Special equipment confined space detection robot

Abstract

The present invention provides a special equipment confined space detection robot, belonging to the technical field of robot applications. The robot provided by the present invention is a humanoid robot with four limbs. A camera, a central controller and a power supply are installed on the robot. The robot can walk upright, bend down and crawl. Electromagnets are installed on all four limbs of the robot, and the electromagnets are circuit-connected to the central controller. By controlling the electromagnets on the four limbs to be alternately energized and de-energized, the robot can walk upright and crawl on the side wall, top or inclined part of a ferromagnetic confined space container, so as to perform omnidirectional visual detection. The structure of the four limbs and the driving mechanism provided by the present invention is simpler than the existing robot limb structures, and it is easy to install electromagnets for intelligent control.

Description

Technical Field

[0001] The present invention relates to the technical field of robot applications, and particularly to a special equipment confined space detection robot.

Background Art

[0002] Due to the narrow space in the special equipment confined space, manual detection cannot be carried out. At present, there are related pipeline detection and container detection systems at home and abroad, such as endoscopes, container mirrors, pipeline crawling devices and other detection equipment. However, these devices all have some application blind spots to varying degrees. For example, the endoscope cannot control the orientation to reach the predetermined position, has no optical zoom, and has a small depth of field; when there are obstacles inside the container mirror, there is a problem of limited field of view occlusion. The pipeline crawling device can carry a probe or camera to crawl inside the container and pipeline, realizing the automation of non-destructive testing, which brings great convenience to people. However, the current crawling robots can only walk flat in a small space and cannot walk on the side walls, tops or inclined parts of the container or special mechanism for visual inspection, so the detection range is limited and it is difficult to achieve full coverage.

Summary of the Invention

[0003] The invention object of the present invention is: aiming at the above problems, to provide a special equipment confined space detection robot, which is humanoid, and electromagnets are installed on all its limbs. By controlling the electromagnets on the limbs to be alternately energized and de-energized, the robot can walk upright, crawl on the side walls, tops or inclined parts of the ferromagnetic confined space container, so as to perform omnidirectional visual inspection.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] A special equipment confined space detection robot, the robot is a humanoid robot with limbs, a camera, a central controller and a power supply are installed on the robot, the robot can walk upright, bend down and crawl, and electromagnets are installed on all the limbs of the robot, the electromagnets are electrically connected to the central controller, and by controlling the electromagnets on the limbs to be alternately energized and de-energized, the robot can walk upright, crawl on the side walls, tops or inclined parts of the ferromagnetic confined space container, so as to perform omnidirectional visual inspection.

[0006] In the present invention, preferably, the camera is installed on the head of the robot, and the head is connected to the upper body seat through a head driving mechanism; the head is provided with a head cover, and the head driving mechanism includes a head left-right rotation shaft, a head up-down rotation shaft, a head up-down rotation servo motor, and a head left-right rotation servo motor; the lower end of the head cover is connected to the upper end of the head left-right rotation shaft, and the lower end of the head left-right rotation shaft sequentially passes through the upper body seat and the head up-down rotation shaft vertically and enters the inside of the head up-down rotation shaft. The lower end of the head left-right rotation shaft is fixedly connected to the output shaft of the head left-right rotation servo motor. The head left-right rotation servo motor drives the head left-right rotation shaft to rotate left and right. The head left-right rotation servo motor is installed inside the head up-down rotation shaft or inside the upper body seat; both ends of the head up-down rotation shaft are fixed inside the upper body seat of the robot through head up-down movement shaft end bearings. One end of the head up-down rotation shaft is connected to the output shaft of the head up-down rotation servo motor. The head up-down rotation servo motor drives the head up-down rotation shaft to rotate. The head up-down rotation servo motor is fixed inside the upper body seat; both the head up-down rotation servo motor and the head left-right rotation servo motor are circuit-connected to the central controller.

[0007] In the present invention, preferably, the robot is provided with an upper body seat, the lower end of the upper body seat is a lower body seat, and a left lower limb and a right lower limb are respectively arranged on the left and right sides near the lower end of the lower body seat. The left lower limb and the right lower limb are respectively driven by their own upright walking drive mechanisms. The upright walking drive mechanism includes an upright servo motor and an upright gear set, and the upright gear set is driven by the upright servo motor to rotate. The left lower limb mainly consists of a first fixing member, a rotating wheel shaft, an upper rotating wheel, a lower rotating wheel, a transmission connecting rod, an electromagnet connecting frame, an electromagnet connecting frame rotating shaft, an electromagnet support, an electromagnet support rotating shaft, an electromagnet, and a second fixing member. A raised portion is arranged at each of the upper and lower ends on the left side of the transmission connecting rod. The first fixing member is parallel to and close to the left outer wall of the lower body seat. The rotating wheel shaft sequentially penetrates through the first fixing member and the left side wall of the lower body seat and is rotatably connected to the left side wall of the lower body seat and the first fixing member through bearings. One end of the rotating wheel shaft is located inside the lower body seat, and the upright gear set is fixedly sleeved on the outer ring of this end. The other end of the rotating wheel shaft is located inside the first fixing member, and an upper rotating wheel is fixedly sleeved on the outer side of this other end. The raised portion at the upper end of the transmission connecting rod is eccentrically assembled on the upper rotating wheel through a bearing, and the raised portion at the lower end of the transmission connecting rod is eccentrically assembled on the lower rotating wheel through a bearing. An electromagnet connecting frame rotating shaft is horizontally arranged on the electromagnet connecting frame. The left end of the electromagnet connecting frame rotating shaft is rotatably connected to the first fixing member through a bearing, and the right end of the electromagnet connecting frame rotating shaft passes through the lower rotating wheel and is assembled on the second fixing member through a bearing. The center of the electromagnet connecting frame rotating shaft and the lower rotating wheel is fixedly connected. Both sides of the electromagnet support are rotatably assembled on the electromagnet connecting frame through the electromagnet support rotating shaft and bearings. An assembly hole is further opened on the bottom surface of the electromagnet support, and the fixing screw of the electromagnet passes through the assembly hole and is threadedly connected to the electromagnet, thereby fixing the electromagnet on the electromagnet support. The structure of the right lower limb is the same as that of the left lower limb, and the structure of the right lower limb is symmetrical to that of the left lower limb. The right lower limb is driven to act by the drive mechanism of the right lower limb. The drive mechanism of the right lower limb includes the upright gear set of the right lower limb and the upright servo motor of the right lower limb. The upright gear set of the right lower limb is driven by the upright servo motor of the right lower limb to rotate. The upright servo motor of the left lower limb, the upright servo motor of the right lower limb, the electromagnet of the left lower limb, and the electromagnet of the right lower limb are all electrically connected to the central controller.

[0008] In the present invention, preferably, the upper body seat is provided with a left arm and a right arm on the left and right sides near the shoulders respectively. The structure of the left arm is the same as that of the left lower limb. The left arm is driven to move by a driving mechanism of the left arm. The driving mechanism of the left arm includes a vertical servo motor of the left arm and a vertical gear set of the left arm. The vertical gear set of the left arm is driven to rotate by the vertical servo motor of the left arm. The structure of the right arm is the same as that of the right lower limb. The right arm is driven to move by a driving mechanism of the right arm. The driving mechanism of the right arm includes a vertical servo motor of the right arm and a vertical gear set of the right arm. The vertical gear set of the right arm is driven to rotate by the vertical servo motor of the right arm. The vertical servo motor of the left arm, the vertical servo motor of the right arm, the electromagnet of the left arm, and the electromagnet of the right arm are all connected to the central controller by an electric circuit.

[0009] In the present invention, preferably, the left arm, the right arm, the left lower limb, and the right lower limb are each connected with a crawling driving mechanism. The crawling driving mechanism includes a crawling gear set and a crawling servo motor. A part of the rotating wheel shaft of the left lower limb located inside the lower body seat is fixedly sleeved with the crawling gear set of the left lower limb. The crawling gear set of the left lower limb is driven by the crawling servo motor of the left lower limb. The connection manner of the right arm with the crawling driving mechanism of the right arm, the connection manner of the left arm with the crawling driving mechanism of the left arm, and the connection manner of the right lower limb with the crawling driving mechanism of the right lower limb are all the same as the connection manner of the left lower limb with the crawling driving mechanism of the left lower limb. Each of the crawling servo motors is connected to the central controller by an electric circuit.

[0010] In the present invention, preferably, the central controller is connected to the intelligent terminal through a wireless communication module, and transmits the image information collected by the camera to the intelligent terminal for real-time monitoring.

[0011] In the present invention, preferably, the power supply is a rechargeable battery. The rechargeable battery is connected to the central controller by an electric circuit and provides electric energy for each power-consuming unit.

[0012] In the present invention, preferably, it further includes a remote control operation platform. The remote control operation platform communicates with the central controller through a wireless communication module.

[0013] In the present invention, preferably, the remote control operation platform is provided with a travel control lever for forward, backward, left, and right movement, and is provided with a bending key, an upright key, a looking-up key, a head-turning-left key, a head-turning-right key, and a looking-down key.

[0014] The present invention also provides a control method for the special equipment limited space detection robot as described above, including a control method for upright walking, specifically:

[0015] (1) Initial state: The robot is in an upright state. The electromagnets of the left lower limb and the right lower limb are controlled by the central controller to be energized and adsorbed on the working surface in the restricted space container. After the central controller receives the forward instruction, the following control steps are carried out;

[0016] (2) Action of the left lower limb: Control the electromagnet of the left lower limb to be de-energized, control the upright servo motor of the left lower limb to rotate a certain angle, and the electromagnet of the left lower limb is driven forward. Meanwhile, the electromagnet of the right lower limb is in the energized state, and at the same time, control the upright servo motor of the right lower limb to rotate, driving the upright gear set of the right lower limb to drive the rotating wheel shaft of the right lower limb to rotate, and the body of the robot tilts forward by a certain angle. When the electromagnet of the left lower limb touches the working surface, control the electromagnet of the left lower limb to be energized and adsorbed on the working surface, and the left lower limb advances a certain distance; while the electromagnet of the left lower limb is energized, control the upright servo motor of the left lower limb to reverse, driving the upright gear set of the left lower limb to reverse;

[0017] (3) Action of the right lower limb: While the electromagnet of the left lower limb is energized in step (2), the central controller also controls the electromagnet of the right lower limb to be de-energized, and controls the upright servo motor of the right lower limb to rotate a certain angle. The electromagnet of the right lower limb is driven forward, and at the same time, control the upright servo motor of the left lower limb to rotate, driving the upright gear set of the left lower limb to drive the rotating wheel shaft of the left lower limb to rotate, and the body of the robot tilts forward by a certain angle. When the electromagnet of the right lower limb touches the working surface again, the central controller controls the electromagnet of the right lower limb to be connected, and the electromagnet of the right lower limb is adsorbed on the working surface, and the right lower limb advances a certain distance; while the electromagnet of the right lower limb is connected, the central controller controls the upright servo motor of the right lower limb to reverse a certain angle, driving the upright gear set of the right lower limb to reverse;

[0018] (4) While the electromagnet of the right lower limb is connected, repeat steps (2) and (3) to achieve the purpose of alternating energization and de-energization for forward movement;

[0019] (5) Control of the upper limbs: While the central controller in step (2) controls the upright servo motor of the left lower limb to rotate a certain angle, it controls the upright servo motor of the right arm to rotate a certain angle, driving the right arm to swing forward, and controls the upright servo motor of the left arm to reverse a certain angle, driving the left arm to swing backward; When the central controller in step (2) controls the upright servo motor of the left lower limb to reverse, it controls the upright servo motor of the right arm to reverse a certain angle, driving the right arm to swing backward, and controls the upright servo motor of the left arm to also rotate a certain angle, driving the left arm to swing forward; When the central controller in step (3) controls the upright servo motor of the right lower limb to rotate, it controls the upright servo motor of the left arm to also rotate a certain angle, driving the left arm to swing forward, and controls the upright servo motor of the right arm to reverse a certain angle, driving the right arm to swing backward; When the central controller in step (3) controls the upright servo motor of the right lower limb to reverse, it controls the upright servo motor of the left arm to reverse a certain angle, driving the left arm to swing backward, and controls the upright servo motor of the right arm to rotate a certain angle, driving the right arm to swing forward.

[0020] The present invention also provides the following crawling control method for the special equipment confined space detection robot, specifically:

[0021] (1) Controlling the robot to bend down to the initial crawling state: The robot is initially in an upright state. The central controller controls the electromagnets of the left lower limb and the right lower limb to be energized, adsorbing on the working surface in the confined space container. The central controller controls the upright servo motors of the left lower limb and the right lower limb to rotate simultaneously until the electromagnets of the left arm and the right arm touch the working surface, and synchronously controls the electromagnets of the left arm and the right arm to be energized and adsorbed on the working surface. At this time, it is in the initial state of the crawling shape;

[0022] (2) Crawling control: After the central controller receives the crawling instruction, it cuts off the power supply of the electromagnets of the left arm and the right lower limb; controls the rotation of the crawling servo motor of the left arm, so as to drive the crawling gear set of the left arm to drive the electromagnet connecting frame of the left arm to move forward, synchronously controls the rotation of the crawling servo motor of the right lower limb, drives the crawling gear set of the right lower limb to drive the electromagnet connecting frame of the right lower limb to move forward, synchronously controls the rotation of the crawling servo motor of the right arm, drives the crawling gear set of the right arm to drive the electromagnet connecting frame of the right arm to bend forward, synchronously controls the rotation of the crawling servo motor of the left lower limb, drives the crawling gear set of the left lower limb to drive the electromagnet connecting frame of the left lower limb to bend forward; when the electromagnets of the left arm and the right lower limb contact the working surface, control the electromagnets of the left arm and the right lower limb to be energized to adsorb the working surface, cut off the power supply of the electromagnets of the right arm and the left lower limb, and at the same time reverse the four groups of driving servo motors by a certain angle to make the robot move upward; then immediately control the rotation of the crawling servo motor of the right arm, drive the crawling gear set of the right arm to drive the right arm to move forward, synchronously control the rotation of the crawling servo motor of the left lower limb to drive, drive the crawling gear set of the left lower limb to drive the electromagnet bracket of the left lower limb to move forward, synchronously control the rotation of the crawling servo motor of the left arm, drive the crawling gear set of the left arm to drive the electromagnet bracket of the left arm to bend forward, synchronously control the rotation of the crawling servo motor of the right lower limb, drive the crawling gear set of the right lower limb to drive the electromagnet bracket of the right lower limb to bend forward, when the electromagnets of the right arm and the left lower limb contact the working surface, the electromagnets of the right arm and the left lower limb are energized and adsorbed on the working surface; repeat the above actions in step (2) to complete the crawling action.

[0023] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows:

[0024] 1. The robot of the present invention is humanoid, and electromagnets are installed on all its limbs. By controlling the electromagnets on the limbs to be alternately energized and de-energized, the robot can walk upright and crawl on the side wall, top or inclined part of the ferromagnetic limited space container, so as to perform all-round visual inspection.

[0025] 2. In the present invention, the first fixing member and the second fixing member are used as the outer shells of the limbs of the robot. A linkage mechanism is composed of a rotating wheel shaft, an upper rotating wheel, a lower rotating wheel and a transmission connecting rod, and the swing of the lower rotating wheel is driven by a motor and a gear; the electromagnet connecting frame is rotatably installed on the first fixing member and the second fixing member through bearings, and the electromagnet connecting frame is fixed on the lower rotating wheel, so as to realize the swing of the lower rotating wheel driving the electromagnet connecting frame; the electromagnet bracket is installed on the electromagnet connecting frame, and the electromagnet is fixed on the electromagnet bracket through fixing screws, so as to realize the swing of the electromagnet following the electromagnet connecting frame; the above structure is simpler than the existing robot limb structure and is easy to install electromagnets for intelligent control.

Description of the Drawings

[0026] Figure 1 This is a functional schematic diagram of the special equipment confined space detection robot of the present invention;

[0027] Figure 2 This is an external view schematic diagram of the special equipment confined space detection robot of the present invention;

[0028] Figure 3 This is an assembly schematic diagram of the head in the special equipment confined space detection robot of the present invention;

[0029] Figure 4 This is an assembly schematic diagram of the left lower limb in the special equipment confined space detection robot of the present invention;

[0030] Figure 5 This is the control principle diagram of the special equipment confined space detection robot of the present invention.

[0031] Among them, 01 camera; 02 head cover; 03 left and right head rotation servo motor; 04 head up and down movement shaft end bearing; 05 upper body seat; 06 left arm upright servo motor; 07 left arm crawling servo motor; 08 left arm upright gear set; 09 left arm crawling gear set; 10 first fixing part of left arm; 11 second fixing part of left arm; 12 electromagnet connecting frame rotating shaft of left arm; 13 display screen; 14 travel control lever; 15 bend down key; 16 upright key; 17 look up key; 18 look down key; 19 head right turn key; 20 head left turn key; 21 remote control operation platform; 22 electromagnet bracket of left arm; 23 electromagnet of left arm; 24 first fixing part of left lower limb; 25 electromagnet connecting frame rotating shaft of left lower limb; 26 transmission connecting rod of left lower limb; 27 electromagnet bracket of left lower limb; 28 electromagnet bracket rotating shaft of left lower limb; 29 electromagnet of left lower limb; 30 crawling gear set of left lower limb; 31 upright gear set of left lower limb; 32 left lower limb upright servo motor; 33 left lower limb crawling servo motor; 34 right lower limb upright servo motor; 35 right lower limb crawling servo motor; 36 crawling gear set of right lower limb; 37 upright gear set of right lower limb; 38 electromagnet of right lower limb; 39 electromagnet bracket of right lower limb; 40 electromagnet connecting frame rotating shaft of right lower limb; 41 transmission connecting rod of right lower limb; 42 second fixing part of right lower limb; 43 right arm crawling servo motor; 44 right arm upright servo motor; 45 electromagnet of right arm; 46 electromagnet connecting frame rotating shaft of right arm; 47 transmission connecting rod of right arm; 48 - second fixing part of right arm; 49 first fixing part of right arm; 50 crawling gear set of right arm; 51 upright gear set of right arm; 52 head up and down rotation servo motor; 53 head up and down rotation shaft; 54 head lower cover; 55 head left and right rotation shaft; 56 second fixing part of left lower limb; 57 bearing; 58 lower rotating wheel of left lower limb; 59 electromagnet connecting frame of left lower limb; 60 assembly hole; 61 fixing screw; 62 rotating wheel shaft of left lower limb; 63 upper rotating wheel of left lower limb.

Detailed implementation manner

[0032] In order to express the present invention more clearly, the present invention will be further described below through specific embodiments.

[0033] The present invention provides a special equipment confined space detection robot for detecting the confined space of ferromagnetic equipment. It is a humanoid robot with four limbs. A camera 01, a central controller and a power supply are installed on the robot. The camera 01 is used to collect images inside the confined space. The central controller is used for the coordinated control of the robot's actions and communication with the outside. The robot can walk upright, bend down and crawl. One of the improvement points of the present invention is that electromagnets are installed on all four limbs of the robot. The electromagnets are electrically connected to the central controller. By controlling the electromagnets on the four limbs to be alternately energized and de-energized, the robot can walk upright, crawl on the side wall, top or inclined part of the ferromagnetic confined space container, so as to perform omnidirectional visual detection.

[0034] For this detection robot, in the embodiment of the present invention, the camera 01 is specifically installed on the head of the robot. The present invention also makes the following settings for the head and the control of the head. See Figure 1 and Figure 3 , the head is connected to the upper body seat 05 through a head drive mechanism; the head is provided with a head cover 02 and a head bottom cover 54. The camera 01 is specifically installed on the front of the head cover 02; the head drive mechanism includes a head left-right rotation shaft 55, a head up-down rotation shaft 53, a head up-down rotation servo motor 52 and a head left-right rotation servo motor 03; the lower end of the head cover 02 is fixedly connected to the upper end of the head left-right rotation shaft 55 through a fixing member. The lower end of the head left-right rotation shaft 55 sequentially passes through the upper body seat 05 and the head up-down rotation shaft 53 vertically and enters the inside of the head up-down rotation shaft 53. The lower end of the head left-right rotation shaft 55 is fixedly connected to the output shaft of the head left-right rotation servo motor 03. The head left-right rotation servo motor 03 drives the head left-right rotation shaft 55 to rotate left and right. When the head left-right rotation shaft 55 rotates left and right, it will drive the head cover and the camera 01 to rotate, and scan left and right inside the space; specifically during installation, the head left-right rotation servo motor 03 is installed inside the head up-down rotation shaft 53 or inside the upper body seat 05. Both ends of the head up-down rotation shaft 53 are fixed inside the upper body seat 05 of the robot through head up-down movement shaft end bearings 04 and are in a horizontal state. One end of the head up-down rotation shaft 53 is connected to the output shaft of the head up-down rotation servo motor 52. The head up-down rotation servo motor 52 drives the head up-down rotation shaft 53 to rotate. When the head up-down rotation shaft 53 rotates, it will drive the head cover 02 and the camera 01 to rotate, and scan up and down the space. Specifically during installation, the head up-down rotation servo motor 52 is fixed inside the upper body seat 05; both the head up-down rotation servo motor 52 and the head left-right rotation servo motor 03 are electrically connected to the central controller.

[0035] Due to the limited space, the structure of the robot is required to be as simple as possible, small in size, and easy to control. To meet the requirements of both function and size, the present invention improves the limb structure and drive mechanism of the robot. Specifically, to enable the inspection robot to walk upright, an upper body seat 05 is specifically provided in an embodiment of the present invention. The lower end of the upper body seat 05 is a lower body seat. On the left and right sides near the lower end of the lower body seat, a left lower limb and a right lower limb are respectively provided. The left lower limb and the right lower limb are respectively driven by their own upright walking drive mechanisms. Each upright walking drive mechanism includes an upright servo motor and an upright gear set, and the upright gear set is driven to rotate by the upright servo motor. The structures of the left lower limb and the right lower limb are the same in composition, but the two structures are symmetrical. For the sake of concise expression, only the structure of the left lower limb will be described in detail first, and those skilled in the art can directly obtain the structure of the right lower limb according to the principle of symmetry.

[0036] See Figure 2, the left lower limb mainly consists of the first fixing member 24 of the left lower limb, the rotating wheel shaft 62 of the left lower limb, the upper rotating wheel 63 of the left lower limb, the lower rotating wheel 58 of the left lower limb, the transmission connecting rod 26 of the left lower limb, the electromagnet connecting frame 59 of the left lower limb, the electromagnet connecting frame rotating shaft 25 of the left lower limb, the electromagnet support 27 of the left lower limb, the electromagnet support rotating shaft 28 of the left lower limb, the electromagnet 29 of the left lower limb, and the second fixing member 56 of the left lower limb; a convex portion is provided at each of the upper and lower ends on the left side of the transmission connecting rod 26 of the left lower limb; the first fixing member 24 of the left lower limb and the second fixing member 56 of the left lower limb not only serve as the outer shell of the left lower limb but also provide a fulcrum for the installation of other components. The first fixing member 24 of the left lower limb and the second fixing member 56 of the left lower limb are detachably buckled with each other to form a whole. The first fixing member 24 of the left lower limb is parallel and close to the left outer wall of the lower body seat. The left end of the rotating wheel shaft 62 of the left lower limb sequentially passes through the first fixing member 24 of the left lower limb and the left side wall of the lower body seat, and is rotatably connected to the left side wall of the lower body seat and the first fixing member 24 of the left lower limb through bearings. Based on this structure, the first fixing member 24 of the left lower limb can also swing relative to the upper body seat 05; the left end of the rotating wheel shaft 62 of the left lower limb is located inside the lower body seat, and the upright gear set 31 of the left lower limb is fixedly sleeved on the outer ring of this end. The right end of the rotating wheel shaft 62 of the left lower limb is located inside the first fixing member 24 of the left lower limb, and the upper rotating wheel 63 of the left lower limb is fixedly sleeved on the outer side of this end. The convex portion at the upper end of the transmission connecting rod 26 of the left lower limb is eccentrically assembled on the upper rotating wheel 63 of the left lower limb through a bearing, and the convex portion at the lower end of the transmission connecting rod 26 of the left lower limb is eccentrically assembled on the lower rotating wheel 58 of the left lower limb through a bearing; the left and right sides of the electromagnet connecting frame 59 of the left lower limb are provided with shaft holes, and the electromagnet connecting frame rotating shaft 25 of the left lower limb is horizontally arranged in the shaft holes. The left end of the electromagnet connecting frame rotating shaft 25 passes through the shaft hole and is rotatably connected to the first fixing member 24 of the left lower limb through a bearing. The right end of the electromagnet connecting frame rotating shaft 25 passes through the lower rotating wheel 58 of the left lower limb and the shaft hole and is assembled on the second fixing member 56 of the left lower limb through a bearing. The electromagnet connecting frame rotating shaft 25 is fixedly connected to the center of the lower rotating wheel 58 of the left lower limb; the electromagnet support 27 of the left lower limb is preferably a U-shaped frame. The two sides of the electromagnet support 27 of the left lower limb are rotatably assembled on the electromagnet connecting frame 59 of the left lower limb through the electromagnet support rotating shaft 28 and the bearing 57, that is, the two sides of the electromagnet support 27 of the left lower limb and the two sides of the electromagnet connecting frame 59 are correspondingly provided with shaft holes, and the electromagnet support rotating shaft 28 passes through the shaft holes on the two sides of the electromagnet support 27 of the left lower limb and the shaft holes on the two sides of the electromagnet connecting frame 59. An assembly hole 60 is further provided on the bottom surface of the electromagnet support 27 of the left lower limb. The fixing screw 61 of the electromagnet 29 of the left lower limb passes through the assembly hole 60 and is threadedly connected to the electromagnet 29 of the left lower limb, thereby fixing the electromagnet 29 of the left lower limb on the electromagnet support 27 of the left lower limb.

[0037] The structure of the right lower limb is consistent with that of the left lower limb, and the structure of the right lower limb is symmetric to that of the left lower limb, which will not be elaborated here. The right lower limb is driven to move by the driving mechanism of the right lower limb. The driving mechanism of the right lower limb includes the upright gear set 37 of the right lower limb and the upright servo motor 34 of the right lower limb. The upright gear set 37 of the right lower limb is driven to rotate by the upright servo motor 34 of the right lower limb;

[0038] The upright servo motor 32 of the left lower limb, the upright servo motor 34 of the right lower limb, the electromagnet 29 of the left lower limb, and the electromagnet 38 of the right lower limb are all connected to the central controller circuit.

[0039] Based on the above structure, when the upright servo motor 32 of the left lower limb rotates, it drives the upright gear set 31 of the left lower limb to rotate, drives the upper transmission wheel 63 of the left lower limb to rotate, the upper rotating wheel 63 of the left lower limb drives the transmission connecting rod 26 of the left lower limb to rotate up and down, the transmission connecting rod 26 of the left lower limb drives the lower rotating wheel 58 of the left lower limb to rotate up and down, and the lower rotating wheel 58 of the left lower limb drives the electromagnet connecting frame rotating shaft 25 of the left lower limb to rotate, thereby driving the electromagnet connecting frame 59 of the left lower limb to rotate, lifting the left lower limb forward by a certain height. The electromagnet 29 of the left lower limb remains in a vertical state. At this time, by controlling the upright servo motor 32 of the right lower limb to rotate, the robot's body leans forward, and the electromagnet 29 of the left lower limb drops to contact the working surface, and the left lower limb moves forward a certain distance.

[0040] On the left and right sides of the upper body seat 05 of the robot of the present invention near the shoulders, there are respectively an upper left arm and an upper right arm. In some specific embodiments of the present invention, preferably, the structure of the upper left arm is the same as that of the left lower limb. The upper left arm is driven to move by the driving mechanism of the upper left arm. The driving mechanism of the upper left arm includes the upright servo motor 06 of the upper left arm and the upright gear set 08 of the upper left arm. The upright gear set 08 of the upper left arm is driven to rotate by the upright servo motor 06 of the upper left arm; preferably, the structure of the upper right arm is the same as that of the right lower limb. The upper right arm is driven to move by the driving mechanism of the upper right arm. The driving mechanism of the upper right arm includes the upright servo motor 44 of the upper right arm and the upright gear set 51 of the upper right arm. The upright gear set 51 of the upper right arm is driven to rotate by the upright servo motor 44 of the upper right arm; the upright servo motor 06 of the upper left arm, the upright servo motor 44 of the upper right arm, the electromagnet 23 of the upper left arm, and the electromagnet 45 of the upper right arm are all connected to the central controller circuit.

[0041] Based on the structure of the above robot, this embodiment also provides a control method for the special equipment confined space detection robot, including a control method for upright walking, specifically:

[0042] (1) Initial state: The robot is in an upright state. The electromagnet 29 of the left lower limb and the electromagnet 38 of the right lower limb are controlled by the central controller to be in an energized state and adsorbed on the working surface in the confined space container; after the central controller receives the forward instruction, the following control steps are performed;

[0043] (2) Movements of the left lower limb: Cut off the power supply of the electromagnet 29 controlling the left lower limb, rotate the upright servo motor 32 of the left lower limb by a certain angle, drive the electromagnet 29 of the left lower limb to move forward. Meanwhile, the electromagnet 38 of the right lower limb is in the energized state, and at the same time, control the upright servo motor 34 of the right lower limb to rotate, drive the upright gear set 37 of the right lower limb to drive the rotating wheel shaft of the right lower limb to rotate, and the body of the robot tilts forward by a certain angle. When the electromagnet 29 of the left lower limb touches the working surface, control the electromagnet 29 of the left lower limb to be energized and adsorb to the working surface, and the left lower limb advances a certain distance; while the electromagnet 29 of the left lower limb is energized, control the upright servo motor 32 of the left lower limb to reverse, driving the upright gear set 31 of the left lower limb to reverse;

[0044] (3) Movements of the right lower limb: While the electromagnet 29 of the left lower limb is energized in step (2), the central controller also controls the electromagnet 38 of the right lower limb to cut off the power supply, and controls the upright servo motor 34 of the right lower limb to rotate by a certain angle, drive the electromagnet 38 of the right lower limb to move forward, and at the same time control the upright servo motor 32 of the left lower limb to rotate, drive the upright gear set 31 of the left lower limb to drive the rotating wheel shaft 62 of the left lower limb to rotate, and the body of the robot tilts forward by a certain angle. When the electromagnet 38 of the right lower limb touches the working surface again, the central controller controls the electromagnet 38 of the right lower limb to be connected, and the electromagnet 38 of the right lower limb adsorbs to the working surface, and the right lower limb advances a certain distance; while the electromagnet 38 of the right lower limb is connected, the central controller controls the upright servo motor 34 of the right lower limb to reverse by a certain angle, driving the upright gear set 37 of the right lower limb to reverse;

[0045] (4) While the electromagnet 38 of the right lower limb is connected, repeat steps (2) and (3) to achieve the purpose of advancing alternately with power on and off;

[0046] (5) Control of the upper limbs: While the central controller in step (2) controls the upright servo motor 32 of the left lower limb to rotate by a certain angle, it controls the upright servo motor 44 of the right arm to rotate by a certain angle, driving the electromagnet bracket of the right arm to swing forward, and controls the upright servo motor 06 of the left arm to reverse by a certain angle, driving the left arm to swing backward; When the central controller in step (2) controls the upright servo motor 32 of the left lower limb to reverse, it controls the upright servo motor 44 of the right arm to reverse by a certain angle, driving the right arm to swing backward, and controls the upright servo motor 06 of the left arm to also rotate by a certain angle, driving the left arm to swing forward; When the central controller in step (3) controls the upright servo motor 34 of the right lower limb to rotate, it also controls the upright servo motor 06 of the left arm to rotate by a certain angle, driving the left arm to swing forward, and controls the upright servo motor 44 of the right arm to reverse by a certain angle, driving the right arm to swing backward; When the central controller in step (3) controls the upright servo motor 34 of the right lower limb to reverse, it controls the upright servo motor 06 of the left arm to reverse by a certain angle, driving the left arm to swing backward, and controls the upright servo motor 44 of the right arm to rotate by a certain angle, driving the right arm to swing forward.

[0047] Due to the uneven shape of the restricted space of some containers and the need for the robot to crawl on its belly in the case of further narrowing of the space, the present invention also provides a corresponding crawling drive mechanism. Specifically, the left arm, the right arm, the left lower limb, and the right lower limb are each connected with a crawling drive mechanism, and the crawling drive mechanism includes a crawling gear set and a crawling servo motor; The part of the rotating wheel shaft 62 of the left lower limb located inside the lower body seat is fixedly sleeved with the crawling gear set 30 of the left lower limb, and the crawling gear set 30 of the left lower limb is driven by the crawling servo motor 33 of the left lower limb; The connection methods of the right arm with the crawling drive mechanism of the right arm, the left arm with the crawling drive mechanism of the left arm, and the right lower limb with the crawling drive mechanism of the right lower limb are all the same as the connection method of the left lower limb with the crawling drive mechanism of the left lower limb, and will not be listed one by one here; The crawling servo motor 33 of the left lower limb, the crawling servo motor 35 of the right lower limb, the crawling servo motor 07 of the left arm, and the crawling servo motor 43 of the right arm are all electrically connected to the central controller.

[0048] Based on this improved structure, this embodiment also provides a crawling control method for the special equipment restricted space detection robot, specifically:

[0049] (1) Control the robot to bend down to the initial crawling state: The robot is initially in an upright state. The central controller controls the electromagnets 29 of the left lower limb and 38 of the right lower limb to be energized, adsorbing on the working surface in the restricted space container. The central controller controls the upright servo motors 32 of the left lower limb and 34 of the right lower limb to rotate simultaneously until the electromagnets 23 of the left arm and 45 of the right arm touch the working surface, and synchronously controls the electromagnets 23 of the left arm and 45 of the right arm to be energized and adsorbed on the working surface. At this time, it is in the initial state of the crawling state;

[0050] (2) Control of crawling: After the central controller receives the crawling instruction, it cuts off the power supply of the electromagnets 23 of the left arm and 38 of the right lower limb; controls the rotation of the crawling servo motor 07 of the left arm, thereby driving the crawling gear set 09 of the left arm to drive the electromagnet connecting frame of the left arm to move forward, synchronously controls the rotation of the crawling servo motor of the right lower limb, drives the crawling gear set 36 of the right lower limb to drive the electromagnet connecting frame of the right lower limb to move forward, synchronously controls the rotation of the crawling servo motor 43 of the right arm, drives the crawling gear set 50 of the right arm to drive the electromagnet connecting frame of the right arm to bend forward, and synchronously controls the rotation of the crawling servo motor 33 of the left lower limb, drives the crawling gear set 30 of the left lower limb to drive the electromagnet connecting frame 59 of the left lower limb to bend forward; when the electromagnets 23 of the left arm and 38 of the right lower limb contact the working surface, control the electromagnets 23 of the left arm and 38 of the right lower limb to be energized to adsorb the working surface, cut off the power supply of the electromagnets 45 of the right arm and 29 of the left lower limb, and at the same time, the four groups of driving servo motors rotate in reverse by a certain angle to make the robot move upward; then control the rotation of the crawling servo motor 43 of the right arm, drive the crawling gear set 50 of the right arm to drive the right arm to move forward, synchronously control the rotation of the crawling servo motor 33 of the left lower limb to drive, drive the crawling gear set 30 of the left lower limb to drive the electromagnet bracket of the left lower limb to move forward, synchronously control the rotation of the crawling servo motor 07 of the left arm, drive the crawling gear set 09 of the left arm to drive the electromagnet bracket of the left arm to bend forward, synchronously control the rotation of the crawling servo motor 35 of the right lower limb, drive the crawling gear set 36 of the right lower limb to drive the electromagnet bracket of the right lower limb to bend forward, when the electromagnets 45 of the right arm and 29 of the left lower limb contact the working surface, the electromagnets 45 of the right arm and 29 of the left lower limb are energized to adsorb on the working surface; repeat the above actions in step (2) to complete the crawling action.

[0051] In the control process of the present invention, when the four limbs re - contact the working surface, it can be judged by various methods. One is to judge through a set program, such as judging by the rotation time of the motor. For upright walking, the angle of rotation of the electromagnet bracket of the left lower limb is pre - designed each time the left lower limb moves forward, record the operation time of the upright servo motor of the left lower limb at this time, calculate the rotation time of the upright servo motor 33 of the right lower limb when the electromagnet of the left lower limb re - contacts the working surface, and write the operation control time of the motor into the control program of the central controller. The principles in other walking and crawling situations are similar. The second is to install distance sensors on the four limbs, such as next to the electromagnets, to realize the judgment of distance.

[0052] As some preferred embodiments of the present invention, the central controller is connected to the intelligent terminal through a wireless communication module, and transmits the image information collected by the camera 01 to the intelligent terminal for real - time monitoring to realize the detection of the restricted space.

[0053] In some preferred embodiments of the present invention, the power source is a rechargeable battery, which is circuit-connected to the central controller and supplies electrical energy to each power-consuming unit.

[0054] In some preferred embodiments of the present invention, it further includes a supporting remote control operation platform 21. The remote control operation platform 21 communicates with the central controller through a wireless communication module, thereby realizing the control of the robot. Specifically, the remote control operation platform 21 can be provided with a forward, backward, left, and right movement travel control lever 14 according to functional requirements, and function keys such as a bending key 15, an upright key 16, a head-up key 17, a head-left-turn key 20, a head-right-turn key 19, and a head-down key 18 can be set; a display screen 13 can also be set for real-time display.

[0055] When the travel control lever 14 of the operation platform 21 is pushed to the right direction, the control method is as follows: the electromagnet 38 of the right lower limb remains in the energized adsorption state, the electromagnet 29 of the left lower limb is controlled to be powered off, the upright servo motor 32 of the left lower limb is controlled to rotate a certain angle, the electromagnet 29 of the left lower limb moves forward through driving, the electromagnet 38 of the right lower limb is in the energized state synchronously, and at the same time, the upright servo motor 34 of the right lower limb is controlled to rotate, driving the upright gear set 37 of the right lower limb to drive the rotating wheel shaft of the right lower limb to rotate, and the body of the robot tilts forward by a certain angle. When the electromagnet 29 of the left lower limb touches the working surface, the electromagnet 29 of the left lower limb is controlled to be powered on and adsorbed to the working surface, and the left lower limb moves forward by a certain distance; while the electromagnet 29 of the left lower limb is powered on, the upright servo motor 32 of the left lower limb is controlled to reverse, driving the upright gear set 31 of the left lower limb to reverse, and the robot rotates by a certain angle; repeating the above steps, when the robot rotates to the required rightward angle, the left and right lower limbs move forward in a normal state.

[0056] When the travel control lever 14 of the operation platform 21 is pushed to the left direction, the control method is as follows: the electromagnet of the left lower limb remains in the energized adsorption state, the electromagnet of the right lower limb moves forward powered off, and the forward principle is similar to that of turning right. When the robot rotates to the required leftward angle, the left and right lower limbs move forward in a normal state.

[0057] When the travel control lever 14 of the operation platform 21 is pushed to the backward direction, the left lower limb remains in the energized adsorption state, the right lower limb moves forward powered off, and the forward principle is the same as that of turning right. When the robot rotates to the required backward angle, the left and right lower limbs move backward in a normal state.

[0058] When the bending key 15 of the operation platform 21 is operated, the left lower limb electromagnet 29 and the right lower limb electromagnet 39 are simultaneously in the energized adsorption state, and the left lower limb upright servo motor 32 and the right lower limb upright servo motor 34 are simultaneously driven until the electromagnets 23 of the left arm and the electromagnets 45 of the right arm come into contact with the working surface. The electromagnets 23 of the left arm and the electromagnets 45 of the right arm are energized and adsorbed on the working surface synchronously. At this time, it is in the initial state of crawling. It is also possible to perform the upright walking mode when bending to a certain degree.

[0059] When the upright key 16 of the operation platform 21 is operated, the left lower limb upright servo motor 32 and the right lower limb upright servo motor 34 are simultaneously driven in reverse until they stop at the required angle.

[0060] The above description is a detailed description of the preferred feasible embodiment of the present invention. However, the embodiment is not used to limit the patent application scope of the present invention. Any equivalent changes or modifications completed under the technical spirit disclosed by the present invention shall fall within the patent scope covered by the present invention.

Claims

1. Special equipment confined space detection robot, the robot is a humanoid robot with four limbs, and a camera, a central controller and a power supply are installed on the robot. The robot can walk upright, bend down and crawl. It is characterized in that: Electromagnets are installed on all four limbs of the robot. The electromagnets are circuit-connected to the central controller. By controlling the electromagnets on the four limbs to be alternately energized and de-energized, the robot can walk upright and crawl on the side wall, top or inclined part of the ferromagnetic confined space container, so as to perform omnidirectional visual detection. The robot is provided with an upper body seat, and the head is connected to the upper body seat through a head driving mechanism. The lower end of the upper body seat is a lower body seat. On the left and right sides near the lower end of the lower body seat, a left lower limb and a right lower limb are respectively arranged. The left lower limb and the right lower limb are respectively driven by their own upright walking driving mechanisms. The upright walking driving mechanism includes an upright servo motor and an upright gear set, and the upright gear set is driven to rotate by the upright servo motor. The left lower limb is composed of a first fixing member, a rotating wheel shaft, an upper rotating wheel, a lower rotating wheel, a transmission connecting rod, an electromagnet connecting frame, an electromagnet connecting frame rotating shaft, an electromagnet bracket, an electromagnet bracket rotating shaft, an electromagnet and a second fixing member. A convex part is arranged at each of the upper and lower ends on the left side of the transmission connecting rod. The first fixing member is parallel to and close to the left outer wall of the lower body seat. The rotating wheel shaft sequentially penetrates through the first fixing member and the left side wall of the lower body seat, and is rotatably connected to the left side wall of the lower body seat and the first fixing member through bearings. One end of the rotating wheel shaft is located inside the lower body seat, and the upright gear set is fixedly sleeved on the outer ring of this end. The other end of the rotating wheel shaft is located inside the first fixing member, and an upper rotating wheel is fixedly sleeved on the outer side of the other end. The convex part at the upper end of the transmission connecting rod is eccentrically assembled on the upper rotating wheel through a bearing, and the convex part at the lower end of the transmission connecting rod is eccentrically assembled on the lower rotating wheel through a bearing. The electromagnet connecting frame is horizontally provided with an electromagnet connecting frame rotating shaft. The left end of the electromagnet connecting frame rotating shaft is rotatably connected to the first fixing member through a bearing. The right end of the electromagnet connecting frame rotating shaft passes through the lower rotating wheel and is assembled on the second fixing member through a bearing. The center of the electromagnet connecting frame rotating shaft and the lower rotating wheel is fixedly connected. The two sides of the electromagnet bracket are rotatably assembled on the electromagnet connecting frame through the electromagnet bracket rotating shaft and bearings. An assembly hole is also opened on the bottom surface of the electromagnet bracket. The fixing screw of the electromagnet passes through the assembly hole and is threadedly connected to the electromagnet, so as to fix the electromagnet on the electromagnet bracket.

2. The special equipment confined space detection robot according to claim 1, It is characterized in that: The camera is installed on the head of the robot; the head is provided with a head cover, and the head driving mechanism includes a head left-right rotation shaft, a head up-down rotation shaft, a head up-down rotation servo motor, and a head left-right rotation servo motor; the lower end of the head cover is connected to the upper end of the head left-right rotation shaft, and the lower end of the head left-right rotation shaft sequentially penetrates through the upper body seat and the head up-down rotation shaft vertically and enters the inside of the head up-down rotation shaft. The lower end of the head left-right rotation shaft is fixedly connected to the output shaft of the head left-right rotation servo motor. The head left-right rotation servo motor drives the head left-right rotation shaft to rotate left and right. The head left-right rotation servo motor is installed inside the head up-down rotation shaft or inside the upper body seat; both ends of the head up-down rotation shaft are fixed inside the upper body seat of the robot through head up-down movement shaft end bearings. One end of the head up-down rotation shaft is connected to the output shaft of the head up-down rotation servo motor. The head up-down rotation servo motor drives the head up-down rotation shaft to rotate. The head up-down rotation servo motor is fixed inside the upper body seat; both the head up-down rotation servo motor and the head left-right rotation servo motor are electrically connected to the central controller.

3. The special equipment confined space detection robot according to claim 1, wherein: The structure of the right lower limb is the same as that of the left lower limb, and the structure of the right lower limb is symmetrical with that of the left lower limb. The right lower limb is driven by the driving mechanism of the right lower limb. The driving mechanism of the right lower limb includes the upright gear set of the right lower limb and the upright servo motor of the right lower limb. The upright gear set of the right lower limb is driven to rotate by the upright servo motor of the right lower limb; the upright servo motor of the left lower limb, the upright servo motor of the right lower limb, the electromagnet of the left lower limb, and the electromagnet of the right lower limb are all electrically connected to the central controller.

4. The special equipment confined space detection robot according to claim 3, wherein: On the left and right sides of the upper body seat near the shoulders, there are respectively an upper left arm and an upper right arm. The structure of the upper left arm is the same as that of the left lower limb. The upper left arm is driven by the driving mechanism of the upper left arm. The driving mechanism of the upper left arm includes the upright servo motor of the upper left arm and the upright gear set of the upper left arm. The upright gear set of the upper left arm is driven to rotate by the upright servo motor of the upper left arm; the structure of the upper right arm is the same as that of the right lower limb. The upper right arm is driven by the driving mechanism of the upper right arm. The driving mechanism of the upper right arm includes the upright servo motor of the upper right arm and the upright gear set of the upper right arm. The upright gear set of the upper right arm is driven to rotate by the upright servo motor of the upper right arm; the upright servo motor of the upper left arm, the upright servo motor of the upper right arm, the electromagnet of the upper left arm, and the electromagnet of the upper right arm are all electrically connected to the central controller.

5. The special equipment confined space detection robot according to claim 4, wherein: The left arm, right arm, left lower limb, and right lower limb are each connected to a crawling drive mechanism, which includes a crawling gear set and a crawling servo motor. The part of the rotating wheel shaft of the left lower limb located inside the lower body seat is fixedly sleeved with the crawling gear set of the left lower limb, and the crawling gear set of the left lower limb is driven by the crawling servo motor of the left lower limb. The connection methods of the right arm to the right arm crawling drive mechanism, the left arm to the left arm crawling drive mechanism, and the right lower limb to the right lower limb crawling drive mechanism are all the same as the connection method of the left lower limb to the left lower limb crawling drive mechanism. Each crawling servo motor is electrically connected to the central controller.

6. The special equipment confined space detection robot according to any one of claims 1-5, characterized in that: The central controller is connected to the intelligent terminal through a wireless communication module, and transmits the image information collected by the camera to the intelligent terminal for real-time monitoring.

7. The special equipment confined space detection robot according to any one of claims 1-5, characterized in that: It further includes a remote control operation platform, and the remote control operation platform communicates with the central controller through a wireless communication module.

8. The special equipment confined space detection robot according to claim 7, characterized in that: The remote control operation platform is provided with forward, backward, left, and right movement control levers, and is provided with a bending key, an upright key, a head-up key, a head-left-turn key, a head-right-turn key, and a head-down key.

9. The control method of the special equipment confined space detection robot according to any one of claims 4-5, characterized in that: It includes a control method for upright walking, specifically: (1) Initial state: The robot is in an upright state. The electromagnets of the left lower limb and the right lower limb are controlled by the central controller to be in an energized state and adsorbed on the working surface in the confined space container. After the central controller receives the forward instruction, the following control steps are carried out; (2) Action of the left lower limb: Control the electromagnet of the left lower limb to be de-energized, control the upright servo motor of the left lower limb to rotate a certain angle, and the electromagnet of the left lower limb moves forward through driving. At the same time, the electromagnet of the right lower limb is in an energized state, and at the same time, control the upright servo motor of the right lower limb to rotate, drive the upright gear set of the right lower limb to drive the rotating wheel shaft of the right lower limb to rotate, and the body of the robot tilts forward by a certain angle. When the electromagnet of the left lower limb touches the working surface, control the electromagnet of the left lower limb to be energized and adsorbed to the working surface, and the left lower limb moves forward a certain distance; while the electromagnet of the left lower limb is energized, control the upright servo motor of the left lower limb to reverse, driving the upright gear set of the left lower limb to reverse; (3) Right lower limb movement: While the electromagnet of the left lower limb is powered on in step (2), the central controller also controls the electromagnet of the right lower limb to be powered off, and controls the upright servo motor of the right lower limb to rotate a certain angle. The electromagnet of the right lower limb moves forward through driving, and at the same time controls the upright servo motor of the left lower limb to rotate, driving the upright gear set of the left lower limb to drive the rotating wheel shaft of the left lower limb to rotate, and the body of the robot tilts forward by a certain angle. When the electromagnet of the right lower limb touches the working surface again, the central controller controls the electromagnet of the right lower limb to be connected, and the electromagnet of the right lower limb adsorbs to the working surface, and the right lower limb advances a certain distance; while the electromagnet of the right lower limb is connected, the central controller controls the upright servo motor of the right lower limb to reverse a certain angle, driving the upright gear set of the right lower limb to reverse; (4) While the electromagnet of the right lower limb is connected, repeat steps (2) and (3) to achieve the purpose of advancing by alternating power on and off; (5) Control of the upper limbs: While the central controller controls the upright servo motor of the left lower limb to rotate a certain angle in step (2), it controls the upright servo motor of the right arm to rotate a certain angle, driving the right arm to swing forward, and controls the upright servo motor of the left arm to reverse a certain angle, driving the left arm to swing backward; while the central controller controls the upright servo motor of the left lower limb to reverse in step (2), it controls the upright servo motor of the right arm to reverse a certain angle, driving the right arm to swing backward, and controls the upright servo motor of the left arm to also rotate a certain angle, driving the left arm to swing forward; while the central controller controls the upright servo motor of the right lower limb to rotate in step (3), it controls the upright servo motor of the left arm to also rotate a certain angle, driving the left arm to swing forward, and controls the upright servo motor of the right arm to reverse a certain angle, driving the right arm to swing backward; while the central controller controls the upright servo motor of the right lower limb to reverse in step (3), it controls the upright servo motor of the left arm to reverse a certain angle, driving the left arm to swing backward, and controls the upright servo motor of the right arm to rotate a certain angle, driving the right arm to swing forward.

10. The control method of the special equipment confined space detection robot according to claim 5, characterized in that: it includes a control method for crawling, specifically: (1) Controlling the robot to bend down to the initial crawling state: The robot is initially in an upright state. Through the central controller, the electromagnets of the left lower limb and the right lower limb are in a powered-on state, adsorbing to the working surface in the confined space container. The central controller controls the upright servo motors of the left lower limb and the right lower limb to rotate simultaneously until the electromagnets of the left arm and the right arm touch the working surface, and synchronously controls the electromagnets of the left arm and the right arm to be powered on and adsorb to the working surface. At this time, it is in the initial state of the crawling shape; (2) Control of crawling: After the central controller receives the crawling instruction, it cuts off the power supply of the electromagnets of the left arm and the right lower limb; controls the rotation of the crawling servo motor of the left arm, thereby driving the crawling gear set of the left arm to drive the electromagnet connecting frame of the left arm to move forward, synchronously controls the rotation of the crawling servo motor of the right lower limb, drives the crawling gear set of the right lower limb to drive the electromagnet connecting frame of the right lower limb to move forward, synchronously controls the rotation of the crawling servo motor of the right arm, drives the crawling gear set of the right arm to drive the electromagnet connecting frame of the right arm to bend forward, synchronously controls the rotation of the crawling servo motor of the left lower limb, drives the crawling gear set of the left lower limb to drive the electromagnet connecting frame of the left lower limb to bend forward; when the electromagnets of the left arm and the right lower limb contact the working surface, controls the electromagnets of the left arm and the right lower limb to be energized to adsorb the working surface, the electromagnets of the right arm and the left lower limb are powered off, and at the same time the four groups of driving servo motors reverse a certain angle to make the robot move upward; then immediately controls the rotation of the crawling servo motor of the right arm, drives the crawling gear set of the right arm to drive the right arm to move forward, synchronously controls the rotation of the crawling servo motor of the left lower limb to drive, drives the crawling gear set of the left lower limb to drive the electromagnet bracket of the left lower limb to move forward, synchronously controls the rotation of the crawling servo motor of the left arm, drives the crawling gear set of the left arm to drive the electromagnet bracket of the left arm to bend forward, synchronously controls the rotation of the crawling servo motor of the right lower limb, drives the crawling gear set of the right lower limb to drive the electromagnet bracket of the right lower limb to bend forward, when the electromagnets of the right arm and the left lower limb contact the working surface, the electromagnets of the right arm and the left lower limb are energized to adsorb on the working surface; repeat the above actions in step (2) to complete the crawling action.

Images