A tracked full-depth propulsion amphibious robot with variable structure and its control method

Abstract

The present invention provides a variable-structure tracked full-depth propulsion amphibious robot and its control method, which includes a robot main body, a sensing module, a control module, a remote control module, an execution module, and a power supply module. The sensing module is used to detect environmental information and status information; the control module is used to receive instructions and control the movement and structure transformation of the robot. The remote control module is used for remote information monitoring and instruction issuing. The execution module is used to receive instructions issued by the control module and perform corresponding operations; the execution module includes a fender inflation / deflation mechanism, a boat-type propulsion mechanism, a tracked retraction / extension mechanism, and a tracked vehicle-type propulsion mechanism. In this application, the control method displays data through the remote control module, judges the environmental information collected by the sensing module, and switches the working mode of the robot through the execution module according to the environmental information. The boat-type working mode is adopted in the deep water environment, and the vehicle-type working mode is adopted in the waterless or shallow water environment to realize in-water detection in the culvert.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection and maintenance robots, and particularly to a variable-structure tracked full-depth propulsion amphibious robot and a control method thereof. Background Art

[0002] In recent years, with the continuous occurrence of urban flood disasters, the detection and repair of underground drainage systems (including pipe networks and culverts) have become urgent problems to be solved. Existing underground drainage pipe network and culvert inspection robots can be divided into three categories:

[0003] The first category is wheeled robots. For example, the application number is CN202120578657.1, a wheeled pipeline inspection robot, including: a main cavity, a camera device arranged on the main cavity through a lifting device, a tail assembly arranged on the main cavity, and tires arranged on the main cavity through a driving device; the robot detects the internal environment of the pipeline through the camera device, routes the cable through the tail assembly, and finally drives the tires through the driving device to drive the pipeline inspection robot to move. The characteristics of this type of robot are simple structure, easy maintenance, flexible movement, and good speed and direction control can be achieved. However, the wheeled structure will slip when walking in the pipeline, and it is difficult to walk in sediments.

[0004] The second category is tracked robots. For example, the application number is CN202111657271.0, a tracked pipeline inspection robot, which adapts to pipelines with different diameters by changing the angle of the walking mechanism relative to the main shell; is equipped with a lifting mechanism to deal with problems such as jamming and slipping; and is equipped with a detection device to observe the internal environment state and pipeline conditions of the pipeline. The robot adopts a tracked structure design, increasing the contact area of the robot with the ground, providing more friction for the robot, and overcoming the problem that wheeled pipeline inspection robots are easily trapped in sediments and mud.

[0005] Although tracked pipeline inspection robots have stronger obstacle-crossing ability than wheeled pipeline inspection robots and can adapt to various complex terrains, both need to intercept the pipeline before pipeline inspection. Especially for wheeled pipeline inspection robots, the garbage and silt in the pipeline need to be cleaned up before they can work normally.

[0006] The third category is the screw propulsion all-terrain robot, such as the application number: CN202210128557, the screw propulsion all-terrain pipeline inspection robot. By changing the traditional moving structure, screw propellers are installed on both sides of the shell, which can work in an environment with a large amount of sediment and is also suitable for environments with more silt or higher water levels. The advantage of the all-terrain robot is that it does not require intercepting and dredging during operation. Compared with the robots of the first two structures, it can be applied to a variety of complex terrains. The disadvantage is that the design of the screw structure is prone to entangling the robot with the garbage in the pipeline, and the propulsion efficiency is low and the obstacle-crossing ability is poor.

[0007] Aiming at the problems of easy slipping and difficult walking in sediment of the wheeled pipeline inspection robot, the need for intercepting before operation of the tracked robot, and the poor propulsion efficiency and obstacle-crossing ability of the all-terrain robot, the present invention proposes a variable-structure tracked full-depth propulsion amphibious robot. Summary of the Invention

[0008] The purpose of the present invention is to provide a variable-structure tracked full-depth propulsion amphibious robot and its control method, which absorbs the advantages of the tracked pipeline inspection robot, has two structures of a tracked vehicle type and a boat type, and can realize full-depth and all-terrain work in the pipeline.

[0009] In order to achieve the above purpose, the present invention proposes a variable-structure tracked full-depth propulsion amphibious robot, including a robot main body, a sensing module, a control module, a remote control module, an execution module and a power module, wherein:

[0010] The robot main body serves as a carrier and includes a hull and a sealed cabin;

[0011] The sensing module and the execution module are respectively arranged on the robot main body, and the control module and the power module are both arranged inside the sealed cabin;

[0012] The sensing module is used to detect the environmental information around the robot main body and the state information of the robot main body itself;

[0013] The control module is used to receive and transmit the information collected by the sensing module, process the information, and make a decision on autonomous control. The control module is also used to receive the instructions issued by the remote control module and control the structural deformation and movement of the robot main body;

[0014] The remote control module is used for information integration and instruction issuance, that is, the remote control module receives the information collected by the sensing module through the control module, and the remote control module sends structural deformation instructions and propulsion instructions to the execution module through the control module;

[0015] The execution module is used to receive the instructions issued by the control module and control the robot body to perform corresponding operations according to the instructions;

[0016] The execution module includes a fender inflation / deflation mechanism, a boat-type propulsion mechanism, a crawler retraction / extension mechanism, and a crawler vehicle-type propulsion mechanism. The fender inflation / deflation mechanism is used to increase the buoyancy of the robot body and reduce the volume of the robot body. The boat-type propulsion mechanism is used to control the propulsion movement of the robot body in the boat-type structure. The crawler retraction / extension mechanism is used to convert the robot body between the vehicle-type structure and the boat-type structure. The crawler vehicle-type propulsion mechanism is used to control the propulsion movement of the robot body in the vehicle-type structure;

[0017] The power supply module is used to supply power to the sensing module, the control module, the remote control module, and the execution module.

[0018] Further, the remote control module includes a joystick, a display screen, a controller, and a wireless communication module A, where:

[0019] The joystick is used to send structure deformation instructions and propulsion instructions for controlling the robot body;

[0020] The display screen is used to visualize the information detected by the sensing module during the working process;

[0021] The controller monitors the environmental information and status information of the robot body through the display screen and issues instructions for making action decisions on the robot body through the joystick;

[0022] The wireless communication module A is used for receiving and transmitting remote data of the remote control module;

[0023] The control module includes a main controller and a wireless communication module B, where:

[0024] The main controller semi-automatically controls the execution module to perform corresponding operations according to the information collected by the sensing module or the instructions sent by the controller, that is, the main controller is data-connected to the controller through the wireless communication module B, data-connected to the sensing module, and control-connected to the execution module;

[0025] The wireless communication module B is used for receiving and transmitting remote data of the control module;

[0026] The wireless communication module A is signal-connected to the wireless communication module B.

[0027] Further, the sensing module includes an inertial navigation system, a star sensor, a camera, a lidar, and an infrared water level sensor, where:

[0028] The inertial navigation is used to obtain the state information of the robot body in space;

[0029] The star sensor is used to obtain the position information of the robot body at the wellhead of the pipeline;

[0030] The camera is used to collect high-definition video images in the pipeline;

[0031] The lidar is used to obtain the spatial point cloud information above the water surface;

[0032] The infrared water level sensor is used to obtain the depth of the robot body immersed in the water surface;

[0033] The inertial navigation, camera and lidar are all arranged on the outer top of the sealed cabin, and the infrared water level sensor is arranged below the hull.

[0034] Further, the sensing module further includes a sonar, and the sonar is used to detect the water depth and underwater environment in the pipeline; the execution module further includes a sonar telescopic mechanism, and the main controller controls the sonar to retract into or extend out of the robot body through the sonar telescopic mechanism.

[0035] Further, the fender inflation and deflation mechanism includes a fender inflation and deflation system and a fender. The fender is arranged on the periphery of the robot body, used to protect the robot body and provide buoyancy. The fender inflation and deflation system is used to monitor the gas pressure in the fender and perform inflation and deflation operations;

[0036] The boat-type propulsion mechanism includes a marine propeller drive device and a marine propeller. The marine propeller is controlled to work through the marine propeller drive device, so as to realize the movement and turning of the robot body with a boat-type structure;

[0037] The crawler retracting and extending mechanism includes a rotating motor and crawler arms. The rotating motor drives the crawler arms arranged on both sides of the robot body to rotate, so that the crawler arms rotate and retract onto the deck of the robot body or rotate and extend to the outside of the robot body;

[0038] The crawler vehicle-type propulsion mechanism includes a crawler motor drive device, a crawler motor and crawlers. The crawler motor is controlled to work through the crawler motor drive device, so as to realize the movement and turning of the robot body with a vehicle-type structure.

[0039] Further, one end of the crawler arm is provided with a fixing hole, and the other end is provided with the crawler. Both sides of the fixing hole are connected to the hull through a mechanical seal device. One side of the fixing hole is provided with the rotating motor, and the other side is the inlet hole of the hull. Both the rotating motor and the crawler motor are controlled and connected to the control module. A crawler cable connected to the crawler motor is arranged in the hollow structure of the crawler arm, and the crawler motor is placed at the connection of the crawler and the crawler arm.

[0040] Further, the fender inflation and deflation system includes an air pump, a connecting device, and a pressure sensor. The air pump is connected to the fender through the connecting device to inflate and deflate the fender; the pressure sensor is connected to the air pump to perform real-time pressure detection of the fender; both the air pump and the pressure sensor are controlled and connected to the control module.

[0041] The present invention also proposes a control method for a variable-structure tracked full-depth propulsion amphibious robot. Using the above-mentioned variable-structure tracked full-depth propulsion amphibious robot, it includes the following steps:

[0042] S1: Place the robot main body into the pipeline from the wellhead, start and complete the initialization of the corresponding modules, and the robot main body is in the vehicle structure state, then enter step S2;

[0043] S2: The sensing module is started. The control module collects the environmental information in the pipeline through the sensing module, and the remote control module receives the picture information transmitted after being integrated by the control module, then enter step S3;

[0044] S3: The control module controls the robot main body to move in the pipeline through the tracked vehicle propulsion mechanism, and the control module makes an autonomous decision and judgment according to the information collected by the sensing module, that is, analyzes whether the water level in the pipeline is too low through a camera, a lidar or an infrared water level sensor:

[0045] If the water level is too low, it is judged that the robot main body is not floating, and step S3 is repeated;

[0046] If the water level is not low, it is judged that the robot main body is floating, and enter step S4;

[0047] S4: The control module controls the sonar telescopic mechanism to extend the sonar out of the robot main body, detects the actual water level height and the underwater environment of the current water level through the sonar, and compares the measured actual water level height with the preset height that enables the robot main body to float in advance:

[0048] If the actual water level height is less than the preset height, it is judged that the robot main body does not meet the working requirements in the boat structure state, and enter step S5;

[0049] When the actual water level height is greater than the preset height, it is determined that the robot body is floating, and step S6 is entered;

[0050] S5: The control module controls the sonar telescopic mechanism to retract the sonar back into the robot body, and the control module controls the boat-type propulsion mechanism to start, pushing the robot body forward until it moves to the ground and then stops the boat-type propulsion mechanism from working. The robot body then moves in the pipeline again using the tracked vehicle-type propulsion mechanism in the vehicle structure, and step S3 is entered;

[0051] S6: Stop the robot body at the current position, and convert the robot body from the vehicle structure to the boat structure through the control module, and step S7 is entered;

[0052] S7: Enter the working state. The control module controls the robot body to move in the pipeline through the boat-type propulsion mechanism, and the control module transmits the collected data information to the remote control module through the sensing module, and step S8 is entered;

[0053] S8: When the sonar detects that the actual height of the current water level satisfies the conversion of the mode structure of the robot body, and the water level height in the forward direction does not satisfy the robot body to work in the boat structure, stop the robot body at the current position, and convert the robot body from the boat structure to the vehicle structure through the control module, and step S9 is entered;

[0054] S9: The control module controls the boat-type propulsion mechanism to start, continues to push the robot body forward until it moves to the ground and then stops the boat-type propulsion mechanism from working. The robot body then moves in the pipeline again using the tracked vehicle-type propulsion mechanism in the vehicle structure, and step S10 is entered;

[0055] S10: Repeat steps S3 to S9 until the sensing module detects that the robot body exits the pipeline or reaches the specified position, completing the entire detection work, and recovering the robot body.

[0056] Further, in step S3, in order to determine whether the robot body is floating, there are the following three methods:

[0057] 1) Fit a horizontal plane based on the data detected and transmitted back by the lidar to determine the current distance of the lidar from the horizontal plane, and compare the current distance with a preset distance set in advance for the robot body to float;

[0058] 2) Fit the shape of the pipeline based on the data detected and transmitted back by the camera, and determine the water level height by analyzing the angle of the central angle formed by the water surface and the pipeline;

[0059] 3) The data detected and transmitted back by the infrared water level sensor is sent to the remote control module to determine the water level height.

[0060] Furthermore, the controller obtains various data information collected by the sensing module through the control module. When judging the water level height, since the sensing module may be affected by light or other factors, and when the judgment result is affected by the obtained data with errors, manually control the corresponding structural deformation and movement of the robot body through the controller, that is, give priority to responding to the manual control instructions sent by the controller, push the robot body to a suitable position and then perform mode conversion. After the response to the manual control instructions ends, it is then changed to the control method of the control module making full autonomous decisions.

[0061] Compared with the prior art, the beneficial effects of the present invention are mainly reflected in: the design of the vehicle structure in the present invention is not easily entangled by garbage, and has stronger propulsion efficiency and obstacle-crossing ability; the design of the boat structure enables the robot to sail on the water surface when the water level in the pipeline is relatively high; especially, the robot combines the two structures through the mode conversion module. When in the boat working mode, the crawlers are retracted into the hull, which can avoid the influence of underwater garbage on the crawler retracting and deploying structure and reduce the resistance suffered by the robot during operation; when the robot is in the crawler vehicle working mode, the volume of the robot can be reduced by reducing the telescopic length of the floating bodies on both sides, improving the flexibility of the robot, so as to adapt to different environments and improve work efficiency.

[0062] It can be used not only for pipeline detection, but also for other engineering fields, such as flood fighting, emergency rescue, and the inspection and maintenance of intertidal zone wind power generation, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 It is a schematic connection diagram between modules of the variable-structure tracked full-depth propulsion amphibious robot in the present invention;

[0064] Figures 2 to 4 It is a three-dimensional structure schematic diagram of the variable-structure tracked full-depth propulsion amphibious robot in the present invention;

[0065] Figure 5 It is a structural schematic diagram of the variable-structure tracked full-depth propulsion amphibious robot in the vehicle structure in the present invention;

[0066] Figure 6 For Figure 5 the cross-sectional schematic diagram of part A-A in

[0067] Figure 7 It is a structural schematic diagram of the variable-structure tracked full-depth propulsion amphibious robot in the boat structure in the present invention;

[0068] Figure 8For Figure 7 Schematic cross-sectional view of section B-B in

[0069] Figure 9 Schematic connection structure diagram of the fender inflation and deflation system in the present invention;

[0070] Figures 10 to 11 Schematic structure diagram when the tracked full-depth propulsion amphibious robot of the present invention changes to the vehicle structure with variable structure;

[0071] Figures 12 to 13 Schematic structure diagram when the tracked full-depth propulsion amphibious robot of the present invention changes to the boat structure with variable structure;

[0072] Figure 14 Workflow block diagram of the control method of the tracked full-depth propulsion amphibious robot with variable structure in the present invention.

[0073] Wherein: sensing module 100, inertial navigation 110, star sensor 120, camera 130, lidar 140, infrared water level sensor 150, sonar 160, control module 200, main controller 210, wireless communication module B 220, remote control module 300, joystick 310, display screen 320, controller 330, wireless communication module A 340, execution module 400, fender inflation and deflation mechanism 410, fender 411, air pump 412, connecting device 413, air pressure sensor 414, air vent 415, boat-type propulsion mechanism 420, marine propeller drive device 421, marine propeller 422, track retracting and extending mechanism 430, rotating motor 431, track arm 432, tracked vehicle-type propulsion mechanism 440, track motor drive device 441, track motor 442, track 443, fixing hole 444, track cable 445, sonar telescopic mechanism 450, power supply module 500, hull 610, sealed cabin 620. Detailed implementation mode

[0074] The variable-structure tracked full-depth propulsion amphibious robot and its control method of the present invention will be described in more detail below with reference to the schematic diagrams, in which the preferred embodiments of the present invention are shown. It should be understood that those skilled in the art can modify the present invention described herein while still achieving the advantageous effects of the present invention. Therefore, the following description should be understood as broad knowledge for those skilled in the art and not as a limitation to the present invention.

[0075] In the description of the present invention, it should be noted that for orientation terms, such as the terms "center", "horizontal", "vertical", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the indicated orientation and positional relationships are based on the orientation or positional relationships shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific protection scope of the present invention.

[0076] In the present invention, unless otherwise clearly specified and defined, for the terms "assembled", "connected", "joined", they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can also be a mechanical connection; it can be directly connected, or connected through an intermediate medium, and can be connected internally between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0077] In the following paragraphs, the present invention will be described more specifically by way of example with reference to the accompanying drawings. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the drawings are all in a very simplified form and use non-precise scales, only for the purpose of conveniently and clearly assisting in explaining the embodiments of the present invention.

[0078] As Figure 1 shown, the present invention provides a variable-structure tracked full-depth propulsion amphibious robot and its control method, including a robot body, a sensing module 100, a control module 200, a remote control module 300, an execution module 400, and a power module 500, wherein:

[0079] The robot body, as a carrier, includes a hull 610 and a sealed cabin 620. The inside of the hull 610 is a hollow structure, providing the main buoyancy for the robot body to travel on the water surface;

[0080] The sensing module 100 is used to detect the environmental information around the robot body and the state information of the robot body itself;

[0081] The control module 200 is used to receive and transmit the information collected by the sensing module 100, process the information, and make decisions on autonomous control. The control module 200 is also used to receive the instructions issued by the remote control module 300 and control the structural deformation and movement of the robot body;

[0082] The remote control module 300 is used for information integration and instruction issuance. That is, the remote control module 300 receives the information collected by the sensing module 100 through the control module 200, and the remote control module 300 sends structure deformation instructions and propulsion instructions to the execution module 400 through the control module 200;

[0083] The execution module 400 is used to receive the instructions issued by the control module 200 and control the robot body to perform corresponding operations according to the instructions;

[0084] The power supply module 500 is used to supply power to the sensing module 100, control module 200, remote control module 300 and execution module 400.

[0085] Further, as Figure 1 shown, the remote control module 300 includes a joystick 310, a display screen 320, a controller 330 and a wireless communication module A 340. It is mainly placed on the shore when the robot is working and belongs to shore-based equipment. Among them:

[0086] The joystick 310 is used to send structure deformation instructions and propulsion instructions for controlling the robot body, or issue control instructions through the upper computer software in the controller 330;

[0087] The display screen 320 is used to visualize the information detected by the sensing module 100 during the working process;

[0088] The controller 330 monitors the environmental information and status information of the robot body through the display screen 320, and issues instructions for making action decisions on the robot body through the joystick 310;

[0089] The wireless communication module A 340 is used for receiving and sending remote data of the remote control module 300, receiving the environmental information and status information converted and transmitted by the control module 200, and sending instructions for controlling the execution module 400 to perform structure deformation and propulsion to the control module 200.

[0090] Specifically, as Figure 1 shown, the control module 200 includes a main controller 210 and a wireless communication module B 220. Among them:

[0091] The main controller 210 semi-automatically controls the execution module 400 to perform corresponding operations according to the information collected by the sensing module 100 or the instructions sent by the controller 330. That is, the main controller 210 is data-connected to the controller 330, data-connected to the sensing module 100, and control-connected to the execution module 400 through the wireless communication module B 220;

[0092] The wireless communication module B220 is used for the transceiver of remote data of the control module 200, receiving the structure conversion instruction and propulsion instruction conveyed by the remote control module 300, and transmitting the information data integrated by the main controller 210 to the remote control module 300.

[0093] Specifically, two-way data transmission and instruction transceiver are carried out between the wireless communication module A340 and the wireless communication module B220.

[0094] Further, as Figures 1 to 4 shown, the sensing module 100 includes an inertial navigation 110, a star sensor 120, a camera 130, a lidar 140, an infrared water level sensor 150, and a sonar 160, where:

[0095] The inertial navigation 110 is used to obtain the state information of the robot body in space;

[0096] The star sensor 120 is used to obtain the position information of the robot body at the wellhead of the pipeline;

[0097] The camera 130 is used to collect high-definition video images in the pipeline. A pan-tilt camera is adopted and can rotate in the horizontal and vertical directions;

[0098] The lidar 140 is used to obtain the spatial point cloud information above the water surface;

[0099] The infrared water level sensor 150 is used to obtain the depth of the robot body immersed in the water surface; the infrared water level sensor 150 is arranged below the hull 610 and is divided into front and rear parts, and each part is composed of 10 individual infrared water level sensors, which are evenly distributed on the left and right sides of the hull. The basic principle of the infrared water level sensor is to detect the presence and absence of water through the photoelectric principle. It contains an infrared light-emitting diode and a photosensitive receiver inside. When the liquid does not submerge the infrared water level sensor, the light emitted by the infrared diode passes through the air and is received by the receiver after reflection on the pipe wall; when the liquid submerges the infrared water level sensor, the infrared rays are refracted into the water and absorbed by the water, and there is no reflection back to the receiver. Therefore, the infrared sensor outputs different level signals in two different situations. The main controller 210 can determine the number of infrared water level sensors submerged by water by detecting the level signals, thereby judging the water level height to cooperate with other modules to complete mode conversion.

[0100] The inertial navigation 110, the camera 130, and the lidar 140 are all arranged on the outer top of the sealed cabin 620, and the infrared water level sensor 150 is arranged below the hull 610;

[0101] The sonar 160 is used to obtain the sonar image below the water surface and detect the water depth and underwater environment in the pipeline.

[0102] Meanwhile, the inertial navigation 110, star sensor 120, camera 130, and lidar 140 are all arranged on the outer top side of the sealed cabin 620, the control module 200 and the power module 500 are both arranged inside the sealed cabin 620, and the execution module 400 is arranged on the hull 610;

[0103] Specifically, as Figures 1 to 4 shown, the execution module 400 includes a fender inflation / deflation mechanism 410, a boat-type propulsion mechanism 420, a track retraction / extension mechanism 430, a tracked vehicle-type propulsion mechanism 440, and a sonar telescopic mechanism 450, which realizes functions such as inflation / deflation of the fender 411, retraction / extension of the track 443, telescoping of the sonar 160, and propulsion of the robot body according to the control instructions of the control module 200, where:

[0104] As Figure 7 shown, the main controller 210 controls the sonar 160 to retract into or extend out of the robot body through the sonar telescopic mechanism 450. The telescopic length of the sonar 160 can be set independently. The telescopic length of the telescopic rod of the sonar telescopic mechanism 450 is detected by a rudder angle sensor. Its telescopic design can reduce the resistance of the robot body in the working mode of the vehicle structure and also protect the sonar 160 when the amphibious structure deforms, preventing the sonar 160 from obstructing the movement of the robot.

[0105] The fender inflation / deflation mechanism 410 includes a fender inflation / deflation system and a fender 411. The fender 411 is arranged on the periphery of the robot body, used to protect the robot body and provide buoyancy. The fender inflation / deflation system is used to automatically monitor the gas pressure inside the fender 411, and perform inflation and deflation operations, and maintain the air pressure inside the fender 411 for a long time, and the inflation and deflation pressures can be set. During deformation, inflation is used to increase the overall buoyancy of the robot and reduce the damage suffered by the hull 610 during collisions. Deflation is used to reduce the volume of the robot in the working mode of the vehicle structure and reduce the resistance suffered by the robot.

[0106] As Figures 7 to 8As shown in the figure, the fender inflation and deflation system includes an air pump 412, a connecting device 413, and a pressure sensor 414. The air pump 412 is connected to the fender 411 through the connecting device 413 to inflate and deflate the fender 411. The pressure sensor 414 is connected to the air pump 412 through a hose to perform real-time pressure detection of the fender 411. Both the air pump 412 and the pressure sensor 414 are connected to the control module 200 for control. The fender inflation and deflation system has a ventilation hole 415 provided at the top of the hull 610. The inlet / outlet of the air pump 412 is connected to the ventilation hole 415 to realize gas exchange between the inside of the robot and the outside. The air pump 412 has two functions: inflation and air extraction. The connecting device 413 includes a pipeline and a solenoid valve. The main controller 210 controls the operation of the air pump 412 according to the control instruction and the pressure data of the fender 411 transmitted by the pressure sensor 414, and finally realizes real-time control of the pressure in the fender 411.

[0107] As Figures 7 to 8 shown in the figure, the boat-type propulsion mechanism 420 is used to control the propulsion movement of the robot body with a boat-type structure, and realize the functions of forward movement, backward movement and turning of the robot body with a boat-type structure. The boat-type propulsion mechanism 420 includes a marine propeller drive device 421 and a marine propeller 422. The operation of the marine propeller 422 is controlled by the marine propeller drive device 421, so as to realize the movement and turning of the robot body with a boat-type structure. By controlling the rotation speed and turning direction of the marine propellers 422 on both sides through the main controller 210, the turning and speed of the robot body are further controlled, providing power for the robot in the working state of the boat-type structure.

[0108] As Figures 5 to 6 shown in the figure, the crawler retracting and extending mechanism 430 is used to convert the robot body between a vehicle-type structure and a boat-type structure. The crawler retracting and extending mechanism 430 includes a rotating motor 431 and a crawler arm 432. The crawler arm 432 is connected to the rotating motor 431 inside the hull 610 through a mechanical seal device. The main controller 210 drives the crawler arms 432 provided on both sides of the robot body to rotate through the rotating motor 431, so that the crawler arms 432 rotate and retract onto the deck of the robot body or rotate and extend to the outside of the robot body, cooperating with the control module to realize the deformation of the amphibious structure. And the rotation angle can be set, which helps the robot to work in pipelines with different diameters.

[0109] As Figure 6As shown in the figure, the crawler vehicle propulsion mechanism 440 is used to control the propulsion movement of the robot body with a vehicle structure. The crawler vehicle propulsion mechanism 440 includes a crawler motor driving device 441, a crawler motor 442, and a crawler 443. The crawler motor driving device 441 is placed inside the hull 610. By controlling the operation of the crawler motor 442 through the crawler motor driving device 441, the movement and steering of the robot body with a vehicle structure can be realized. By controlling the crawler motor driving device 441 through the main controller 210 to control the operation of the crawler motor 442 and drive the crawler 443, the steering and speed of the robot body can be controlled, providing power for the robot in the working state of the vehicle structure.

[0110] At the same time, two crawler motors 442 jointly drive one crawler 443, and the driving method is master-slave drive. That is, only one crawler motor 442 works to provide the forward power for the robot during the operation of the robot, and the other crawler motor 442 acts as a driven wheel and supports the crawler 443. This setting method can ensure that the robot can still obtain forward power through the other crawler motor 442 after the control of one crawler motor 442 fails.

[0111] Furthermore, as Figure 6 shown, one end of the crawler arm 432 is provided with a fixing hole 444, and the other end is provided with the crawler 443. Both sides of the fixing hole 444 are connected to the hull 610 through a mechanical sealing device. One side of the fixing hole 444 is provided with the rotating motor 431, and the other side is the wire inlet hole of the hull 610. A crawler cable 445 connected to the crawler motor 442 is arranged in the hollow structure of the crawler arm 432. Both the rotating motor 431 and the crawler motor 442 are connected to the control module 200 for control. The crawler motor 442 is placed at the junction of the crawler 443 and the crawler arm 432. The rotating motor 431 is composed of an angle sensor, a position switch, and a stepping motor. The angle sensor is used as the feedback input of the stepping motor, and the position switch ensures the reliability of the operation of the rotating motor 431.

[0112] At the same time, as Figure 6As shown in the figure, one side of the fixing hole 444 of the crawler arm 432 is connected to the rotating motor 431 through a mechanical seal device. The main controller 210 controls the operation of the rotating motor 431 according to the control instruction to control the crawler arm 432 to rotate to different angles, thereby realizing the retracting and extending function of the crawler retracting and extending mechanism 430. The crawler cable 445 is led out from the crawler motor 442, passes through the hollow structure of the crawler arm 432, converges at the inlet hole, and then is connected to the hull 610, and then is connected to the control module 200 and the power module 500 inside the sealed cabin 620. Since the inlet hole of the hull 610 is connected to the hull 610 through a mechanical seal device by the fixing hole 444 of the crawler arm 432 and is coaxial with the rotating shaft of the rotating motor 431, this wiring method can ensure that the state of the crawler cable is not affected during the mode conversion of the robot.

[0113] Further, in this embodiment, as Figure 9 shown, the fender 411 is divided into 8 air chambers, and Q j (j = 1, 2, …, n) are independent air chambers divided by the fender 411. The connecting hoses of the air pumps 412 are connected to each air chamber through solenoid valves. J i (i = 1, 2, …, n) and C i (i = 1, 2, …, n) are the air inlets and outlets of the solenoid valves connecting each air chamber, and K i (i = 1, 2, …, n) are the relays connecting each solenoid valve. The main controller 210 detects the air pressure intensity of each air chamber through the air pressure sensor 414, and controls the on and off of the relay through the relay driving module, thereby controlling the opening and closing of the solenoid valve. In this structure, the solenoid valve and the relay K i correspond one by one, and two solenoid valves correspond to one air chamber Q j . One solenoid valve is connected to the inflation end of the air pump 412, and the air pump 412 can inflate the fender 411 through this solenoid valve; the other solenoid valve is connected to the deflation end of the air pump 412, and the air pump 412 can deflate the fender 411 through this solenoid valve. During the inflation and deflation of the fender 411, the main controller 210 can open or close the corresponding solenoid valve by controlling the relay K i to inflate or deflate the corresponding air chamber Q j .

[0114] This operation of separately inflating and deflating the air chambers in the fender 411 can adjust the center of gravity of the robot during the working and traveling process of the robot, thereby crossing obstacles and improving the working efficiency of the robot.

[0115] The present invention provides a control method for a variable-structure tracked full-depth propulsion amphibious robot. Using the above-mentioned variable-structure tracked full-depth propulsion amphibious robot, according to different working states of the robot, there are three control methods, namely, full autonomous decision-making, autonomous decision-making under manual intervention, and remote control. In the following embodiments of the three control methods, three different water level detection methods are respectively exemplified to specifically introduce the control methods.

[0116] As Figure 14 shown, the control method of full autonomous decision-making includes the following steps:

[0117] S1: Place the robot body into the pipeline from the wellhead, start and complete the initialization of the corresponding modules, and the robot body is in the vehicle structure state, then enter step S2;

[0118] S2: Start the sensing module 100. The control module 200 collects the environmental information in the pipeline through the sensing module 100. The remote control module 300 receives the picture information transmitted after being integrated by the control module 200, and then enter step S3;

[0119] S3: The control module 200 controls the robot body to move in the pipeline through the tracked vehicle propulsion mechanism 440, and the control module 200 makes an autonomous decision judgment according to the information collected by the sensing module 100, that is, analyzes whether the water level in the pipeline is too low through the camera 130, lidar 140 or infrared water level sensor 150:

[0120] If the water level is too low, and it is judged that the robot body is not floating, repeat step S3;

[0121] If the water level is not low, and it is judged that the robot body is floating, enter step S4;

[0122] S4: The control module 200 controls the sonar telescopic mechanism 450 to extend the sonar 160 out of the robot body, and detects the actual water level height and underwater environment of the current water level through the sonar 160, and compares the measured actual water level height with the preset height that enables the robot body to float set in advance:

[0123] If the actual water level height is less than the preset height, it is judged that the robot body does not meet the working condition in the boat structure state, and enter step S5;

[0124] If the actual water level height is greater than the preset height, it is judged that the robot body is floating, and the robot can perform mode conversion at the current position, and enter step S6;

[0125] S5: The control module 200 controls the sonar telescopic mechanism 450 to retract the sonar 160 back into the robot main body, and the control module 200 controls the boat-type propulsion mechanism 420 to start, pushing the robot main body forward until the boat-type propulsion mechanism 420 stops working after moving to the ground. Then the robot main body moves in the pipeline again in a vehicle structure through the crawler vehicle-type propulsion mechanism 440, and enters step S3;

[0126] Meanwhile, the control module 200, in cooperation with the crawler vehicle-type propulsion mechanism 440, assists in judging whether the robot main body is floating. That is, the magnitude of the current when the crawler vehicle-type propulsion mechanism 440 works is used to judge the magnitude of the current torque. The actual torque generated by the robot main body during current operation is compared with the original torque generated during ground travel. If the actual torque is less than the original torque, it is judged that the robot main body is floating; or, the floating state of the hull is comprehensively determined by the magnitude of the load torque when the crawler vehicle-type propulsion mechanism 440 works.

[0127] S6: Stop the robot main body at the current position, and the control module 200 converts the robot main body from a vehicle structure to a boat structure; the control module 200 controls the crawler vehicle-type propulsion mechanism 440 to stop working, starts the fender inflation and deflation mechanism 410 to inflate the fender 411, improving the overall buoyancy of the robot. When the air pressure sensor 414 detects that the air pressure in the fender 411 reaches the set intensity, the fender inflation and deflation mechanism 410 automatically stops inflating. The inflated fender 411 can also reduce the damage suffered by the hull 610 during collisions; control the sonar telescopic mechanism 450 to extend the sonar 160 out of the robot main body, start the crawler retracting and deploying mechanism 430, drive the crawler arm 432 to rotate inward to a preset angle, and rotate and retract the crawler 443 onto the deck, and enter step S7;

[0128] S7: Enter the working state. The control module 200 controls the robot main body to move in the pipeline through the boat-type propulsion mechanism 420, and the control module 200 transmits the collected data information to the remote control module 300 through the sensing module 100, and enters step S8;

[0129] S8: When the sonar 160 detects that the actual height of the current water level meets the requirement for the robot main body to perform mode structure conversion, and the water level height in the forward direction does not meet the requirement for the robot main body to work in the boat structure, stop the robot main body at the current position, and convert the robot main body from the boat structure to the vehicle structure through the control module 200; the control module 200 controls the track retracting and extending mechanism 430 to work, drives the track arm 432 to rotate outward to a preset angle, and rotates and extends the track 443 to the outside; controls the sonar telescopic mechanism 450 to retract the sonar 160 into the robot main body, starts the fender inflation and deflation mechanism 410, and releases the gas in the fender 411 to a preset pressure, so as to reduce the volume of the robot in the vehicle structure working mode, reduce the resistance received by the robot, and enter step S9;

[0130] S9: The control module 200 controls the boat-type propulsion mechanism 420 to start, continues to push the robot main body forward until the boat-type propulsion mechanism 420 stops working after moving to the ground, and the robot main body moves in the pipeline again through the track vehicle-type propulsion mechanism 440 in the vehicle structure, and enters step S10;

[0131] S10: Repeat steps S3 to S9 until the sensing module 100 detects that the robot main body exits the pipeline or reaches the designated position, completes the entire detection work, and retrieves the robot main body.

[0132] Further, in step S3, in order to determine whether the robot main body is floating, there are the following three methods:

[0133] 1) Fit a horizontal plane based on the data detected and transmitted back by the lidar 140 to determine the current distance between the lidar 140 and the horizontal plane, and compare the current distance with a preset distance set in advance for the robot main body to float;

[0134] 2) Fit the shape of the pipeline based on the data detected and transmitted back by the camera 130, and determine the water level height by analyzing the angle of the central angle formed by the water surface and the pipeline;

[0135] 3) Based on the data detected and transmitted back by the infrared water level sensor 150, combine the digital quantity result with other data collected in the sensing module 100 to comprehensively judge the water level height.

[0136] In addition, in the control method of autonomous decision-making under manual intervention, the controller 330 obtains various data information collected by the sensing module 100 through the control module 200. When judging the water level, since the sensing module 100 may be affected by light or other factors, and when the judgment result is affected by obtaining data with errors, manually control the robot body to perform corresponding structural deformation and movement through the controller 330, that is, give priority to responding to the manual control instruction sent by the controller 330, push the robot body to a suitable position and then perform mode conversion. After the response to the manual control instruction ends, it is then changed to the control method of the fully autonomous decision-making of the control module 200.

[0137] In addition, in the remote control method, the main controller 210 transmits the detected data to the remote control module 300. After the controller 330 receives the data, it displays it on the display screen 320 of the remote control module 300 in a digital quantity manner. The staff judges the water level by observing the displayed numbers and combining other data transmitted in the sensing module 100, and controls the amphibious robot to perform deformation and detection work as needed.

[0138] In summary, in this embodiment, a variable-structure tracked full-depth propulsion amphibious robot and its control method are proposed. Three different control methods are set according to different working states of the robot, namely fully autonomous decision-making, autonomous decision-making under manual intervention, and remote control. In different detection works, different control methods can be used to assist the staff in detection work. Moreover, the unique fender multi-air chamber setting method of the robot allows the staff to set the number of air chambers according to needs, and adjust the center of gravity of the robot by individually charging and discharging each air chamber, so as to assist the robot to overcome obstacles during work and improve the work efficiency of the robot.

[0139] The above is only the preferred embodiment of the present invention and does not impose any limitation on the present invention. Any person skilled in the art within the technical field of the present invention, without departing from the technical solution of the present invention, makes any form of equivalent replacement or modification and other changes to the technical solution and technical content disclosed by the present invention, all of which belong to the content of the technical solution of the present invention and still fall within the protection scope of the present invention.

Claims

1. Control method for a variable-structure tracked full-depth propulsion amphibious robot, using a variable-structure tracked full-depth propulsion amphibious robot, Characterized in that, The tracked full-depth propulsion amphibious robot includes a robot main body, a sensing module (100), a control module (200), a remote control module (300), an execution module (400) and a power supply module (500), wherein: The robot main body as a carrier includes a hull (610) and a sealed cabin (620); The sensing module (100) and the execution module (400) are respectively arranged on the robot main body, and the control module (200) and the power supply module (500) are both arranged inside the sealed cabin (620); The sensing module (100) is used to detect the environmental information around the robot main body and the state information of the robot main body itself; The control module (200) is used to receive and transmit the information collected by the sensing module (100), process the information, and make a decision on autonomous control. The control module (200) is also used to receive the instructions issued by the remote control module (300) and control the structural deformation and movement of the robot main body; The remote control module (300) is used for information integration and instruction issuance, that is, the remote control module (300) receives the information collected by the sensing module (100) through the control module (200), and the remote control module (300) sends structural deformation instructions and propulsion instructions to the execution module (400) through the control module (200); The execution module (400) is used to receive the instructions issued by the control module (200) and control the robot main body to perform corresponding operations according to the instructions; The execution module (400) includes a fender inflation / deflation mechanism (410), a boat-type propulsion mechanism (420), a tracked retraction mechanism (430) and a tracked vehicle-type propulsion mechanism (440). The fender inflation / deflation mechanism (410) is used to increase the buoyancy of the robot main body and reduce the volume of the robot main body. The boat-type propulsion mechanism (420) is used to control the propulsion movement of the robot main body in the boat-type structure. The tracked retraction mechanism (430) is used to convert the robot main body between the vehicle-type structure and the boat-type structure. The tracked vehicle-type propulsion mechanism (440) is used to control the propulsion movement of the robot main body in the vehicle-type structure; The power supply module (500) is used to supply power to the sensing module (100), the control module (200), the remote control module (300) and the execution module (400); The control method for the tracked full-depth propulsion amphibious robot includes the following steps: S1: Place the robot main body into the pipeline from the wellhead, start and complete the initialization of the corresponding modules, and the robot main body is in the vehicle-type structure state, and enter step S2; S2: The sensing module (100) is activated. The control module (200) collects the environmental information inside the pipeline through the sensing module (100). The remote control module (300) receives the video information transmitted after being integrated by the control module (200), and proceeds to step S3; S3: The control module (200) controls the movement of the robot body inside the pipeline through the tracked vehicle propulsion mechanism (440), and the control module (200) makes an autonomous decision and judgment based on the information collected by the sensing module (100), that is, analyzes whether the water level inside the pipeline is too low through the camera (130), lidar (140) or infrared water level sensor (150): If the water level is too low and it is determined that the robot body is not floating, repeat step S3; If the water level is not low and it is determined that the robot body is floating, proceed to step S4; S4: The control module (200) controls the sonar telescopic mechanism (450) to extend the sonar (160) out of the robot body, and detects the actual water level height and the underwater environment at the current water level through the sonar (160), and compares the measured actual water level height with the preset height that enables the robot body to float, which is set in advance: If the actual water level height is less than the preset height, it is determined that the robot body does not meet the requirement to work in the boat structure, and proceed to step S5; If the actual water level height is greater than the preset height, it is determined that the robot body is floating, and proceed to step S6; S5: The control module (200) controls the sonar telescopic mechanism (450) to retract the sonar (160) back into the robot body, and the control module (200) controls the boat propulsion mechanism (420) to start, and pushes the robot body forward until it moves to the ground and then stops the operation of the boat propulsion mechanism (420). The robot body then moves inside the pipeline in the vehicle structure through the tracked vehicle propulsion mechanism (440), and proceeds to step S3; S6: Stop the robot body at the current position, and convert the robot body from the vehicle structure to the boat structure through the control module (200), and proceed to step S7; S7: Enter the working state. The control module (200) controls the movement of the robot body inside the pipeline through the boat propulsion mechanism (420), and the control module (200) transmits the collected data information to the remote control module (300) through the sensing module (100), and proceeds to step S8; S8: When the sonar (160) detects that the actual height of the current water level meets the requirement for the robot body to perform the conversion of the mode structure, and the water level height in the forward direction does not meet the requirement for the robot body to work in the boat structure, stop the robot body at the current position, and convert the robot body from the boat structure to the vehicle structure through the control module (200), and proceed to step S9; S9: The control module (200) controls the boat-type propulsion mechanism (420) to start, continues to push the robot body forward until it moves to the ground and then stops the operation of the boat-type propulsion mechanism (420). The robot body then moves in the pipeline in a vehicle structure through the crawler vehicle-type propulsion mechanism (440), and enters step S10; S10: Repeat steps S3 to S9 until the sensing module (100) detects that the robot body has exited the pipeline or reached the designated position, completes the entire detection work, and retrieves the robot body.

2. The control method of the variable-structure tracked full-depth propulsion amphibious robot according to claim 1, characterized in that the remote control module (300) includes a joystick (310), a display screen (320), a controller (330), and a wireless communication module A (340), wherein: the joystick (310) is used to send structure deformation instructions and propulsion instructions for controlling the robot body; the display screen (320) is used to visualize the information detected by the sensing module (100) during the working process; the controller (330) monitors the environmental information and status information of the robot body through the display screen (320), and issues instructions for making action decisions on the robot body through the joystick (310); the wireless communication module A (340) is used for receiving and transmitting remote data of the remote control module (300); the control module (200) includes a main controller (210) and a wireless communication module B (220), wherein: the main controller (210) semi-automatically controls the execution module (400) to perform corresponding operations according to the information collected by the sensing module (100) or the instructions sent by the controller (330), that is, the main controller (210) is data-connected to the controller (330) through the wireless communication module B (220), data-connected to the sensing module (100), and control-connected to the execution module (400); the wireless communication module B (220) is used for receiving and transmitting remote data of the control module (200); the wireless communication module A (340) is signal-connected to the wireless communication module B (220).

3. The control method of the variable-structure tracked full-depth propulsion amphibious robot according to claim 1, characterized in that the sensing module (100) includes an inertial navigation (110), a star sensor (120), a camera (130), a lidar (140), and an infrared water level sensor (150), wherein: the inertial navigation (110) is used to obtain the state information of the robot body in space; the star sensor (120) is used to obtain the position information of the robot body at the pipeline wellhead; the camera (130) is used to collect high-definition video images in the pipeline; the lidar (140) is used to obtain the spatial point cloud information above the water surface; the infrared water level sensor (150) is used to obtain the depth of the robot body immersed in the water surface; The inertial navigation (110), camera (130), and lidar (140) are all arranged on the outer top of the sealed cabin (620), and the infrared water level sensor (150) is arranged below the hull (610).

4. The control method of the variable-structure tracked full-depth propulsion amphibious robot according to claim 1, characterized in that, the sensing module (100) further includes a sonar (160), and the sonar (160) is used to detect the water depth and underwater environment in the pipeline; the execution module (400) further includes a sonar telescopic mechanism (450), and the main controller (210) controls the sonar (160) to retract into or extend out of the robot body through the sonar telescopic mechanism (450).

5. The control method of the variable-structure tracked full-depth propulsion amphibious robot according to claim 1, characterized in that, the fender inflation and deflation mechanism (410) includes a fender inflation and deflation system and a fender (411), the fender (411) is arranged on the periphery of the robot body, and is used to protect the robot body and provide buoyancy, and the fender inflation and deflation system is used to monitor the gas pressure in the fender (411) and perform inflation and deflation work; the boat-type propulsion mechanism (420) includes a marine propeller drive device (421) and a marine propeller (422), and the marine propeller (422) is controlled to work through the marine propeller drive device (421), so as to realize the movement and turning of the robot body in the boat-type structure; the tracked retractable mechanism (430) includes a rotating motor (431) and a tracked arm (432), and the rotating motor (431) drives the tracked arms (432) arranged on both sides of the robot body to rotate, so that the tracked arms (432) rotate and retract onto the deck of the robot body or rotate and extend to the outside of the robot body; the tracked vehicle-type propulsion mechanism (440) includes a tracked motor drive device (441), a tracked motor (442), and a track (443), and the tracked motor (442) is controlled to work through the tracked motor drive device (441), so as to realize the movement and turning of the robot body in the vehicle-type structure.

6. The control method of the variable-structure tracked full-depth propulsion amphibious robot according to claim 5, characterized in that, one end of the tracked arm (432) is provided with a fixing hole (444), the other end is provided with the track (443), both sides of the fixing hole (444) are connected to the hull (610) through a mechanical sealing device, and one side of the fixing hole (444) is provided with the rotating motor (431), and the other side is the inlet hole of the hull (610). The rotating motor (431) and the tracked motor (442) are both controlled and connected to the control module (200). A tracked cable (445) connected to the tracked motor (442) is arranged in the hollow structure of the tracked arm (432), and the tracked motor (442) is placed at the connection between the track (443) and the tracked arm (432).

7. The control method of the variable-structure tracked full-depth propulsion amphibious robot according to claim 5, characterized in that, the fender inflation and deflation system includes an air pump (412), a connecting device (413) and a pressure sensor (414). The air pump (412) is connected to the fender (411) through the connecting device (413) to inflate and deflate the fender (411); the pressure sensor (414) is connected to the air pump (412) to perform real-time pressure detection of the fender (411); both the air pump (412) and the pressure sensor (414) are connected to the control module (200) for control.

8. The control method of the variable-structure tracked full-depth propulsion amphibious robot according to claim 1, characterized in that, in step S3, in order to judge whether the robot body is floating, there are the following three methods: 1) Fit a horizontal plane based on the data detected and transmitted back by the lidar (140) to determine the current distance of the lidar (140) from the horizontal plane, and compare the current distance with a preset distance that makes the robot body float; 2) Fit the shape of the pipeline based on the data detected and transmitted back by the camera (130), and determine the water level height by analyzing the angle of the central angle formed by the water surface and the pipeline; 3) Transmit the data detected and transmitted back by the infrared water level sensor (150) to the remote control module (300) to determine the water level height.

9. The control method of the variable-structure tracked full-depth propulsion amphibious robot according to claim 1, characterized in that, the controller (330) obtains various data information collected by the sensing module (100) through the control module (200). When judging the water level height, since the sensing module (100) will be affected by light or other factors, when the judgment structure is affected by obtaining inaccurate data, manually control the robot body to perform corresponding structural deformation and movement through the controller (330), that is, give priority to responding to the manual control instructions sent by the controller (330), push the robot body to a suitable position and then perform mode conversion. After the response to the manual control instructions is completed, it is changed to the control method of the full-autonomous decision-making of the control module (200).

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