Container climbing robot

Abstract

The present invention discloses a wall-climbing robot, comprising: a main body; a bottom wheel, the bottom wheel can be pivotally connected to the main body; an active propeller arm, one end of the active propeller arm can be pivotally connected to the main body, and the other end of the active propeller arm is provided with a guide end; it is characterized in that: a driving mechanism is provided at one end of the active propeller arm that can be pivotally connected to the main body, so that the active propeller arm can be pivoted to a certain angle relative to the main body and maintained at the angle, so as to point the guide end of the active propeller arm to a predetermined direction. The wheeled mobile magnetic adsorption wall-climbing walking is realized, and the wall surface where the container is handed over can be climbed.

Description

Technical Field

[0001] The present invention relates to a container inspection robot, belonging to the field of security inspection. The robot is used for checking and detecting goods in a customs container. Background Art

[0002] When the customs inspects containerized goods at the freight clearance site, it still mainly relies on manual labor, especially when there are a lot of goods in the container, the manpower and material resources required to move the goods are huge.

[0003] The customs inspection wall-climbing robot is a special robot developed based on the needs of customs inspection business. The robot uses its mechanical characteristics such as small size, flexibility, corrosion resistance, anti-toxicity, and adaptability to various environments to achieve inspection work in small spaces and harsh environments that are difficult or difficult for humans to complete; and uses its intelligent and visual system characteristics to achieve auxiliary law enforcement functions such as remote control and real-time analysis.

[0004] A wall climbing robot is an automated robot that can climb and complete tasks on vertical walls. A wall climbing robot is also called a wall-moving robot. Because vertical wall tasks are beyond human capabilities, they are also called extreme work robots abroad. A wall climbing robot must have two basic functions: adsorption and movement. Common adsorption methods include negative pressure adsorption and permanent magnetic adsorption. The negative pressure method can be adsorbed on the wall by generating negative pressure in the suction cup, and is not limited by the wall material. The magnetic adsorption method includes two methods: permanent magnets and electromagnets, which are only suitable for adsorbing magnetic conductive walls.

[0005] The most important feature of the wall-climbing robot is that the robot can overcome the effect of gravity and has the ability to remain stationary and move on a certain inclination, vertical or inverted wall. At present, the adsorption methods of wall-climbing robots mainly include magnetic adsorption, negative pressure adsorption, propeller push, glue adsorption, etc. Most of the containers and van-type container trucks involved in customs supervision are made of magnetic conductive surface materials (such as corrugated color steel plates). Negative pressure adsorption cannot provide sufficient suction. This situation is suitable for the application of magnetic adsorption wall-climbing robots. The magnetic adsorption method can generate a large adsorption force and is not limited by the convexity or cracks of the wall. Therefore, the magnetic adsorption wall-climbing robot is suitable for customs cargo box internal inspection. The interior of the cargo box often has a corrugated design and may be equipped with transverse reinforcement ribs. The robot needs to have a certain obstacle crossing ability. The robot inspection method is to put it in from the top of the cargo box entrance and enter the interior of the cargo box in a straight path. After reaching the end, it returns to the entrance. During the operation, the video or image information inside the cargo box is fed back to the control box by wireless transmission for customs personnel to inspect.

[0006] Currently, this type of robot can only work in one plane. If it wants to work on another plane, it must be changed manually.

[0007] Wall-climbing robots are mainly divided into suction cup type, wheel type and crawler type according to their mobility. The suction cup type can cross very small obstacles, but the movement speed is slow. The wheel type has a fast movement speed and flexible control, but it is difficult to maintain a certain suction force. The crawler type has strong adaptability to the wall and a large ground area, but it is not easy to turn. However, the obstacle crossing ability of these three types of movement is very weak, and they cannot adapt to the crawling operation on the inner and outer walls and tops of containers.

[0008] It is necessary to provide a special robot structure based on robot chassis drive technology and integrate magnetic adsorption methods to adapt to the corrugated structure of the inner wall of the container and operations such as corner turning of the inner wall.

[0009] It is mainly used to check and verify the items in various standard containers without removing the containers during customs inspection. It has the functions of crawling on the top and side walls of the container and switching between different wall surfaces. Summary of the invention

[0010] The present invention is mainly for realizing the adsorption inspection of the inner walls of different containers, and takes into account factors such as light weight of the main body and convertible wall crawling.

[0011] The present invention mainly comprises: a differential-slip structure chassis with permanent magnetic wheels, and a structure of front and rear steerable paddle arms:

[0012] The present invention includes the following contents:

[0013] 1. A lightweight wall-climbing robot structure with two wheels and a reversible paddle arm structure.

[0014] 2. It has convertible wall crawling function.

[0015] It has the function of climbing from the top to the side. The specific method is:

[0016] When the robot is traveling on the top surface and is about to transition to the side wall, the front paddle arm has the function of rotating and guiding according to the distance between the robot and the side. When the robot slowly approaches the wall to be converted, the paddle arm extends upward to guide the robot to move to the side.

[0017] When the robot is moving sideways and is about to transition to the top wall, the front paddle arm has the function of rotating and guiding according to the distance between the robot and the side. When the robot slowly approaches the wall to be converted, the paddle arm extends upward to guide the robot to move sideways.

[0018] The wall-climbing robot structure of the present invention has a lightweight structure composed of a two-wheel structure and a flippable paddle arm structure; the wall-climbing robot of the present invention has a function of climbing on a convertible wall surface.

[0019] The purpose of the present invention is to address the above-mentioned defects of the prior art. The present invention proposes a magnetic adsorption wall-climbing robot, aiming to solve the technical problems of the customs inspection carriage wall-climbing robot in the prior art.

[0020] To achieve the above object, the present invention provides the following technical solutions:

[0021] A wall-climbing robot, comprising:

[0022] main body;

[0023] a bottom wheel pivotably connected to the body;

[0024] an active sculler arm, one end of which is pivotally connected to the main body and the other end of which is provided with a guide end;

[0025] Features:

[0026] A driving mechanism is provided at one end of the active propeller arm which is pivotally connected to the main body, so that the active propeller arm can pivot to a certain angle relative to the main body and remain at the angle to point the guiding end of the active propeller arm in a predetermined direction.

[0027] The wall-climbing robot moves from one wall surface to another by rotating the bottom wheels and driving the active arm to pivot by the driving mechanism.

[0028] The one wall surface and the other wall surface are two planes intersecting at a certain angle. The certain angle can be 5 degrees to 179 degrees. The wall-climbing robot is particularly suitable for moving between walls with an angle between 50 degrees and 130 degrees.

[0029] The bottom wheels of the wall-climbing robot are pivotally connected to the main body via a differential slip structure chassis.

[0030] The bottom wheel of the wall-climbing robot is a magnetic wheel, and magnetic steels distributed at equal angles are embedded on the circumferential surface of the bottom wheel.

[0031] The bottom wheels of the wall-climbing robot are double-wheel structures.

[0032] The wall-climbing robot also includes a driven oar arm, which is respectively arranged on opposite sides of the main body with the active oar arm, one end of the driven oar arm can be pivotally connected to the main body, and the other end of the driven oar arm is provided with a contact end.

[0033] The number of the active oar arms is two, and the two active oar arms are arranged on opposite sides of the main body.

[0034] The leading end of the active oar arm has a circular cross-section.

[0035] The guide end of the active propeller arm comprises a guide wheel, which is a magnetic wheel. Permanent magnets distributed at equal angles are embedded on the circumferential surface of the magnetic wheel.

[0036] The guiding end of the active oar arm comprises a guiding wheel, and the guiding wheel is a magnetic wheel, and the magnetic wheel is an electromagnetic wheel.

[0037] During the movement of the robot on each wall surface, the guide end of the active paddle arm is always adsorbed on the wall surface.

[0038] After the robot is completely transferred from one wall surface to another, the leading end of the active paddle arm is detached from the wall surface.

[0039] The beneficial effects of the present invention are as follows: the wheeled mobile magnetic adsorption wall climbing walking is realized, and the wall surface where the containers meet can be climbed over, and the container top wall can be reached from the side wall or from the top wall to the side wall of the container. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 is a structural schematic diagram of a container wall-climbing robot according to an embodiment of the present invention;

[0042] Figure 2 , 3, 4A and 4B are schematic diagrams of a container wall-climbing robot turning from the top wall to the side wall according to an embodiment of the present invention; and

[0043] Figure 5 , 6A, 6B, 7A and 7B are schematic diagrams of a container wall-climbing robot turning from a side wall to a top wall according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0045] Figure 1 Schematic diagram of the structure of a container wall climbing robot according to an embodiment of the present invention. Figure 1As shown in FIG, the wall-climbing robot is vertically adsorbed on the surface of the container top wall 3 in an inverted manner. The wall-climbing robot includes a main body 1, bottom wheels 2 and paddle arms.

[0046] According to one embodiment, the container wall-climbing robot according to the embodiment of the present invention is a lightweight wall-climbing robot structure composed of a two-wheel structure combined with a flippable paddle arm structure. Specifically, the container wall-climbing robot of the embodiment of the present invention includes a wall-climbing robot body 1, on which inspection and control equipment such as a communication antenna, an image antenna, and a camera can be installed. A bottom wheel 2 is provided at the bottom of the wall-climbing robot body 1. In this embodiment, two bottom wheels 2 are provided, but in another embodiment, one bottom wheel 2 is provided. Other numbers of bottom wheels may also be provided as needed.

[0047] According to an embodiment of the present invention, the bottom wheel 2 is a magnetic wheel, which includes a driving wheel connected to the output shaft of the driving motor, and the circumferential surface of the driving wheel is embedded with magnets distributed at equal angles. The magnetic wheel can be a permanent magnet wheel or an electromagnetic wheel. In the case where the magnetic wheel is an electromagnetic wheel, it is possible to control whether the magnetic wheel has magnetism by turning on and off the power so as to adsorb or de-adsorb with the surface of the container.

[0048] The wall-climbing robot body 1 is connected to the bottom wheel 2 through a differential structure chassis. The differential structure is also called a slip structure or a two-wheel differential drive. If the two wheels are driven in the same direction and speed, the robot will travel in a straight line. If the two wheels rotate at the same speed in opposite directions, the robot will rotate around the center point of the axis. Otherwise, depending on the speed of rotation and its direction, the center of rotation may fall anywhere on the line defined by the two contact points of the tires. When the robot travels in a straight line, the center of rotation is infinitely far from the robot. Since the direction of the robot depends on the rotation rate and direction of the two drive wheels, these quantities should be accurately sensed and controlled. The differential steering robot is similar to the differential gear used in a car, and the rotation speed of the two wheels can be different, but unlike the differential gear transmission system, the differential steering system will energize both wheels. Differential wheel robots are widely used in robotics because their movements are easy to program and can be well controlled.

[0049] A differential drive is a two-wheel drive system with independent actuators for each wheel. Linear motion is achieved by turning the drive wheels in the same direction and at the same speed. Rotation in place is accomplished by turning the drive wheels in opposite directions at the same rate. Arbitrary motion paths can be achieved by dynamically modifying the angular velocity and / or direction of the drive wheels. In practice, however, complexity is reduced by implementing the motion path as an alternating sequence of linear translation and rotation in place. Making a differential drive robot move in a straight line can be difficult. Since the drive wheels are independent, if they do not turn at exactly the same rate, the robot will turn to one side. Getting the drive motors to turn at the same rate is a challenge due to slight differences in the motors, friction differences in the drivetrain, and friction differences at the wheel ground interface. Frequent adjustments to the motor speeds may be required to ensure the robot is traveling in a straight line. This may require interrupt-based software and assembly language programming. Having accurate wheel position information is also very important.

[0050] The bottom wheel 2 is pivotally connected to the wall-climbing robot body 1, and the bottom wheel 2 drives the wall-climbing robot body 1 to walk on the inner wall of the container. Figure 1 As shown, the bottom wheel 2 is adsorbed on the top wall of the container through the magnetic wheel, and the wall-climbing robot body 1 is vertically inverted approximately perpendicular to the top wall surface of the container, so that the camera installed on the wall-climbing robot body 1 can check the cargo in the container.

[0051] The wall-climbing robot body 1 is also provided with a paddle arm. Figure 1 As shown, two oars are provided on the wall-climbing robot body 1, namely, an active oar and a driven oar. However, in another embodiment, only one active oar may be provided. Other numbers of oars may also be provided as needed.

[0052] like Figure 1 As shown, the active oar arm and the driven oar arm are symmetrically arranged on the left and right sides of the wall-climbing robot body 1.

[0053] The active paddle arm includes a guide end 7 of the active paddle arm, an arm rod 8 of the active paddle arm, and a pivot end 9 of the active paddle arm. The pivot end 9 of the active paddle arm can be pivotally arranged on the wall-climbing robot body 1. The pivoting of the pivot end 9 of the active paddle arm can drive the guide end 7 of the active paddle arm and the arm rod 8 of the active paddle arm of the active paddle arm to pivot relative to the wall-climbing robot body 1. The guide end 7 of the active paddle arm is arranged at the end of the arm rod 8 of the active paddle arm opposite to the pivot end 9 of the active paddle arm. According to an embodiment of the present invention, Figure 1 As shown, the guide end 7 of the active oar arm has a circular contact surface, which is magnetic and can be either permanent magnetic or electromagnetic.

[0054] According to the embodiment of the present invention, the guide end 7 of the active oar arm may be a guide wheel. According to needs, a guide end of other shapes may also be used, such as a flat slider or a hexagonal guide end.

[0055] The slave paddle arm includes a contact end 4 of the slave paddle arm, an arm rod 5 of the slave paddle arm, and a pivot end 6 of the slave paddle arm. The pivot end 6 of the slave paddle arm can be pivotally disposed on the wall-climbing robot body 1. The pivoting of the pivot end 6 of the slave paddle arm allows the contact end 4 of the slave paddle arm and the arm rod 5 of the slave paddle arm to pivot relative to the wall-climbing robot body 1, and the translation of the pivot end 6 of the slave paddle arm can also drive the contact end 4 and the arm rod 5 to move. The contact end 4 of the slave paddle arm is disposed at the end of the arm rod 5 of the slave paddle arm opposite to the pivot end 6 of the slave paddle arm. According to an embodiment of the present invention, Figure 1 As shown, the contact end 4 of the driven oar arm has a circular contact surface, which is magnetic and can be either permanent magnetic or electromagnetic.

[0056] According to the embodiment of the present invention, the contact end 4 of the driven oar arm can be a guide wheel as required, or a contact end of other shapes can be adopted.

[0057] According to an embodiment of the present invention, the difference between the active oar arm and the driven oar arm is that the active oar arm has a driving mechanism, while the driven oar arm does not have a driving mechanism. The driving mechanism drives the pivot end 9 of the active oar arm to rotate to drive the active oar arm to move, so that when the wall-climbing robot body 1 moves from the container top wall 3 to the container side wall 10, the guide end 7 of the active oar arm guides the wall-climbing robot body 1 from the container top wall 3 to the container side wall 10.

[0058] According to another embodiment, two active oars may be provided on the left and right sides of the wall-climbing robot body 1 respectively, without providing a passive oar, so that the wall-climbing robot can be guided in both left and right directions by the active oar.

[0059] Reference Figure 2 , 3, 4A and 4B describe in detail the process of the container wall-climbing robot turning from the top wall to the side wall according to an embodiment of the present invention.

[0060] like Figure 2 As shown, the bottom wheel 2 of the wall-climbing robot body 1 is magnetically attached to the container top wall 3, and the wall-climbing robot body 1 is inverted and arranged roughly perpendicular to the container top wall 3. The pivot end 9 of the active oar arm arranged on the right side of the wall-climbing robot body 1 is rotated by the driving motor, driving the arm rod 8 of the active oar arm and the guide end 7 of the active oar arm to rotate toward the container side wall 10. Figure 2As shown, the guide end 7 of the active oar arm is magnetically adsorbed onto the container side wall 10. At this time, the wall-climbing robot body 1 moves toward the container side wall 10 together, and the moving direction is shown by the arrow R. The pivot end 6 of the driven oar arm not disposed on the left side of the wall-climbing robot body 1 drives the arm rod 5 of the driven oar arm and the contact end 4 of the driven oar arm to move toward the container side wall 10 together with the wall-climbing robot body 1. The contact end 4 of the driven oar arm is also magnetic, and thus the contact end 4 of the driven oar arm is adsorbed onto the container top wall 3.

[0061] like Figure 3 As shown, the bottom contact point of the bottom wheel 2 of the wall-climbing robot body 1 is magnetically adsorbed on the container top wall 3, and the side contact point of the bottom wheel 2 of the wall-climbing robot body 1 is magnetically adsorbed on the container side wall 10. The wall-climbing robot body 1 is inverted and arranged roughly perpendicular to the container top wall 3. The guide end 7 of the active oar arm guides the wall-climbing robot body 1 to move on the container side wall 10. Figure 3 As shown, at this time, the pivot end 6 of the driven oar arm arranged on the left side of the wall-climbing robot body 1 drives the arm rod 5 and the contact end 4 of the driven oar arm to move toward the container side wall 10 together with the wall-climbing robot body 1, and the moving direction is shown by the arrow R. The contact end 4 of the driven oar arm is still adsorbed on the top wall 3 of the container.

[0062] like Figure 4A As shown, the bottom wheel 2 of the wall-climbing robot body 1 is magnetically adsorbed on the container side wall 10, and the wall-climbing robot body 1 is arranged roughly perpendicular to the container side wall 10. The camera arranged on the wall-climbing robot body 1 is still facing the direction of the goods in the container, so that the camera installed on the wall-climbing robot body 1 can check the goods in the container. The pivot end 9 of the active oar arm arranged on the right side of the wall-climbing robot body 1 is rotated by the driving motor, driving the arm rod 8 of the active oar arm and the guide end 7 of the active oar arm to rotate toward the bottom wall of the container. Figure 4A As shown, the guide end 7 of the active oar arm points to the bottom wall of the container. At this time, the pivot end 6 of the driven oar arm arranged on the left side of the wall-climbing robot body 1 drives the arm rod 5 and the contact end 4 of the driven oar arm to move toward the bottom wall of the container together with the wall-climbing robot body 1, and the moving direction is shown by the arrow R. The contact end 4 of the driven oar arm is also magnetic, so the contact end 4 of the driven oar arm is adsorbed on the side wall 10 of the container. Figure 4A As shown, the guide end 7 of the active oar arm is separated from the side wall 10 , which can reduce the resistance of the wall-climbing robot body 1 moving forward on the side wall 10 .

[0063] like Figure 4B As shown, another embodiment of climbing from the top wall 3 to the side wall 10 is provided, which is similar to Figure 4A The difference is that after climbing from the top wall 3 to the side wall 10, Figure 4BThe guide end 7 of the active arm of the robot is always adsorbed on the side wall 10, and Figure 4A The guide end 7 of the active arm in the embodiment is disengaged from the side wall 10. The guide end 7 of the active arm is always adsorbed on the side wall 10 to prevent the active arm from hitting the items in the container due to the separation from the side wall 10.

[0064] Reference Figure 5 , 6A, 6B, 7A and 7B describe in detail the process of the container wall-climbing robot turning from the side wall to the top wall according to an embodiment of the present invention.

[0065] In this embodiment, the active paddle arm is provided on the left side of the wall-climbing robot body 1 , and the passive paddle arm is provided on the right side of the wall-climbing robot body 1 .

[0066] like Figure 5 As shown, the bottom wheels 2 of the wall-climbing robot body 1 are magnetically attached to the container side wall 10, and the wall-climbing robot body 1 is arranged roughly perpendicular to the container side wall 10. The camera arranged on the wall-climbing robot body 1 is still facing the direction of the cargo in the container, so that the camera installed on the wall-climbing robot body 1 can check the cargo in the container. The guide end 7 of the active paddle arm guides the wall-climbing robot body 1 to move on the container top wall 3. Figure 5 As shown, at this time, the pivot end 6 of the driven oar arm arranged on the right side of the wall-climbing robot body 1 drives the arm rod 5 and the contact end 4 of the driven oar arm to move toward the top wall 3 of the container together with the wall-climbing robot body 1, and the moving direction is shown by the arrow R. The contact end 4 of the driven oar arm is still adsorbed on the side wall 10 of the container.

[0067] like Fig. 6A As shown, the bottom wheel 2 of the wall-climbing robot body 1 is magnetically adsorbed on the top wall 3 of the container. The wall-climbing robot body 1 is arranged roughly perpendicular to the top wall 3 of the container. The camera arranged on the wall-climbing robot body 1 is still facing the direction of the goods in the container, so that the camera installed on the wall-climbing robot body 1 can check the goods in the container. The pivot end 9 of the active oar arm arranged on the left side of the wall-climbing robot body 1 is rotated by the driving motor, driving the arm rod 8 of the active oar arm and the guide end 7 of the active oar arm to rotate. Fig. 6AAs shown, at this time, the pivot end 6 of the driven oar arm arranged on the right side of the wall-climbing robot body 1 drives the arm rod 5 of the driven oar arm and the contact end 4 of the driven oar arm to move leftward on the container top wall 3 together with the wall-climbing robot body 1, and the moving direction is shown by the arrow R, while the guide end 7 of the active oar arm on the left side of the wall-climbing robot body 1 can be detached from the top wall 3. The contact end 4 of the driven oar arm is adsorbed at the angle between the container top wall 3 and the container side wall 10. According to the embodiment in which the guide end 7 of the active oar arm is detached from the top wall 3, the resistance of the wall-climbing robot body 1 moving forward on the top wall 3 can be reduced.

[0068] like Figure 6B As shown, another embodiment of climbing from the side wall 10 to the top wall 3 is provided: after climbing from the side wall 10 to the top wall 3, as shown in FIG. Figure 6B The guide end 7 of the active arm of the robot shown in FIG. 1 is always adsorbed on the top wall 3, and Fig. 6A In the embodiment shown, the guide end 7 of the active arm is separated from the top wall 3. In the case of being on the top wall 3, the guide end 7 of the active arm is always adsorbed on the top wall 3 to prevent the guide end 7 of the active arm from detaching from the top wall 3 and hitting the items in the container. In addition, the adsorption force of the robot on the top wall can be enhanced to prevent the robot from falling from the top wall.

[0069] like Fig. 7A As shown, the bottom wheel 2 of the wall-climbing robot body 1 is magnetically adsorbed on the top wall 3 of the container, and the wall-climbing robot body 1 is inverted and arranged roughly perpendicular to the top wall 3 of the container. The pivot end 9 of the active oar arm arranged on the left side of the wall-climbing robot body 1 is rotated by the driving motor, driving the arm rod 8 of the active oar arm and the guide end 7 of the active oar arm to rotate toward the left side wall of the container. The left side wall of the container is arranged opposite to the side wall 10 shown in the figure. Fig. 7A As shown in the figure, the guide end 7 of the active oar arm points to the direction of the left wall of the container. At this time, the pivot end 6 of the driven oar arm set on the right side of the wall-climbing robot body 1 drives the arm rod 5 and the contact end 4 of the driven oar arm to move toward the left wall of the container together with the wall-climbing robot body 1, and the moving direction is shown by the arrow R. The contact end 4 of the driven oar arm is also magnetic, so the contact end 4 of the driven oar arm is adsorbed on the top wall 3 of the container. Fig. 7A As shown, the guide end 7 of the active oar arm is detached from the top wall 3, which can reduce the resistance of the wall-climbing robot body 1 moving forward on the top wall 3.

[0070] like Figure 7B As shown, another embodiment of climbing from the side wall 10 to the top wall 3 is provided: after climbing from the side wall 10 to the top wall 3, as shown in FIG. Figure 7B The guide end 7 of the active arm of the robot shown in FIG. 1 is always adsorbed on the top wall 3, and Fig. 7AThe guide end 7 of the active arm of the embodiment shown is separated from the top wall 3. In the case of being on the top wall 3, the guide end 7 of the active arm is always adsorbed on the top wall 3 to prevent the guide end 7 of the active arm from being separated from the top wall 3 and thus hanging down and hitting the items in the container. In addition, the adsorption force of the robot on the top wall can be enhanced to prevent the robot from falling from the top wall.

[0071] According to one embodiment of the present invention, ultrasonic and laser ranging sensors are arranged on the left and right sides of the main body to perform distance measurement and realize autonomous obstacle avoidance.

[0072] The magnetic wheel comprises a driving wheel connected to the output shaft of the driving motor, and magnetic steels distributed at equal angles are embedded on the circumferential surface of the driving wheel.

[0073] The main body 1 is provided with a communication antenna and an image antenna, and adopts a 2.4G wireless radio frequency signal for remote control, which can transmit the data of the robot end back to the remote control end.

[0074] The magnetic wheels are in contact with the inner wall surface of the container, and permanent magnets are evenly distributed on each magnetic wheel, thereby ensuring that the robot is well adsorbed on the uneven iron inner wall surface of the container during walking.

[0075] The main body is equipped with a camera to record image information at various locations. The three images obtained by the camera can be transmitted back to the remote control end through G radio frequency signals to assist customs officers in inspection and verification.

[0076] The robot body is made of solid material and can withstand general scratches, collisions, falls, etc. without affecting system operation.

[0077] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of 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 wall-climbing robot, comprising: main body; a bottom wheel pivotably connected to the body; an active oar arm, the active oar arm being arranged on the main body and comprising a pivot end, a wall rod and a guide end, the pivot end being pivotably arranged on the main body, the guide end being arranged at an end of the wall rod of the active oar arm opposite to the pivot end, the guide end comprising a guide wheel; Features: A driving mechanism is provided at the pivot end of the active propeller arm, and the driving mechanism is configured to drive the pivot end to rotate, so that the active propeller arm can pivot to a certain angle relative to the main body and remain at the angle, so as to point the guide end of the active propeller arm to a predetermined direction; The wall-climbing robot moves from one wall surface to another wall surface by rotating the bottom wheel and driving the driving mechanism to pivot the active arm, and changes the main body from being perpendicular to the one wall surface to being perpendicular to the other wall surface by pivoting the main body relative to the bottom wheel; the one wall surface and the other wall surface are two planes intersecting at a certain angle; and The bottom wheels of the wall-climbing robot are pivotally connected to the main body via a differential slip structure chassis.

2. The wall-climbing robot according to claim 1, characterized in that: The bottom wheel of the wall-climbing robot is a magnetic wheel, and magnetic steels distributed at equal angles are embedded on the circumferential surface of the bottom wheel.

3. The wall-climbing robot according to claim 1, characterized in that: The bottom wheels of the wall-climbing robot are double-wheel structures.

4. The wall-climbing robot according to claim 1, characterized in that: The wall-climbing robot also includes a driven oar arm, which is respectively arranged on opposite sides of the main body with the active oar arm, one end of the driven oar arm can be pivotally connected to the main body, and the other end of the driven oar arm is provided with a contact end.

5. The wall-climbing robot according to claim 1, characterized in that: The number of the active oar arms is two, and the two active oar arms are arranged on opposite sides of the main body.

6. The wall-climbing robot according to claim 1, characterized in that: The leading end of the active oar arm has a circular cross-section.

7. The wall-climbing robot according to claim 1, characterized in that: The guide wheel is a magnetic wheel, and permanent magnets distributed at equal angles are embedded on the circumferential surface of the magnetic wheel.

8. The wall-climbing robot according to claim 1, characterized in that: The guide wheel is a magnetic wheel, and the magnetic wheel is an electromagnetic wheel.

9. The wall-climbing robot according to claim 1, characterized in that: During the movement of the robot on each wall surface, the guide end of the active paddle arm is always adsorbed on the wall surface.

10. The wall-climbing robot according to claim 1, characterized in that: After the robot is completely transferred from one wall surface to another, the leading end of the active paddle arm is detached from the wall surface.

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