier tower surface structure without blind spots. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the structure of a climbing robot for pier tower structure inspection provided by the present invention;

[0031] Figure 2 for Figure 1 Schematic diagram of some structures in ;

[0032] Figure 3 This is the overall framework diagram of the robot;

[0033] Figure 4 This is a framework diagram for distributed collaborative control;

[0034] Figure 5 Control flow for distributed collaborative stable control;

[0035] Figure 6 This is an analytical diagram of the ring-shaped frame unfolded into a plane state.

[0036] Markings in the figure: 1-frame, 11-base, 12-main bracket, 121-arc frame, 13-auxiliary bracket, 14-connecting buckle, 141-groove, 142-connecting groove, 15-pin hole, 16-pin, 2-crawling mechanism, 21-driving assembly, 22-crawling assembly, 221-driving wheel, 222-driven wheel, 223-driving motor, 224-rod seat, 225-top rod, 226-adjusting knob, 3-level detection sensor, 4-preload spring, 5-power supply. DETAILED DESCRIPTION

[0037] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0039] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0040] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0041] On the one hand, if Figure 1 As shown, the present invention provides a robot for pier tower structure detection, including a ring-shaped frame 1, a crawling mechanism 2 and a host computer, wherein the crawling mechanism 2 is detachably mounted on the frame 1. At least two crawling mechanisms 2 are evenly arranged on the frame 1, and the crawling mechanism 2 includes a driving component 21 and a crawling component 22. A horizontal detection sensor 3 is installed at the frame 1 corresponding to each crawling mechanism 2; the host computer is used to receive the horizontal detection sensor 3 to detect the inclination angle of the frame 1 corresponding to the crawling mechanism 2, and the host computer is used to control the movement of the crawling mechanism 2. The horizontal detection sensor 3 used in the present invention is a high-precision gyroscope, which can perform all-round angle detection on the crawling mechanism 2.

[0042] The frame 1 is composed of a plurality of identical parts, that is, the frame 1 includes m main brackets 12, a plurality of sub-brackets 13 and m connecting buckles 14. The main bracket 12 is composed of two parallel arc-shaped brackets 121, and the sub-bracket 13 is used to connect the two arc-shaped brackets 121 of the main bracket 12. Pin holes 15 are provided on the arc-shaped brackets 121 and the connecting buckles 14. A U-shaped groove 141 is provided in the connecting buckle 14. One end of the connecting buckle 14 is hinged to the arc-shaped bracket 121, and the other end of the connecting buckle 14 is provided with a connecting groove 142. A crawling mechanism 2 is installed on each of the main brackets 12. In this embodiment, the number of main brackets 12, connecting buckles 14 and crawling mechanisms 2 provided is six, that is, each arc-shaped bracket 121 is 60°, and the robot provided in this embodiment is a hexapod robot. The robot provided in this embodiment uses 6 identical split structures to reconstruct an annular overall structure of the robot body frame. Each split structure can be conveniently installed and disassembled through the connecting buckle 14 and the pin 16, which ensures that the user can carry and transport the robot conveniently and flexibly, ensures the reliability and stability of the robot, and also reduces the design and processing costs of the robot.

[0043] like Figure 2 As shown, the crawling assembly 22 includes a driving wheel 221, a driven wheel 222, a mandrel 225, a driving motor 223 and a rod seat 224, wherein the mandrel 225 is provided with a thread, the mandrel 225 is threadedly connected to the frame body 1, and the rod seat 224 is connected to the mandrel 225. The driving wheel 221 and the driven wheel 222 are installed on both sides of the rod seat 224, the driving motor 223 is installed on the rod seat 224, the driving motor 223 is connected to the driving wheel 221 through a worm gear, and the driving assembly 21 is connected to the host computer for controlling the driving motor 223. A power supply 5 is also installed on the main bracket 12 corresponding to each crawling mechanism 2 for independently supplying power to each crawling mechanism 2. The driving motor 223 transmits the driving force to the driving wheel 221 through the traditional worm gear mechanism to provide the system with a crawling force; the driving motor 223 in this embodiment adopts a servo motor.

[0044] A base 11 is installed on the frame 1, and a threaded hole matching the push rod 225 is provided on the base 11. A connecting hole is provided on the side of the push rod 225 close to the rod seat 224; a preload spring 4 is provided on the outer sleeve of the push rod 225; an adjusting knob 226 is provided on the end of the push rod 225 away from the driving wheel 221.

[0045] On the other hand, Figure 5 and Figure 6 As shown, this embodiment also provides a climbing operation robot control method for pier tower structure detection, and the control steps include:

[0046] S1, using the horizontal detection sensor 3 to detect the horizontal inclination angle θ of the frame 1 corresponding to each crawling mechanism 2 and transmit the data to the host computer;

[0047] S2, the host computer determines the extreme point of the crawling mechanism 2, and then calculates the relative displacement required to crawl for the extreme point of the crawling mechanism 2 corresponding to each level detection sensor 3;

[0048] S3, the host computer calculates the relative displacement H x The crawling speed of each crawling assembly 22 is adjusted so that the frame 1 tends to be on the same horizontal plane.

[0049] Since the gyroscope and the driving wheel 221 are evenly distributed on the robot, they have the same arc length L. In addition, in actual motion, the angle of inclination of the robot is very small, and the horizontal component of the arc length Lcosθ is approximately equal to the actual arc length L. If the robot is expanded from the driving wheel position at 1 point to a plane state analysis diagram, the following can be obtained: Figure 6 Show.

[0050] Wherein step S2 first determines the extreme point of the crawling mechanism 2 at the beginning. The extreme point can be the highest point among several crawling mechanisms 2, or the lowest point among several crawling mechanisms 2. In this embodiment, the lowest point is selected as the extreme point. The lowest point n of the robot is determined by comparing the size and positive and negative of each inclination angle θ. If the inclination angle θ is on the horizontal line, it is positive; if the inclination angle θ is below the horizontal line, it is negative. If the inclination direction from the first point to the second point is upward, the inclination angle θ is positive; if the inclination direction from the first point to the second point is downward, the inclination angle θ is negative. The position of the lowest point n is the one with a negative inclination angle and the largest inclination angle. Define the height H of the lowest point n n =0, calculate the relative height position of each point according to formula (1) or formula (2):

[0051] H x =L×sinθ x +L×sinθ x+1 +…+L×sinθ n-1 (x<n) (1)

[0052] H x =L×sinθ x +L×sinθ x+1 +…+L×sinθ1+L×sinθ2+…+L×sinθ n-1 (x>n) (2)

[0053] Wherein, x represents the point to be calculated, x is a natural number, and the total number of x is the same as the number m of the crawling mechanisms 2.

[0054] For example, in this example, m is 6, that is, in this embodiment, there are 6 climbing mechanisms, which is equivalent to 6 gyroscopes. If the fourth point is the lowest point, when calculating the relative height H1 of the first point, the second point, the third point and the fourth point, formula (1) is used for calculation:

[0055] H1=L×sinθ1+L×sinθ2+L×sinθ3;

[0056] H2=L×sinθ2+L×sinθ3;

[0057] H3=L×sinθ3;

[0058] When calculating the relative heights of the fifth and sixth points to the fourth point, the calculation is performed using formula (2):

[0059] H5=L×sinθ5+L×sinθ6+L×sinθ1+L×sinθ2+L×sinθ3;

[0060] H6=L×sinθ6+L×sinθ1+L×sinθ2+L×sinθ3.

[0061] First, before the robot is used, the host computer can set parameters for the robot, and the parameters can be used to determine whether the robot is climbing up or descending. After the relative height of each point is calculated, the crawling speed V of each crawling component 22 after adjustment can be calculated by formula (3) or formula (4). x :

[0062] If the robot is climbing upward, V x =VH x ×V×P (3)

[0063] If the robot is descending, V x =V+H x ×V×P (4)

[0064] Among them, V is the set speed of the crawling component 22, which can be set by the host computer, and P is the speed regulation proportional factor, and the value range of P is 1-100.

[0065] Finally, according to the crawling speed V x The pulse frequency of each drive motor 223 is calculated and transmitted to the drive component 21, which drives the drive motor 223 to rotate, and finally corrects the tilt angle of each gyroscope so that the frame 1 is horizontal as a whole, reducing the probability of the robot getting stuck during the ascent or descent.

[0066] The host computer of the present invention patent performs distributed networking control through the Lora wireless LAN module and various parts of the system. Each control unit module is equipped with an FPGA to realize embedded data acquisition and control. The various control unit modules communicate with each other and coordinate control to ensure that the climbing and descending of the entire system are stable and smooth. At the same time, the robot can be manually controlled in the host computer, and the upward crawling and downward crawling actions can be conveniently set, and the crawling height, crawling speed, crawling step length, detection time interval and other parameters can be set. During the ascent and descent of the ring climbing robot, the six groups of servo motors of the robot first output the same pulse level signal and direction level control signal at the set speed through the FPGA, so that the servo motor has an ideal speed to ensure the robot to rise smoothly. Then the robot's tilt angle information is collected through the gyroscope, and the output pulse number is compensated to correct the tilt problem of the overall structure that may occur due to the servo motor.

[0067] Working process:

[0068] (1) Place the robot frame and crawling mechanism in order along the circumference of the pier tower;

[0069] (2) Assemble and reconstruct the annular robot. Align the arc frames 121 of the frame body in pairs, fasten the connecting buckles 14 at the joints, align the plug holes 16 15 of the connecting buckles 14 and the arc frames 121 on both sides, take out the plugs 16 and insert them into the plug holes 15, and reconstruct the annular robot system.

[0070] (3) Apply preload force to the driving wheel 221, compress the preload spring 4 by adjusting the knob 226, and realize the contact pressure between the driving wheel 221 and the pier body by the preload spring 4. Adjust to ensure that the pressure of the six driving wheels 221 is basically the same. The pressure can be determined according to the compression amount of the spring on the telescopic rod;

[0071] (4) Connect the controller cable;

[0072] (5) Install the detection load and evenly install the load on the ring-shaped robot. Since the robot of the present invention detects gaps in the pier body, it needs to be omnidirectional, and it may be necessary to install multiple detection devices on the frame;

[0073] (6) Power on the robot, connect the battery of each group of drive components 21 to the control circuit, and power on the drive components 21;

[0074] (7) Send crawling detection instructions. The crawling speed is given by the host computer, and the crawling detection instructions are sent. The detection mode can be set to automatic and control mode. In the automatic mode, the system automatically scans the defects on the surface of the pier and transmits the image in real time to the host computer for storage and record. In the control mode, the system can adjust the crawling mode through buttons;

[0075] (8) Send a crawling detection command. The host computer sets the crawling speed and sends a crawling detection command. The detection mode can be set to automatic or control mode. In the automatic mode, the system automatically scans the defects on the surface of the pier and transmits the image to the host computer for storage and record. In the control mode, the system can adjust the crawling mode through buttons;

[0076] (9) Unload the preload force, disassemble the robot, and complete the inspection. When the inspection is completed, first unload the preload force of each driving wheel 221, then disconnect the control cable, then pull out the pin in the pin hole 15, open the connecting buckle 14, disassemble the various parts, and then put them into the storage box.

[0077] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A climbing robot control method for pier tower structure inspection, characterized in that: A climbing operation robot is used, the climbing operation robot comprising an annular frame (1), a crawling mechanism (2) and a host computer, at least two crawling mechanisms (2) are evenly distributed along the circumference of the frame (1), the crawling mechanism (2) comprises a driving component (21) and a crawling component (22), and a level detection sensor (3) is installed at the frame (1) corresponding to each crawling mechanism (2); Control Methods The following steps are involved: S1, using a horizontal detection sensor (3) to detect the horizontal inclination angle θ of the frame (1) corresponding to each crawling mechanism (2) and transmitting the data to a host computer; S2, the host computer determines the position extreme point of the crawling mechanism (2), and then calculates the relative displacement H required for crawling of the relative position extreme point of the crawling mechanism (2) corresponding to each horizontal detection sensor (3) x ; S3, the host computer calculates the relative displacement H x Adjusting the crawling speed of each crawling assembly (22) so that the frame (1) tends to be on the same horizontal plane; The upper computer determines the lowest point n of the crawling mechanism (2), and determines the lowest point n of the robot by the size and positive and negative of each tilt angle θ. If the tilt angle θ is on the horizontal line, it is positive, and if the tilt angle θ is below the horizontal line, it is negative; the point with a negative tilt angle and the largest tilt angle θ is the lowest point n, and the relative height H of the lowest point n is defined as n = 0, calculate the relative height position H of each point according to formula (1) or formula (2) x : H x =L×sinθ x +L×sinθ x+1 +…+L×sinθ n-1 (x<n) (1) H x =L×sinθ x +L×sinθ x+1 +…+L×sinθ1+L×sinθ2+…+L×sinθ n-1 (x>n) (2) Wherein, x represents the number of the crawling mechanism to be calculated, x=1, 2, ..., m, where m is the total number of crawling mechanisms (2), and n is the number of the crawling mechanism at the lowest point; According to the H x According to formula (3) or formula (4), the adjusted crawling speed V of each crawling component (22) is calculated: x : If the robot is climbing upward, V x =VH x ×V×P (3) If the robot is descending, V x =V+H x ×V×P (4) Wherein, V is the set speed of the crawling component (22), P is the speed regulation proportional factor, and the value range of P is 1-100.

2. The climbing robot control method for pier tower structure detection according to claim 1 is characterized in that: The upper computer converts the calculated speed of each driving motor (223) into a pulse frequency and transmits it to the driving component (21), and controls the driving motor (223) to control the driving wheel movement to correct the inclination of the robot.

3. A climbing robot control method for pier tower structure inspection according to claim 1 or 2, characterized in that: The crawling assembly (22) comprises a driving wheel (221), a driven wheel (222), a push rod (225), a driving motor (223) and a rod seat (224); the push rod (225) is provided with a thread; the push rod (225) is threadedly connected to the frame (1); the rod seat (224) is connected to the push rod (225); the driving wheel (221) and the driven wheel (222) are mounted on both sides of the rod seat (224); the driving motor (223) is mounted on the rod seat (224); the driving motor (223) is connected to the driving wheel (221) via a worm gear; and the driving assembly (21) is connected to the host computer for controlling the driving motor (223).

4. The climbing robot control method for pier tower structure inspection according to claim 3 is characterized in that: The frame body (1) is provided with a base (11), the base (11) is provided with a threaded hole matching the push rod (225), a connecting hole is provided on a side of the push rod (225) close to the rod seat (224); a preload spring (4) is provided on the outer sleeve of the push rod (225); and an adjusting knob (226) is provided on the end of the push rod (225) away from the driving wheel (221).

5. The control method of a climbing robot for pier tower structure inspection according to claim 3, characterized in that: The level detection sensor (3) is a gyroscope.

6. The climbing robot control method for pier tower structure inspection according to claim 3 is characterized in that: The frame body (1) comprises m main supports (12), a plurality of auxiliary supports (13) and m connecting buckles (14); the main support (12) is composed of two parallel arc-shaped frames (121); the auxiliary support (13) is used to connect the two arc-shaped frames (121) of the main support (12); the arc-shaped frames (121) and the connecting buckles (14) are both provided with pin holes (15); a U-shaped groove (141) is provided in the connecting buckle (14); one end of the connecting buckle (14) is hinged to the arc-shaped frame (121); the other end of the connecting buckle (14) is provided with a connecting groove (142); the number of the main support (12), the connecting buckle (14) and the crawling mechanism (2) is the same.

7. A climbing robot control method for pier tower structure inspection according to claim 6, characterized in that: Six crawling mechanisms (2) are evenly arranged on the frame (1).

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