Wall surface self-adaptive wheel type magnetic adsorption pipeline wall-climbing robot

Abstract

The invention discloses a wall surface self-adaptive wheel type magnetic adsorption pipeline wall-climbing robot, which relates to the technical field of intelligent machinery and comprises a vehicle body, a passive self-adaptive device, a driving device, a permanent magnet adsorption magnetic wheel group and a sensing device, through mutual cooperation of the passive self-adaptive device, the driving device, the permanent magnet adsorption magnetic wheel set and the sensing device, the problem that when the wheel type magnetic adsorption wall-climbing robot walks on an uneven working face, the rotating speeds of all wheels are not synchronous can be solved; the wheel type magnetic adsorption wall-climbing robot smoothly walks on the working face and crosses the external corner of the pipeline, the use reliability of the robot is improved, then the working efficiency of the robot is improved, the front and back network cameras can transmit image information in the pipeline in real time, and an operator can conveniently monitor and adjust the working state of the robot.

Description

Technical Field

[0001] The present invention relates to the field of intelligent mechanical technology, and in particular to a wall-adaptive wheeled magnetic adsorption pipeline wall-climbing robot. Background Art

[0002] The magnetic adsorption pipeline wall-climbing robot is a robot that can stably adsorb, walk and work on vertical or inclined walls. This technology has been widely used in many industrial fields in recent years. According to the different adsorption methods, wall-climbing robots can be divided into three categories: negative pressure adsorption, magnetic adsorption and bionic adsorption. The magnetic adsorption robot uses the magnetic elements on the robot to interact with the magnetic surface on the working surface, generates attraction through the magnetic field, and fixes the robot on the surface. Compared with other wall-climbing technologies, magnetic adsorption technology has the advantages of lightness, silence and effective adhesion. It does not require a large number of mechanical parts, is almost noiseless when working, and can stably fix the robot on the vertical surface to achieve more accurate operation and control. The application of magnetic adsorption technology in wall-climbing robots has covered many fields, such as building maintenance, industrial monitoring, pipeline and tank inspection, etc. Especially in high-altitude operations, dangerous environments or crowded places, magnetic adsorption robots can replace personnel for dangerous operations, improving the safety and efficiency of work.

[0003] Existing wheeled magnetic adsorption wall-climbing robots often face many challenges in actual application scenarios. For example, when running inside a pipeline, it is inevitable to pass through L-shaped and T-shaped pipelines, that is, it is necessary to pass through the outer corners of the pipeline. At the same time, the asynchronous rotation speed of each wheel will cause walking jams, and problems such as serious slippage between the wheels and the wall also occur from time to time. These conditions make it difficult for wheeled magnetic adsorption wall-climbing robots to achieve smooth movements when walking on curved surfaces. In real industrial scenarios, if the wheeled magnetic adsorption wall-climbing robot cannot adapt well to walking on curved surfaces, it will greatly affect its work efficiency and application scope. Only by ensuring that the wheeled magnetic adsorption wall-climbing robot can walk stably and efficiently on various complex curved structures can it better play its advantages in dangerous environment operations, replace manual dangerous operations, improve work safety and efficiency, and provide strong support for the development of multiple industrial fields. Summary of the invention

[0004] The present invention provides a wall-adaptive wheeled magnetic adsorption pipeline wall-climbing robot, which can improve work efficiency on the one hand, and solve the problem of asynchronous rotation speed of each wheel when the wheeled magnetic adsorption wall-climbing robot walks on an uneven working surface on the other hand, thereby enabling the wheeled magnetic adsorption wall-climbing robot to walk smoothly on the working surface and cross the positive corner of the pipeline, thereby improving its reliability in use.

[0005] In order to solve the above technical problems, the present invention provides a wall-adaptive wheeled magnetic adsorption pipeline climbing robot, comprising a vehicle body, a passive adaptive device, a driving device, a permanent magnetic adsorption magnetic wheel group and a sensing device; the vehicle body comprises a front drive module and a rear drive module, and a bending structure is provided on the vehicle body between the front drive module and the rear drive module, and the bending structure enables the vehicle body to smoothly pass through the positive angle of the pipeline; the passive adaptive device comprises an adaptive yaw mechanism and an adaptive roll mechanism, the adaptive roll mechanism is arranged between the front drive module and the rear drive module, and the adaptive yaw mechanism is arranged on the front drive module; the driving device comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is arranged on the lower side of the front drive module, and the second driving mechanism is arranged on the lower side of the rear drive module, the first driving mechanism and the second driving mechanism are respectively matched with the permanent magnetic adsorption magnetic wheel group, so that the robot can adsorb the pipe wall and drive the vehicle body to move as a whole; the sensing device is arranged at the passive adaptive device, and is used to sense the rotation angle data of the passive adaptive device.

[0006] In some embodiments, the front-drive module includes a front-drive frame and a front-drive cabin, the rear-drive module includes a rear-drive frame, and the sensing device includes a yaw angle sensor and a roll angle sensor; the yaw angle sensor is connected to an adaptive yaw mechanism, and the roll angle sensor is connected to an adaptive roll mechanism; the adaptive yaw mechanism is arranged between the front-drive frame and the front-drive cabin, and the adaptive roll mechanism is arranged between the front-drive cabin and the rear-drive frame.

[0007] In some embodiments, the adaptive yaw mechanism includes a yaw rotation shaft and a first slewing bearing, the outer ring of the first slewing bearing is fixedly connected to the front drive frame, the inner ring of the first slewing bearing is fixedly connected to the yaw rotation shaft, the other end of the yaw rotation shaft is fixedly connected to the front drive cabin, the yaw angle sensor is coaxially fixed to the front drive frame with the yaw rotation shaft, and the yaw angle sensor is used to monitor the rotation angle of the yaw rotation shaft.

[0008] In some embodiments, the adaptive roll mechanism includes a roll rotation axis and a second slewing bearing, the outer ring of the second slewing bearing is fixedly connected to the rear-wheel drive frame, the inner ring of the second slewing bearing is fixedly connected to the roll rotation axis, the other end of the roll rotation axis is fixedly connected to the front-wheel drive cabin, the roll angle sensor is coaxially fixed to the rear-wheel drive frame with the roll rotation axis, and the roll angle sensor is used to monitor the rotation angle of the roll rotation axis.

[0009] In some embodiments, the yaw rotation axis of the adaptive yaw mechanism intersects perpendicularly with the roll rotation axis of the adaptive roll mechanism.

[0010] In some embodiments, the first drive mechanism and the second drive mechanism have the same structure, the first drive mechanism includes two first servo motors and two sets of front transmission gear sets, the second drive mechanism includes two second servo motors and two sets of rear transmission gear sets, the permanent magnetic adsorption magnetic wheel set includes four permanent magnetic adsorption wheels, the first servo motor and the second servo motor are respectively arranged under the front drive frame and the rear drive frame, the output shafts of the two first servo motors are respectively connected to the corresponding permanent magnetic adsorption wheels through the two sets of front transmission gear sets, and the output shafts of the two second servo motors are respectively connected to the corresponding permanent magnetic adsorption wheels through the two sets of rear transmission gear sets, wherein two of the permanent magnetic adsorption wheels are rotatably installed at the bottom of the front drive frame, and the other two permanent magnetic adsorption wheels are rotatably installed at the bottom of the rear drive frame.

[0011] In some embodiments, a first servo driver is provided in the front drive cabin, and a PCB main control board, a second servo driver, a posture sensor and a network switch are provided on the top of the rear drive frame. The posture sensor is installed on the PCB main control board, and the PCB main control board is electrically connected to the first servo driver, the second servo driver, the posture sensor, the yaw angle sensor, the roll angle sensor and the network switch, respectively. The first servo driver is electrically connected to two first servo motors, respectively, and the second servo driver is electrically connected to two second servo motors, respectively.

[0012] In some embodiments, a front network camera is provided in the front drive cabin, a front lighting source is provided on one side of the travel direction of the front drive cabin, a rear network camera, a light controller, a PCB main control board and a network switch are provided on the top of the rear drive frame, a rear lighting source is provided on one side of the travel direction of the rear drive frame, the PCB main control board is electrically connected to the light controller and the network switch, respectively, the network switch is electrically connected to the front network camera and the rear network camera, and the light controller is electrically connected to the front lighting source and the rear lighting source, respectively.

[0013] The present invention provides a control method for a wall-adaptive wheeled magnetic adsorption pipeline wall-climbing robot, which specifically comprises the following steps:

[0014] S1: When the wheeled magnetic adsorption wall-climbing robot receives an operation command from the host computer and moves on a non-flat working surface, the sensor device set at the passive adaptive device starts to work. The yaw angle sensor and roll angle sensor in the sensor device sense the yaw and roll rotation angles of the passive adaptive device respectively, and the attitude sensor senses the spatial attitude of the robot;

[0015] S2: The angle sensor sends the detected rotation angle data to the lower computer through the RS232 and RS485 serial ports;

[0016] S3: After receiving the parameters sent by the sensor device, the lower computer performs data analysis and processing. According to different rotation angles and the preset path of the robot, the lower computer calculates the speed that needs to be adjusted for the motor in each drive unit. The PCB main control board sends real-time compensation instructions to the motors in each drive unit to adjust the rotation speed of the motors. The PCB main control board feeds back the motor data, two angle sensor data and attitude sensor to the upper computer in real time. The data is displayed in the robot real-time data area of ​​the upper computer human-machine interaction interface, which can let the operator understand the current status of the robot more intuitively and give the next instruction;

[0017] S4: After the motor speed in each drive unit changes, the permanent magnetic adsorption wheels in the permanent magnetic adsorption wheel group are driven to rotate through the transmission gear set. The adjustment of the motor speed directly causes the speed of each magnetic wheel to change accordingly, so as to adjust the robot's travel path to match the preset, and ensure that the four permanent magnetic adsorption wheels can always contact the wall surface, and there will be no walking jams or slipping caused by asynchrony, so as to adapt to the situation of uneven working surfaces and passing through the positive corners of pipelines.

[0018] Compared with the related art, the wall-adaptive wheeled magnetic adsorption pipeline wall-climbing robot provided by the present invention has the following beneficial effects:

[0019] The present invention provides a wall-adaptive wheeled magnetic adsorption pipeline wall-climbing robot. Through the mutual cooperation of a passive adaptive device, a driving device, a permanent magnetic adsorption magnetic wheel group and a sensing device, the problem of asynchronous rotation speed of each wheel of the wheeled magnetic adsorption wall-climbing robot when walking on an uneven working surface can be solved, and the wheeled magnetic adsorption wall-climbing robot can walk smoothly on the working surface and cross the positive corner of the pipeline, thereby improving its reliability in use and further improving the work efficiency of the robot.

[0020] The present invention provides a wall-adaptive wheeled magnetic adsorption pipeline climbing robot. The front and rear network cameras can transmit the internal image information of the pipeline in real time, which is convenient for operators to monitor and adjust the working status of the robot. The upper and lower computers transmit information to each other through a network switch, that is, a network cable, so that the control system is more perfect, problems can be discovered and adjusted in time, downtime can be reduced, and work efficiency can be improved.

[0021] The present invention provides a wall-adaptive wheeled magnetic adsorption pipeline climbing robot, in which a sensor device is arranged at a passive adaptive device and can sense the rotation angle data of the passive adaptive device. When the robot moves on a non-flat working surface, the parameters are sent to a lower computer, which calculates the data and adjusts the rotation speed of the motors in each drive unit, thereby adjusting the rotation speed of each magnetic wheel, thereby effectively avoiding the phenomenon of asynchronism of each motor when the wheeled magnetic adsorption wall climbing robot walks on a non-flat working surface. The yaw angle sensor and the roll angle sensor accurately detect the yaw angle and roll angle of the robot respectively, and provide important feedback information for the control system, so that the robot can adjust its posture in time according to the angle change, ensure stable driving on the pipeline wall, and improve reliability.

[0022] The present invention provides a wall-adaptive wheeled magnetic adsorption pipeline climbing robot. The cooperation of the adaptive yaw mechanism and the adaptive roll mechanism allows the robot to maintain a stable posture in a complex pipeline environment. The design of the yaw rotation axis and the roll rotation axis intersecting vertically makes the robot's movement in different directions more independent and precise, improves the robot's adaptability and controllability, and enhances its reliability under various working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of a wall-adaptive wheeled magnetic adsorption pipeline climbing robot Figure 1 ;

[0024] Figure 2 Schematic diagram of a wall-adaptive wheeled magnetic adsorption pipeline climbing robot Figure 2 ;

[0025] Figure 3 Schematic diagram of a wall-adaptive wheeled magnetic adsorption pipeline climbing robot Figure 3 ;

[0026] Figure 4 Schematic diagram of a wall-adaptive wheeled magnetic adsorption pipeline climbing robot Figure 4 ;

[0027] Figure 5 is a three-dimensional schematic diagram of a passive adaptive device;

[0028] Figure 6 is a side schematic diagram of a passive adaptive device;

[0029] Figure 7 Schematic diagram of the wall-adaptive wheeled magnetic adsorption pipeline climbing robot passing through a 90° positive angle Figure 1 ;

[0030] Figure 8 Schematic diagram of the wall-adaptive wheeled magnetic adsorption pipeline climbing robot passing through a 90° positive angle Figure 2 ;

[0031] Fig. 9 Schematic diagram of a wall-adaptive wheeled magnetic adsorption pipeline climbing robot passing through a pipeline with a diameter of 700 mm.

[0032] Numbers in the figure: 100, rear drive module; 101, front drive module; 102, rear drive frame; 103, front drive cabin; 104, front drive frame; 200, passive adaptive device; 201, roll rotation axis; 202, yaw rotation axis; 300, drive device; 301, first drive mechanism; 302, second drive mechanism; 3031, front transmission gear set; 3032, rear transmission gear set; 400, permanent magnetic adsorption magnetic wheel set; 500, sensor device; 501, roll angle sensor; 502, yaw angle sensor; 503, first slewing bearing; 504, second slewing bearing; 600, bending structure; 1, front network camera; 2, front lighting source; 3, first servo driver; 4, PCB main control board; 5, rear network camera; 6, rear lighting source; 7, second servo driver; 8, lighting controller; 9, network switch; 10, 700mm diameter pipe. DETAILED DESCRIPTION

[0033] Embodiment 1

[0034] This embodiment provides a wall-adaptive wheeled magnetic adsorption pipeline wall-climbing robot, such as Figure 1-4 As shown, the present invention includes a vehicle body, a passive adaptive device 200, a driving device 300, a permanent magnetic adsorption magnetic wheel set 400 and a sensor device 500;

[0035] The vehicle body includes a front drive module 101 and a rear drive module 100. A curved structure 600 is provided on the vehicle body between the front drive module 101 and the rear drive module 100. The curved structure 600 enables the vehicle body to pass through the positive corner of the pipeline smoothly.

[0036] The passive adaptive device 200 includes an adaptive yaw mechanism and an adaptive roll mechanism. The adaptive roll mechanism is arranged between the front drive module 101 and the rear drive module 100. The adaptive yaw mechanism is arranged on the front drive module 101 and has roll and yaw rotation functions.

[0037] The driving device 300 includes a first driving mechanism 301 and a second driving mechanism 302. The first driving mechanism 301 is arranged at the lower side of the front drive module 101, and the second driving mechanism 302 is arranged at the lower side of the rear drive module 100. The driving device 300 is meshed with the permanent magnetic adsorption magnetic wheel group 400 through gears, so that the robot can adsorb the pipe wall and drive the vehicle body to move as a whole. The permanent magnetic adsorption magnetic wheel group 400 is divided into two groups, front and rear, and is on the same axis.

[0038] The sensing device 500 is disposed at the passive adaptive device 200 and is used to sense the rotation angle data of the passive adaptive device 200 .

[0039] In this embodiment, the curved structure 600 provided on the vehicle body can prevent the vehicle body from contacting the positive angle structure when passing through the positive angle structure, thereby preventing the vehicle body from getting stuck. The curved structure 600 is preferably in an arc shape. Figure 6-7 When the robot is at the outer angle of the pipeline shown in the figure, the arc must at least be able to meet the requirement that when the front and rear wheels are on both sides of the outer angle, the vehicle body will not interfere with the outer angle of the pipeline, and the arc is related to the wheelbase and radius of the front and rear magnetic wheel groups; the passive adaptive device 200 can help the robot cope with complex pipeline wall environments and outer angles of the pipeline. For example, when encountering uneven pipeline surfaces and angle changes, the robot can maintain its own stable posture through rolling and yaw rotation to ensure that the robot can move normally and improve the robot's adaptability and passing ability under different working conditions; the permanent magnetic adsorption magnetic wheel group 400 uses the magnetic force generated by the permanent magnet to firmly adsorb on the pipeline wall The sensor device 500 detects data which is transmitted to the lower computer, so that the lower computer can adjust the rotation speed of the motors in each drive unit according to the real-time information to ensure that the robot can run stably and coordinatedly in the complex pipe wall environment, thereby improving the accuracy and safety of the overall movement of the robot.

[0040] Embodiment 2

[0041] Based on the first embodiment, Figure 1-9 As shown, the front drive module 101 of this embodiment includes a front drive frame 104 and a front drive cabin 103, the rear drive module 100 includes a rear drive frame 102, and the sensing device 500 includes a yaw angle sensor 502 and a roll angle sensor 501; the yaw angle sensor 502 is connected to an adaptive yaw mechanism, and the roll angle sensor 501 is connected to an adaptive roll mechanism; the adaptive yaw mechanism is arranged between the front drive frame 104 and the front drive cabin 103, and the adaptive roll mechanism is arranged between the front drive cabin 103 and the rear drive frame 102.

[0042] In this embodiment, this structural design makes the robot move more flexibly on the pipe wall, and can be adaptively adjusted according to different pipe shapes and angles. The cooperation of the adaptive yaw mechanism and the adaptive roll mechanism can enable the robot to maintain a stable posture in a complex pipe environment, thereby improving the robot's working efficiency and reliability.

[0043] Embodiment 3

[0044] Based on the second embodiment, Figure 1-9 As shown, the adaptive yaw mechanism of this embodiment includes a yaw rotation shaft 202 and a first slewing bearing 504, the outer ring of the first slewing bearing 504 is fixedly connected to the front drive frame 104, the inner ring of the first slewing bearing 504 is fixedly connected to the yaw rotation shaft 202, the other end of the yaw rotation shaft 202 is fixedly connected to the front drive cabin 103, the yaw angle sensor 502 is coaxially fixed to the front drive frame 104 with the yaw rotation shaft 202, and the yaw angle sensor 502 is used to monitor the rotation angle of the yaw rotation shaft 202.

[0045] In this embodiment, the yaw angle sensor 502 can accurately detect the yaw angle of the robot and provide important feedback information for the robot's control system. By cooperating with the control system, the robot can adjust its posture in time according to the change of the yaw angle to ensure stable driving on the pipe wall.

[0046] Embodiment 4

[0047] Based on the second embodiment, Figure 1-9 As shown, the adaptive roll mechanism of this embodiment includes a roll rotation axis 201 and a second slewing bearing 503, the outer ring of the second slewing bearing 503 is fixedly connected to the rear-wheel drive frame 102, the inner ring of the second slewing bearing 503 is fixedly connected to the roll rotation axis 201, the other end of the roll rotation axis 201 is fixedly connected to the front-wheel drive cabin 103, the roll angle sensor 501 is coaxially fixed to the rear-wheel drive frame 102 with the roll rotation axis 201, and the roll angle sensor 501 is used to monitor the rotation angle of the roll rotation axis 201.

[0048] In this embodiment, the roll angle sensor 501 can monitor the roll angle of the robot in real time. When the robot is traveling on the pipe wall, the roll angle sensor 501 can transmit the detected angle information to the control system. The control system adjusts the posture of the robot according to this information to ensure the stability and safety of the robot.

[0049] Embodiment 5

[0050] On the basis of Embodiment 3 or 4, Figure 1-6 As shown, the yaw rotation axis 202 of the adaptive yaw mechanism of this embodiment intersects perpendicularly with the roll rotation axis 201 of the adaptive roll mechanism.

[0051] In this embodiment, this vertically intersecting design can make the robot's movement in different directions more independent and precise. The cooperation of the yaw rotation axis 202 and the roll rotation axis 201 can allow the robot to achieve more flexible steering and adjustment in a complex pipeline environment, thereby improving the robot's adaptability and maneuverability. Among them, one end of the yaw rotation axis 202 and the roll rotation axis 201 is fixed, and the other end is fixed to the corresponding slewing bearing inner ring, and the angle change of the adaptive yaw mechanism and the adaptive roll mechanism is achieved by rotating the inner and outer rings of the slewing bearing.

[0052] Embodiment 6

[0053] Based on the second embodiment, Figure 2 As shown, the first driving mechanism 301 of this embodiment has the same structure as the second driving mechanism 302, the first driving mechanism 301 includes two first servo motors and two groups of front transmission gear sets 3031, the second driving mechanism 302 includes two second servo motors and another two groups of rear transmission gear sets 3032, the permanent magnetic adsorption magnetic wheel set 400 includes four permanent magnetic adsorption wheels, the first servo motor and the second servo motor are respectively arranged under the front drive frame 104 and the rear drive frame 102, the output shafts of the two first servo motors are respectively connected to the corresponding permanent magnetic adsorption wheels through the two groups of front transmission gear sets 3031, the output shafts of the two second servo motors are respectively connected to the corresponding permanent magnetic adsorption wheels through the two groups of rear transmission gear sets 3032, wherein two permanent magnetic adsorption wheels are rotatably installed at the bottom of the front drive frame 104, and the other two permanent magnetic adsorption wheels are rotatably installed at the bottom of the rear drive frame 102.

[0054] In this embodiment, four transmission gear sets are respectively arranged under the front drive frame 104 and the rear drive frame 102. The cooperation of the servo motor and the transmission gear set can provide a strong power for the robot, so that the robot can travel quickly on the pipe wall. The design of the permanent magnetic adsorption wheel can ensure the firm adsorption of the robot on the pipe wall to prevent the robot from falling during driving. At the same time, this structure is also convenient for the maintenance and replacement of parts of the robot.

[0055] Embodiment 7

[0056] On the basis of Example 6, Figure 3-4 As shown, in this embodiment, a first servo driver 3 is provided in the front drive compartment 103, and a PCB main control board 4, a second servo driver 7, a posture sensor and a network switch 9 are provided on the top of the rear drive frame 102. The posture sensor is installed on the PCB main control board 4, and the PCB main control board 4 is electrically connected to the first servo driver 3, the second servo driver 7, the posture sensor, the yaw angle sensor 502, the roll angle sensor 501 and the network switch 9 respectively, the first servo driver 3 is electrically connected to the two first servo motors respectively, and the second servo driver 7 is electrically connected to the two second servo motors respectively.

[0057] In this embodiment, the data of the attitude sensor, the yaw angle sensor 502, and the roll angle sensor 501 are transmitted to the PCB main control board 4 through the RS232 and RS485 serial ports. The lower computer program running on the PCB main control board 4 will receive the sensor data and perform preliminary processing, such as verification, encoding or packaging operations, and package multiple sensor data and add verification codes to ensure integrity, and then send the data to the upper computer through the network switch 9. The upper computer runs the data receiving program and monitors the network interface to receive data packets from the PCB main control board 4. The PCB main control board 4 controls the first servo driver 3 and the second servo driver 7 to adjust the speed, thereby adjusting the speed of the four permanent magnetic adsorption wheels. The setting of equipment such as the servo motor driver, the light controller 8 and the network switch 9 makes the robot's control system more perfect, and improves the robot's intelligence level and work efficiency.

[0058] Embodiment 8

[0059] Based on the second embodiment, Figure 3-4 As shown, in the present embodiment, a front network camera 1 is provided in the front drive cabin 103, a front lighting source 2 is provided on one side of the travel direction of the front drive cabin 103, a rear network camera 5, a light controller 8, a PCB main control board 4 and a network switch 9 are provided on the top of the rear drive frame 102, a rear lighting source 6 is provided on one side of the travel direction of the rear drive frame 102, the PCB main control board 4 is electrically connected to the light controller 8 and the network switch 9 respectively, the network switch 9 is electrically connected to the front network camera 1 and the rear network camera 5 respectively, and the light controller 8 is electrically connected to the front lighting source 2 and the rear lighting source 6 respectively.

[0060] In this embodiment, the front network camera 1 and the rear network camera 5 can transmit the image information inside the pipeline to the host computer through the network switch 9, so that the operator can monitor and adjust the working state of the robot. The front lighting source 2 and the rear lighting source 6 can provide sufficient light for the camera to ensure the clarity of the image, which is convenient for operation in the dark scene such as in the pipeline.

[0061] Working principle: When the wall-adaptive wheeled magnetic adsorption pipeline climbing robot moves on a working surface such as an uneven inner wall of a pipeline, the robot's adaptive roll mechanism will roll and rotate according to the actual situation due to the unevenness of the working surface. In this process, the roll angle sensor 501 installed at the adaptive roll mechanism will continuously detect the robot's posture change, that is, the roll rotation angle; when the robot turns on the inner wall of the pipeline through differential drive, the yaw angle sensor 502 installed at the adaptive yaw mechanism will continuously detect the robot's posture change, that is, the yaw rotation angle; the posture sensor senses the robot's spatial posture.

[0062] These sensors send the detected angle data to the PCB main control board 4 in real time. The lower computer program runs on the PCB main control board. When the lower computer program runs, after the upper computer establishes a connection with it, the upper computer issues an instruction, and the lower computer performs a corresponding operation. The angle sensor sends the detected rotation angle data as a parameter to the lower computer. After the lower computer receives the parameter sent by the sensor device 500, it performs data analysis and processing. According to different rotation angle conditions and the preset path of the robot, the lower computer uses a specific algorithm to calculate the speed that the motor in each drive unit needs to adjust. The PCB main control board sends a real-time compensation instruction to the motor in each drive unit to adjust the rotation speed of the motor. The output end of the motor is connected to the permanent magnetic adsorption wheel in the permanent magnetic adsorption magnetic wheel group 400 through a transmission gear set. The change in the motor speed will directly drive the change in the speed of the magnetic wheel. And the lower computer feeds back the motor data, the two angle sensor data and the posture sensor to the upper computer in real time. The data is displayed in the robot real-time data area of ​​the upper computer human-computer interaction interface, which can more intuitively let the operator understand the current status of the robot and give the next step instruction.

[0063] Through this real-time monitoring, lower-computer calculation, motor speed adjustment and data transmission process, the wall-adaptive wheeled magnetic adsorption pipeline climbing robot can always maintain the stable adsorption and coordinated operation of each magnetic wheel when walking in a straight line or turning on an uneven working surface, avoiding the asynchronous phenomenon of each motor caused by the uneven working surface. This control method enables the robot to operate more stably and efficiently in various complex working environments, improving the reliability and work efficiency of the robot.

[0064] For example: Fig. 9 As shown, when the robot passes through a 700 mm diameter pipe 10, due to the unevenness of the inner wall of the pipe, the four magnetic wheels of the robot cannot be stably adsorbed on the inner wall of the pipe. At this time, the adaptive roll mechanism rotates a certain angle to ensure the smooth adsorption of the four magnetic wheels. The roll angle sensor 501 will monitor this angle change and send this data to the lower computer and the upper computer. After receiving the data, the lower computer will calculate the speed that needs to be adjusted for the motor in each drive unit through a specific algorithm, thereby driving the speed change of the magnetic wheel and allowing the robot to maintain a stable posture.

[0065] When the robot receives an instruction to turn on the inner wall of the pipeline through differential drive, a yaw rotation angle of the robot will be generated due to the different rotation speeds of the magnetic wheels on the left and right sides of the adaptive yaw mechanism. The yaw angle sensor 502 installed at the adaptive yaw mechanism will continuously detect changes in the yaw rotation angle of the robot and send this data to the lower computer and the upper computer. After receiving the data, the lower computer will calculate the speed that needs to be adjusted for the motor in each drive unit through a specific algorithm. The PCB main control board sends real-time compensation instructions to the motor in each drive unit to adjust the rotation speed of the motor, thereby driving the speed change of the magnetic wheel to keep the robot running in a stable posture.

[0066] When the robot passes through the positive corner of the pipeline, the front magnetic wheel is higher than the rear magnetic wheel, which will cause a pitch angle change. The attitude sensor detects this angle change and sends the data to the lower computer. After receiving the data, the lower computer will reduce the speed of the front magnetic wheel and increase the speed of the rear magnetic wheel in order to restore the balance of the robot. Initially, the speeds of the front and rear magnetic wheels are both v0. The lower computer calculates the appropriate adjustment amount Δv based on the angle change sensed by the attitude sensor. The speed of the front wheel remains unchanged, and the speed of the rear magnetic wheel is adjusted to v0+Δv. In this way, the speed of the rear magnetic wheel changes according to the angle change, making the robot's posture stable and avoiding the situation where the robot's magnetic wheel slips and causes forward or backward tilting.

Claims

1. A wall-adaptive wheeled magnetic adsorption pipeline climbing robot, characterized in that: It includes a vehicle body, a passive adaptive device, a driving device, a permanent magnetic adsorption magnetic wheel set and a sensor device; The vehicle body comprises a front drive module and a rear drive module, and a curved structure is provided on the vehicle body between the front drive module and the rear drive module, and the curved structure enables the vehicle body to smoothly pass through the positive corner of the pipeline; The passive adaptive device comprises an adaptive yaw mechanism and an adaptive roll mechanism, wherein the adaptive roll mechanism is arranged between the front drive module and the rear drive module, and the adaptive yaw mechanism is arranged on the front drive module; The driving device includes a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is arranged at the lower side of the front drive module, and the second driving mechanism is arranged at the lower side of the rear drive module, and the first driving mechanism and the second driving mechanism are respectively matched with the permanent magnetic adsorption magnetic wheel group, so that the robot can adsorb the pipe wall and drive the vehicle body to move as a whole; The sensor device is arranged at the passive adaptive device and is used for sensing the rotation angle data of the passive adaptive device.

2. The wall-adaptive wheeled magnetic adsorption pipeline climbing robot according to claim 1, characterized in that: The front drive module includes a front drive frame and a front drive cabin, the rear drive module includes a rear drive frame, and the sensing device includes a yaw angle sensor and a roll angle sensor; the yaw angle sensor is connected to an adaptive yaw mechanism, and the roll angle sensor is connected to an adaptive roll mechanism; the adaptive yaw mechanism is arranged between the front drive frame and the front drive cabin, and the adaptive roll mechanism is arranged between the front drive cabin and the rear drive frame.

3. The wall-adaptive wheeled magnetic adsorption pipeline climbing robot according to claim 2, characterized in that: The adaptive yaw mechanism includes a yaw rotation shaft and a first slewing bearing, the outer ring of the first slewing bearing is fixedly connected to the front drive frame, the inner ring of the first slewing bearing is fixedly connected to the yaw rotation shaft, the other end of the yaw rotation shaft is fixedly connected to the front drive cabin, the yaw angle sensor is coaxially fixed to the front drive frame with the yaw rotation shaft, and the yaw angle sensor is used to monitor the rotation angle of the yaw rotation shaft.

4. The wall-adaptive wheeled magnetic adsorption pipeline climbing robot according to claim 2, characterized in that: The adaptive roll mechanism includes a roll rotation axis and a second slewing bearing, the outer ring of the second slewing bearing is fixedly connected to the rear-drive frame, the inner ring of the second slewing bearing is fixedly connected to the roll rotation axis, the other end of the roll rotation axis is fixedly connected to the front-drive cabin, the roll angle sensor is coaxially fixed to the rear-drive frame with the roll rotation axis, and the roll angle sensor is used to monitor the rotation angle of the roll rotation axis.

5. A wall-adaptive wheeled magnetic adsorption pipeline climbing robot according to any one of claims 3-4, characterized in that: The yaw rotation axis of the adaptive yaw mechanism intersects perpendicularly with the roll rotation axis of the adaptive roll mechanism.

6. The wall-adaptive wheeled magnetic adsorption pipeline climbing robot according to claim 2, characterized in that: The first driving mechanism has the same structure as the second driving mechanism. The first driving mechanism includes two first servo motors and two groups of front transmission gear sets, the second driving mechanism includes two second servo motors and two groups of rear transmission gear sets, the permanent magnetic adsorption magnetic wheel group includes four permanent magnetic adsorption wheels, the first servo motor and the second servo motor are respectively arranged under the front drive frame and the rear drive frame, the output shafts of the two first servo motors are respectively connected to the corresponding permanent magnetic adsorption wheels through the two groups of front transmission gear sets, and the output shafts of the two second servo motors are respectively connected to the corresponding permanent magnetic adsorption wheels through the two groups of rear transmission gear sets, wherein two of the permanent magnetic adsorption wheels are rotatably installed at the bottom of the front drive frame, and the other two permanent magnetic adsorption wheels are rotatably installed at the bottom of the rear drive frame.

7. The wall-adaptive wheeled magnetic adsorption pipeline climbing robot according to claim 6, characterized in that: A first servo driver is provided in the front drive compartment, and a PCB main control board, a second servo driver, a posture sensor and a network switch are provided on the top of the rear drive frame. The posture sensor is installed on the PCB main control board, and the PCB main control board is electrically connected to the first servo driver, the second servo driver, the posture sensor, the yaw angle sensor, the roll angle sensor and the network switch respectively. The first servo driver is electrically connected to two first servo motors respectively, and the second servo driver is electrically connected to two second servo motors respectively.

8. The wall-adaptive wheeled magnetic adsorption pipeline climbing robot according to claim 2, characterized in that: A front network camera is provided in the front drive cabin, a front lighting source is provided on one side of the front drive cabin in the direction of travel, a rear network camera, a light controller, a PCB main control board and a network switch are provided on the top of the rear drive frame, a rear lighting source is provided on one side of the rear drive frame in the direction of travel, the PCB main control board is electrically connected to the light controller and the network switch respectively, the network switch is electrically connected to the front network camera and the rear network camera respectively, and the light controller is electrically connected to the front lighting source and the rear lighting source respectively.

9. A control method using the wall-adaptive wheeled magnetic adsorption pipeline climbing robot as claimed in any one of claims 1 to 8, characterized in that: The specific steps include: S1: When the wheeled magnetic adsorption wall-climbing robot receives an operation command from the host computer and moves on a non-flat working surface, the sensor device set at the passive adaptive device starts to work. The yaw angle sensor and roll angle sensor in the sensor device sense the yaw and roll rotation angles of the passive adaptive device respectively, and the attitude sensor senses the spatial attitude of the robot; S2: The angle sensor sends the detected rotation angle data as a parameter to the lower computer; S3: After receiving the parameters sent by the sensor device, the lower computer performs data analysis and processing. According to different rotation angles and the preset path of the robot, the lower computer calculates the speed that needs to be adjusted for the motor in each drive unit, and then the PCB main control board sends real-time compensation instructions to the motor in each drive unit to adjust the rotation speed of the motor. The PCB main control board feeds back the motor data, two angle sensor data and attitude sensor to the upper computer in real time. The data is displayed in the robot real-time data area of ​​the upper computer human-machine interaction interface, which can let the operator understand the current status of the robot more intuitively and give the next instruction; S4: After the motor speed in each drive unit changes, the permanent magnetic adsorption wheels in the permanent magnetic adsorption wheel group are driven to rotate through the transmission gear set. The adjustment of the motor speed directly causes the speed of each magnetic wheel to change accordingly, so as to adjust the robot's travel path to match the preset, and ensure that the four permanent magnetic adsorption wheels can always contact the wall surface, and there will be no walking jams or slipping caused by asynchrony, so as to adapt to the situation of uneven working surfaces and passing through the positive corners of pipelines.

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