A wall-crawling adaptive robot and control method for quality inspection of arc-shaped structures

Abstract

The present invention discloses a wall-climbing adaptive robot and control method for quality inspection of arc-shaped structures. The scheme includes a wall-adaptive body, a self-following security vehicle, a sensor group, and a control and display system. The wall-adaptive body moves along the inner wall of the tunnel based on the negative pressure adsorption wall-climbing robot technology. The robot of the present invention can adjust the robot chassis to adapt to the detection wall curvature according to the curvature of the arc-shaped structure wall, and the front end carries a detection sensor for quality inspection; the self-following security vehicle and the wall-adaptive body keep moving synchronously in the horizontal direction; the control and display system can automatically adjust the negative pressure adsorption force, so that the wall-adaptive robot is in the best traveling state, which improves the stability and work efficiency of the equipment, reduces energy consumption, increases the equipment operation time, and enhances the robot's wall adaptability under complex working conditions.

Description

Technical Field

[0001] The present application relates to the technical field of tunnel detection, and more specifically to equipment for tunnel detection. Background Art

[0002] With the development of science and technology, industrial equipment is gradually developing towards automation and intelligence. Among them, intelligent four-measurement robots equipped with monitoring equipment can liberate humans from tedious, repetitive, dangerous and complex working environments. Construction measurement of dangerous areas in traditional buildings, such as the quality of concrete pouring of tunnel vaults and monitoring of dangerous areas in tall buildings, is mostly done by manually setting up scaffolding or taking a trolley to a designated high point for manual measurement. This method is time-consuming and labor-intensive, wastes a lot of manpower, and is very dangerous. It can be seen that traditional measurement methods are in urgent need of innovation and development, and need to adapt to the rapidly developing construction industry.

[0003] Wall-climbing robots carry various sensing devices in space environments to complete specific tasks, and can effectively complete various tasks in dangerous environments such as high altitudes instead of humans. The necessary functions of wall-climbing robots include adsorption, movement, and operation; among them, adsorption is the basic function of wall-climbing robots. Depending on the working environment and working medium, there are mainly: magnetic adsorption, negative pressure adsorption, bionic adsorption, electrostatic adsorption, and adhesive adsorption. Negative pressure adsorption wall-climbing robots are gradually being widely used because they are not restricted by wall materials.

[0004] At present, conventional negative pressure adsorption wall climbing robots are mainly used for relatively flat vertical or horizontal walls, while the walls of arc-shaped structures are arc-shaped, such as the inner wall of a tunnel. Conventional negative pressure adsorption wall climbing robots are difficult to adapt to arc-shaped walls, increasing the risk of falling from heights. Furthermore, conventional negative pressure adsorption wall climbing robots generally need to be connected to them through safety ropes, and the ropes are suspended above the working point of the wall climbing robot to ensure that the wall climbing robot will not fall to the ground and be damaged when it fails; however, safety ropes cannot be hung in tunnels, and existing security measures are not applicable.

[0005] More importantly, when the negative pressure adsorption wall climbing robot (or equipment) crawls along the cross section of the inner wall of the tunnel, the directions of the three forces of gravity, wall friction and adsorption force will constantly change, so the adsorption force required by the wall climbing robot also needs to change. In this case, if the adsorption force remains unchanged, when the negative pressure adsorption wall climbing robot passes through an area with a small adsorption force, the wall friction will increase, hindering the movement of the equipment; and when the negative pressure adsorption wall climbing robot passes through an area with a large adsorption force, the risk of the equipment falling increases.

[0006] Therefore, in the actual process of the wheeled wall climbing device moving, in order to effectively control the movement state of the device, it is necessary to set the optimal friction resistance threshold between the wheel of the wall climbing device and the wall according to the wall conditions and working conditions; only when the friction resistance between the wheel of the wall climbing device and the wall changes within the optimal friction resistance threshold range, the operation state of the device is optimal. Therefore, there is an urgent need in this field for a device that can dynamically adjust the adsorption force during the actual process so that the friction resistance between the wheel of the wall climbing device and the wall changes within the optimal friction resistance threshold range.

[0007] In addition, the existing wall climbing equipment has the problem of short effective working time in actual application. The existing wall climbing equipment operates at a fixed power, based on factors such as battery weight, load size, working conditions, etc., for example, a wall climbing equipment with a load of 2kg, if it is operated with a battery, and the battery also increases the weight of the equipment, the whole equipment can generally only operate for 15min to 20min.

[0008] Based on this, when conducting wall adhesion quality inspection on a structure with an arc-shaped cross-section, the art urgently needs a negative pressure adsorption wall climbing solution that can adjust the battery output and adaptively adjust the adsorption pressure according to the position status of the equipment, thereby increasing the equipment operating time while keeping the total battery volume unchanged. Summary of the invention

[0009] In view of the poor adaptability of existing negative pressure adsorption wall climbing equipment to structures with arc-shaped cross-sections, the purpose of the present invention is to provide a wall-crawling adaptive robot for quality inspection of structures with arc-shaped cross-sections. The robot can adjust its own state according to the curvature of the wall, always maintain a close fit with the wall, and can adaptively adjust the negative pressure adsorption pressure according to the working conditions, thereby effectively enhancing the robot's wall adaptability under complex working conditions.

[0010] On this basis, another object of the present invention is to provide a control method for a wall-climbing adaptive robot.

[0011] In order to achieve the above-mentioned object, the wall-crawling adaptive robot for quality inspection of structures with arc-shaped cross sections provided by the present invention comprises a wall-adaptive body, a sensor group, and a control unit;

[0012] The wall-adaptive machine body moves along the wall of the arc-shaped structure based on a negative pressure adsorption method, and can adaptively adjust its own shape according to the curvature of the wall of the arc-shaped structure to adjust the fit state with the wall of the arc-shaped structure;

[0013] The sensor group is placed on the wall-adaptive body and can complete quality inspection, wall-adaptive body positioning and adsorption negative pressure value measurement;

[0014] During the movement of the wall-adaptive body, the control unit adaptively adjusts the negative pressure adsorption force generated by the wall-adaptive body according to the current positioning data of the wall-adaptive body and the adsorption negative pressure value acquired by the sensor group.

[0015] Furthermore, the wall-adaptive machine body includes a curvature-adjustable frame, a negative pressure adsorption component, and a curvature adjustment device;

[0016] The curvature-adjustable frame comprises a plurality of sets of curvature-adjustable frames and a plurality of sets of wheels, wherein the plurality of sets of curvature-adjustable frames are connected to form a chassis frame with adjustable curvature, and the plurality of sets of wheels are arranged on the chassis frame;

[0017] The negative pressure adsorption component is arranged on a curvature-adjustable frame, and can fit with the wall surface of the structure to form an adsorption cavity between the two, and can form a negative pressure adsorption force in the adsorption cavity;

[0018] The curvature adjusting device is correspondingly arranged on the curvature adjustable frame to cooperate with adjusting the forming curvature of the curvature adjustable frame.

[0019] Furthermore, the curvature-adjustable frame includes a first curvature-adjusting rod and a second curvature-adjusting rod, and the first curvature-adjusting rod and the second curvature-adjusting rod are movably connected and can swing relative to each other.

[0020] Furthermore, the curvature adjustment device includes an adjustment rod and a plurality of bayonet sockets, wherein the plurality of bayonet sockets are distributed on the first curvature adjustment rod in sequence along the length direction of the first curvature adjustment rod, a slot matching the bayonet is provided at one end of the adjustment rod, and the other end of the adjustment rod is connected to the second curvature adjustment rod; the adjustment rod is connected and matched with the corresponding bayonet socket through the slot to control the connection angle between the first curvature adjustment rod and the second curvature adjustment rod.

[0021] Furthermore, the negative pressure adsorption component includes a suction device, a suction cup, and a skirt. The suction device is connected to the suction cup and is used to suck the air in the suction cup to form an adsorption negative pressure; the port of the suction cup is connected to the skirt; the skirt can fit against the wall and cooperate with the suction cup to form an adsorption cavity.

[0022] Furthermore, the wall-climbing adaptive robot also includes a self-following security vehicle, and the self-following security vehicle can keep the wall-adaptive body moving synchronously in the horizontal direction.

[0023] Furthermore, the self-following security vehicle includes a protective device and / or a mobile power supply arranged on the vehicle body, the protective device is installed on the upper part of the vehicle body to form a protection area for catching a fallen wall-adaptive body; the mobile power supply is used to provide mobile power for the wall-adaptive body.

[0024] Furthermore, the control unit can determine the relative position between the wall-adaptive body and the self-following security vehicle in real time according to the orientation of the wall-adaptive body and the self-following security vehicle, and control the horizontal position of the self-following security vehicle and the projection of the wall-adaptive body to be the same.

[0025] In order to achieve the above object, the control method of the wall-climbing adaptive robot provided by the present invention comprises:

[0026] Calculate the actual negative pressure adsorption force of the wall adaptive body;

[0027] Set the optimal friction resistance threshold according to the wall conditions and working conditions;

[0028] Calculate the optimal range of negative pressure adsorption force required by the wall-adaptive body according to the deadweight of the wall-adaptive body;

[0029] By judging the relationship between the current actual negative pressure adsorption force of the adaptive body and the optimal range of the negative pressure adsorption force required by the wall adaptive body, the negative pressure adsorption force generated by the wall adaptive body is adaptively adjusted according to the judgment result.

[0030] Furthermore, the control method also determines the relative position between the wall-adaptive body and the self-following security vehicle in real time according to the orientation of the wall-adaptive body and the self-following security vehicle, and controls the horizontal position of the self-following security vehicle and the projection of the wall-adaptive body to be the same.

[0031] The wall-crawling adaptive robot solution provided by the present invention can achieve close fit between the wall-crawling adaptive robot and the detection wall by adjusting the curvature of the robot chassis frame according to the curvature of the wall; in addition, the negative pressure adsorption pressure is automatically adjusted through the cooperation of the sensor group and the adsorption force control method, so that the wall-crawling adaptive robot can work stably in the optimal traveling state, thereby improving the stability and working efficiency of the equipment, reducing energy consumption, and enhancing the robot's wall adaptability under complex working conditions.

[0032] The wall-crawling adaptive robot solution provided by the present invention can be well applied to the quality inspection of structures with arc-shaped cross sections. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0034] Figure 1 This is a schematic diagram of a wall-adaptive robot used for tunnel quality inspection in an example of the present invention;

[0035] Figure 2 A top view of the wall-adaptive robot in an example of the present invention;

[0036] Figure 3 A side view of the wall-adaptive robot in an example of the present invention;

[0037] Figure 4 A schematic diagram of the force on the robot in an example of the present invention;

[0038] Figure 5 This is a flow chart of the adsorption control algorithm in an example of the present invention.

[0039] Digital Marking Notes:

[0040] Wall-adaptive body 1, curvature-adjustable frame 11, first curvature-adjusting rod 111, second curvature-adjusting rod 112, wheels 12, suction device 13, skirt 14, connecting frame 15, fixing frame 16, suction cup 17, curvature-adjusting device 18, adjusting rod 181, bayonet 182, self-following security vehicle 2, protective device 21, mobile power supply 22, sensor group 3, detection sensor 31, positioning sensor 32, negative pressure sensor 33, control and display system 4. DETAILED DESCRIPTION

[0041] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below with reference to specific diagrams.

[0042] This example aims at the quality inspection of structures with arc-shaped cross-sections, and presents a wall-crawling adaptive robot. The robot can adjust its own state according to the curvature of the wall, always keep close contact with the wall, and can adaptively adjust the negative pressure adsorption pressure according to the working conditions, effectively enhancing the robot's wall adaptability under complex working conditions.

[0043] The wall-crawling adaptive robot mainly includes three components: a wall-adaptive body, a sensor group, and a control unit.

[0044] Among them, the wall-adaptive body, as the main component of the entire wall-crawling adaptive robot, moves along the wall of the arc-shaped structure based on negative pressure adsorption, and can adaptively adjust its own shape according to the curvature of the wall of the arc-shaped structure to adjust the fit with the wall of the arc-shaped structure.

[0045] As the detection component of the entire wall-crawling adaptive robot, the sensor group is placed on the wall-crawling adaptive body as needed, and can complete quality inspection, wall-crawling adaptive body positioning and adsorption negative pressure value measurement as required;

[0046] As the control component of the entire wall-crawling adaptive robot, the control unit can control and adjust the negative pressure adsorption force generated by the wall-crawling adaptive body in real time according to the current positioning data of the wall-crawling adaptive body and the adsorption negative pressure value obtained by the sensor group during the movement of the wall-crawling adaptive body, so that the wall-crawling adaptive body can always remain in the best moving state.

[0047] See also Figure 1 , which shows an example structure of a wall-crawling adaptive robot for quality inspection of structures with arc-shaped cross-sections, formed in this example based on the above-mentioned scheme.

[0048] As can be seen from the figure, the wall-crawling adaptive robot given in this example specifically includes a wall-adaptive body 1, a self-following security vehicle 2, a sensor group 3, and a control and display system 4.

[0049] The specific composition of the sensor group 3 can be determined according to actual needs. For example, the sensor group 3 in this example mainly includes a detection sensor 31, a positioning sensor 32, and a negative pressure sensor 33; the detection sensor 31 is used to complete the quality inspection of the arc-shaped structure (such as a tunnel), the positioning sensor 32 is used to complete the positioning data measurement of the wall adaptive body, and the negative pressure sensor 33 is used to complete the adsorption negative pressure value measurement generated by the wall adaptive body.

[0050] The wall-adaptive body 1 in this example moves along the wall based on the negative pressure adsorption wall climbing method. The wall-climbing adaptive robot given in this example adjusts the fit between the entire body and the wall according to the curvature of the arc-shaped structure (such as the inner wall of the tunnel) based on the wall-adaptive body 1, and performs quality detection of the structure (such as the tunnel) based on the detection sensor 31 carried on the body.

[0051] The self-following security car 2 in this example is used to construct a corresponding protection component to protect the wall-adaptive body 1. The self-following security car 2 can keep synchronous movement with the wall-adaptive body 1 in the horizontal direction, ensuring that when the wall-adaptive body 1 falls, it always falls on the self-following security car 2, thereby effectively protecting the following security car 2.

[0052] The control and display system 4 in this example serves as a control unit in the entire wall-climbing adaptive robot, controlling and connecting the wall-adaptive body 1, the self-following security car 2, and the sensor group 3. The control and display system 4 can measure and display the spatial positions of the wall-adaptive body 1 and the self-following security car 2, as well as the adsorption negative pressure value in the wall-adaptive body 1 in real time, and can automatically adjust the negative pressure adsorption force generated by the wall-adaptive body 1 according to the adsorption control method, so that the friction between the wall-adaptive body 1 and the wall is within the optimal friction threshold [a, b].

[0053] like Figure 2 and Figure 3 As shown, the wall-adaptive body 1 in this example solution mainly comprises the following components: a curvature-adjustable frame 11, wheels 12, a suction device 13, a skirt 14, a connecting frame 15, a fixing frame 16, a suction plate 17, and a curvature-adjusting device 18.

[0054] Specifically, the wall-adaptive body 1 has two sets of curvature-adjustable frames 11, which are respectively arranged on both sides of the wall-adaptive body 1. Specifically, the chassis frame of the wall-adaptive body 1 can be formed by two sets of cross beams (not shown in the figure).

[0055] Furthermore, each group of curvature-adjustable frames 11 here mainly includes a first curvature-adjusting rod 111 and a second curvature-adjusting rod 112, and one end of the first curvature-adjusting rod 111 is hingedly connected to one end of the second curvature-adjusting rod 112, so that the first curvature-adjusting rod 111 and the second curvature-adjusting rod 112 can swing relative to each other around the hinge to adjust the connection angle between the two.

[0056] The curvature adjusting device 18 in the wall adaptive body 1 is specifically arranged on each set of curvature adjustable frames 11 to cooperate with adjusting the forming curvature of the corresponding curvature adjustable frames.

[0057] As an example, the curvature adjustment device 18 in this example mainly includes an adjustment rod 181 and a plurality of bayonet holes 182. The adjustment rod 181 here has its rear end mounted on the first curvature adjustment rod 111, and a bayonet hole is provided at the front end, and the bayonet hole corresponds to and cooperates with the bayonet hole 182, and can stably contact the bayonet hole 182. Correspondingly, the plurality of bayonet holes 182 here are preferably evenly distributed on the second curvature adjustment rod 112 at equal intervals.

[0058] The curvature adjustment device 18 configured in this way can achieve the purpose of controlling the connection angle between the first curvature adjustment rod 111 and the second curvature adjustment rod 112 by adjusting the connection position between the adjustment rod 181 and the bayonet 182 .

[0059] The wall-adaptive machine body 1 has four wheels 12 , which are respectively mounted on four corners of a chassis frame formed by a curvature-adjustable frame 11 , so as to enable the wall-adaptive machine body 1 to move.

[0060] The suction device 13, skirt 14 and suction plate 17 in the wall-adaptive body 1 cooperate to form a corresponding negative pressure adsorption component, which is used to fit with the wall of the structure to form an adsorption cavity between the two, and can form a negative pressure adsorption force in the adsorption cavity.

[0061] In this example, the suction device 13 is connected to the frame of the wall-adaptive body 1 through a fixing frame 16, and is used to suck the air in the suction disc 17 to provide negative pressure for adsorption. In coordination therewith, the suction disc 17 is connected to the suction device 13, and the skirt 14 is installed at the lower port of the suction disc 17, similar to a skirt, and can be closely attached to the wall, and cooperate with the suction disc to form an adsorption cavity.

[0062] The specific structure of the suction disc 17 is not limited here and can be determined according to actual needs. As a preferred configuration, this example further provides a rotating impeller in the suction disc 17 to make the fluid in the chamber rotate at high speed to increase the adsorption effect.

[0063] The specific structure of the skirt 14 is not limited here, and can be determined according to actual needs. As an example, the skirt 14 in this example is made of a flexible material, has a certain strength, and has high wear resistance.

[0064] In this example, the detection sensor 31, the positioning sensor 32, and the negative pressure sensor 33 in the sensor group 3 are distributed on the wall-adaptive body 1 based on the above-mentioned structure according to their respective functions.

[0065] The detection sensor 31 is connected to the chassis frame of the wall-adaptive body 1 through the connecting frame 15 .

[0066] Specifically, the detection sensor 31 is installed at the front end of the wall adaptive body 1 through the connecting frame 15 for quality detection in the tunnel. The detection sensor 31 here can include a ground penetrating radar, an ultrasonic detector, a concrete quality comprehensive detector, etc., but is not limited thereto. The detection sensor 31 thus arranged can be in contact with the arc-shaped structure (such as the inner wall of the tunnel) or perform non-contact measurement at close range.

[0067] In this example, two groups of positioning sensors 32 are specifically used and are respectively installed on the wall-adaptive body 1 and the self-following security vehicle 2 to measure their corresponding space coordinates.

[0068] The negative pressure sensor 33 in this example is installed in the suction plate 17 to measure the negative pressure.

[0069] The corresponding measurement results of the sensor group 3 distributed in this way are preferably transmitted to the control and display system 4 via wireless signals.

[0070] The self-following security vehicle 2 in this example includes a vehicle body, and a protective device 21 and a mobile power source 22 arranged on the vehicle body.

[0071] The specific structure of the vehicle body is not limited here and can be determined according to actual needs.

[0072] The protection device 21 is installed on the upper part of the trolley to form a protection area for catching the fallen wall-adaptive body, so that when the wall-adaptive body 1 falls, it can be caught without injury for safety protection.

[0073] The specific structure of the protective device 21 is not limited here and can be determined according to actual needs as long as it can achieve the corresponding protective function.

[0074] The mobile power source 22 is preferably installed on the base of the trolley so as to provide a mobile power source for the wall-adaptive body 1 in the absence of a municipal unit.

[0075] The specific structure of the mobile power source 22 is not limited here and can be determined according to actual needs as long as it can meet the corresponding requirements.

[0076] The control and display system 4 in this example is preferably a handheld system, which may be a tablet, a controller, or the like.

[0077] The control and display system 4 can realize differential movement of different wheels 12 by controlling different motors of the four wheels 12, thereby achieving the turning operation of the wall-adaptive body 1.

[0078] During the movement of the wall-adaptive body 1, the control and display system 4 can adjust the suction power of the suction device 13 in real time according to the current adsorption negative pressure value of the wall-adaptive body obtained by the sensor group 3, thereby adaptively adjusting the negative pressure adsorption force generated by the wall-adaptive body.

[0079] Furthermore, the control and display system 4 can display the data transmitted by the sensor group 3, and the control and display system 4 can determine the positions of the two in real time according to the orientations of the wall-adaptive body 1 and the self-following security vehicle 2, and through the built-in algorithm control, make the horizontal position of the projection of the self-following security vehicle 2 and the wall-adaptive body 1 the same.

[0080] The wall-crawling adaptive robot thus formed can adjust the bending state of the chassis according to the curvature of the wall when used for quality inspection of structures with an arc-shaped cross-section, so that the wall-crawling adaptive robot can fit tightly against the inspection wall. At the same time, the negative pressure adsorption pressure can be adaptively adjusted according to the working conditions, so that the wall-crawling adaptive robot always remains in the best moving state.

[0081] As an example, this example further provides a control method applicable to the wall-crawling adaptive robot. The control method of the wall-crawling adaptive robot mainly includes the following steps:

[0082] Calculate the actual negative pressure adsorption force of the wall adaptive body;

[0083] Set the optimal friction resistance threshold according to the wall conditions and working conditions;

[0084] Calculate the optimal range of negative pressure adsorption force required by the wall-adaptive body according to the deadweight of the wall-adaptive body;

[0085] By judging the relationship between the current actual negative pressure adsorption force of the adaptive body and the optimal range of the negative pressure adsorption force required by the wall adaptive body, the negative pressure adsorption force generated by the wall adaptive body is adaptively adjusted according to the judgment result.

[0086] As an example, the control method can be implemented based on the corresponding adsorption force control algorithm. At the same time, the adsorption force control algorithm can be run in the control and display system 4 of the wall-crawling adaptive robot, thereby realizing the automatic control of the entire wall-crawling adaptive robot.

[0087] See also Figure 5 , which shows the operation process of automatic control of the control and display system 4 in this example based on the corresponding adsorption force control algorithm.

[0088] Combination Figure 4 and Figure 5 , the whole control process includes the following steps:

[0089] S1) The azimuth angle measured by the positioning sensor 32, that is, the counterclockwise angle between the longitudinal section wall adaptive body 1 and the horizontal plane, is obtained to obtain the angle α value.

[0090] S2) Obtain the actual adsorption pressure value P generated by the wall adaptive body 1 measured by the negative pressure sensor 33, set the adsorption force to be uniformly distributed based on the contact area S between the skirt 14 and the wall, and calculate the actual adsorption reaction force F by formula 1 吸附反力 The size of the contact area S here is based on the distribution shape of the skirt 14.

[0091] S3) Obtaining the overall deadweight F of the wall-adaptive body 1 重 .

[0092] S4) According to the wall conditions and working conditions, the optimal friction resistance threshold [a, b] is set; here, the friction coefficient between the wall adaptive body 1 and the wall is set to β.

[0093] S5) The required adsorption reaction force F of the wall surface adaptive body 1 is calculated by formula 2: 所需吸附反力 The best range.

[0094] S6) Compare and judge the actual F calculated in step S2) 吸附反力 Is it in F 所需吸附反力 within the range.

[0095] S7) If the actual F 吸附反力 Beyond F 所需吸附反力 The optimal range of F is achieved by adjusting the suction power of the suction device 13. 吸附反力 In F 所需吸附反力 within the range.

[0096] S8) If the actual F 吸附反力 In F 所需吸附反力 If it is within the optimal range, continue measuring.

[0097] in,

[0098] Actual F 吸附反力 =P×S (Formula 1);

[0099] a≤β×(F 所需吸附反力 -F 重 sinα)≤b (Formula 2).

[0100] On this basis, when α is greater than 90°, formula 3 is used in step S5) to calculate the required adsorption reaction force F of the wall adaptive body 1: 所需吸附反力 Optimal range:

[0101] a≤β×(F 所需吸附反力 -F 重 sin(π-α))≤b (Formula 3)

[0102] The implementation of the wall-climbing adaptive robot solution provided by the present invention is further illustrated by an application example below.

[0103] like Figure 4 As shown, the wall-crawling adaptive robot given in this example is used in a tunnel project to detect the thickness of the tunnel lining concrete.

[0104] In this example, the wall-crawling adaptive robot is equipped with a corresponding ground-penetrating radar to automatically detect the thickness of the tunnel lining concrete. At the same time, the control and display system 4 in the wall-crawling adaptive robot automatically adjusts the negative pressure adsorption force through the adsorption control method, so that the wall-crawling adaptive robot always maintains the best moving state during the entire detection process. The entire automatic detection process is as follows:

[0105] 1) According to the spatial position of the wall adaptive body 1, the angle α=60° is obtained;

[0106] 2) The measured value of the negative pressure sensor 33 is 120Pa, and the contact area between the skirt and the wall is 0.78m 2 , the actual F is obtained by formula 1 吸附反力 =93.6N;

[0107] 3) The weight of the wall-adaptive machine 1 is about 10 kg;

[0108] 4) Considering the dusty and slippery conditions of the tunnel wall, the optimal friction resistance threshold is set to [5N, 10N], and the friction coefficient between the wall adaptive body 1 and the wall is set to β = 0.4;

[0109] 5) Calculate F using formula 2 所需吸附反力 The optimal range is [99.1N, 111.6N];

[0110] 6) Actual F 吸附反力=93.6N not in F 所需吸附反力 within the scope;

[0111] 7) By adjusting the suction power of the suction device 13, enter step 2) and finally achieve the actual F 吸附反力 In F 所需吸附反力 within the range.

[0112] In addition, when the wall-adaptive body 1 is moving along the inner wall of the tunnel for detection, the control and display system 4 also controls the self-following security vehicle to keep moving synchronously with the wall-adaptive body 1 in the horizontal direction.

[0113] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A wall-crawling adaptive robot for quality inspection of arc-shaped structures, characterized in that: It includes a wall-adaptive body, a sensor group, and a control unit; The wall-adaptive machine body moves along the wall of the arc-shaped structure based on negative pressure adsorption, and can adaptively adjust the bending state of the chassis according to the curvature of the wall of the arc-shaped structure to adjust its own shape and adjust the fit state with the wall of the arc-shaped structure; The wall-adaptive body comprises a plurality of sets of wheels, two sets of curvature-adjustable frames, a curvature-adjusting device and a negative pressure adsorption component; the two sets of curvature-adjustable frames are respectively arranged on both sides of the wall-adaptive body, and the chassis frame of the wall-adaptive body is formed by two sets of crossbeams; each set of curvature-adjustable frames comprises a first curvature-adjusting rod and a second curvature-adjusting rod, and one end of the first curvature-adjusting rod is hingedly connected to one end of the second curvature-adjusting rod, and the first curvature-adjusting rod and the second curvature-adjusting rod can swing relative to each other around the hinge to adjust the connection angle between the two; the curvature-adjusting device is correspondingly arranged on the curvature-adjustable frame, and can adaptively adjust the forming curvature of the curvature-adjustable frame according to the curvature of the wall of the arc-shaped structure to adaptively adjust the bending state of the chassis; The curvature adjustment device comprises an adjustment rod and a plurality of bayonet ports, wherein the plurality of bayonet ports are sequentially distributed on the first curvature adjustment rod along the length direction of the first curvature adjustment rod, a card slot matching the bayonet port is provided at one end of the adjustment rod, and the other end of the adjustment rod is connected to the second curvature adjustment rod; the adjustment rod is connected and matched with the corresponding bayonet port through the card slot to control the connection angle between the first curvature adjustment rod and the second curvature adjustment rod; The negative pressure adsorption component is arranged on a curvature-adjustable frame, and the negative pressure adsorption component includes a suction device, a skirt and a suction plate, which can be attached to the wall surface of the structure to form an adsorption cavity therebetween, and can form a negative pressure adsorption force in the adsorption cavity; The suction device is connected to the curvature-adjustable frame of the wall-adaptive machine body through a fixing frame, and is used to suck the air in the suction plate to provide adsorption negative pressure; the suction plate is connected to the suction device, and the skirt is installed at the lower port of the suction plate, which can be close to the wall surface and cooperate with the suction plate to form an adsorption chamber; The sensor group is placed on the wall-adaptive body and can complete quality inspection, wall-adaptive body positioning and adsorption negative pressure value measurement; During the movement of the wall-adaptive body, the control unit adaptively adjusts the negative pressure adsorption force generated by the wall-adaptive body according to the current positioning data of the wall-adaptive body and the adsorption negative pressure value acquired by the sensor group.

2. The wall-climbing adaptive robot according to claim 1, characterized in that: The wall-climbing adaptive robot also includes a self-following security vehicle, which can keep the wall-adaptive body moving synchronously in the horizontal direction.

3. The wall-climbing adaptive robot according to claim 2, characterized in that: The self-following security vehicle includes a protective device and / or a mobile power supply arranged on the vehicle body. The protective device is installed on the upper part of the vehicle body to form a protection area for catching a fallen wall-adaptive body; the mobile power supply is used to provide mobile power for the wall-adaptive body.

4. The wall-climbing adaptive robot according to claim 2, characterized in that: The control unit can determine the relative position between the wall-adaptive body and the self-following security vehicle in real time according to the orientation of the wall-adaptive body and the self-following security vehicle, and control the self-following security vehicle to have the same horizontal position as the projection of the wall-adaptive body.

5. The control method of the wall-climbing adaptive robot according to any one of claims 1 to 4, characterized in that: include: Calculate the actual negative pressure adsorption force of the wall adaptive body; Set the optimal friction resistance threshold according to the wall conditions and working conditions; Calculate the optimal range of negative pressure adsorption force required by the wall-adaptive body according to the deadweight of the wall-adaptive body; By judging the relationship between the current actual negative pressure adsorption force of the adaptive body and the optimal range of the negative pressure adsorption force required by the wall adaptive body, the negative pressure adsorption force generated by the wall adaptive body is adaptively adjusted according to the judgment result.

6. The control method of the wall-climbing adaptive robot according to claim 5, characterized in that: The control method also determines the relative position between the wall-adaptive body and the self-following security vehicle in real time according to the orientation of the two, and controls the self-following security vehicle to have the same horizontal position as the projection of the wall-adaptive body.

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