A wheel-track composite pipeline inspection robot with variable configuration and obstacle-crossing capability and control method thereof

Abstract

The present invention discloses a variable-configuration obstacle-crossing wheel-track composite pipeline inspection robot and a control method thereof, which relates to the field of robot technology, including a robot body, an obstacle-crossing mechanism and a support frame mechanism, wherein the obstacle-crossing mechanism is symmetrically mounted on both sides of the robot body and connected to the robot body through bearings respectively; the obstacle-crossing mechanism comprises a wheel-track composite guide arm mechanism, a bendable guide arm mechanism and a traveling crawler; the wheel-track composite guide arm mechanism is connected to the bendable guide arm mechanism through the traveling crawler; and the support frame mechanism is mounted in the middle of the tail end of the robot body. When in use, the present invention uses the obstacle-crossing mechanism to flexibly and quickly cross obstacles; the bendable guide arm and support frame mechanism are used, and when crossing an obstacle, the guide arm bends and the support frame is lowered, thereby increasing the contact surface between the crawler of the inspection robot and the pipeline when crossing the obstacle, increasing the friction force, and preventing the inspection robot from sliding and causing the danger of falling.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline inspection robots, and in particular to a wheel-track composite pipeline inspection robot capable of changing its configuration and overcoming obstacles and a control method thereof. Background Art

[0002] The number of pipelines in use is increasing with the development of cities, and chemical corrosion and environmental changes will lead to aging and damage of pipelines, making the task of detecting pipeline environment and damage more difficult. In order to avoid various safety hazards in the process of manual monitoring and solve the problem of manual inaccessibility, inspection robots manufactured by modern mechanical automation technology are often used to realize pipeline inspection. Therefore, it is a general trend to design an inspection robot to detect the internal conditions of pipelines.

[0003] According to the current research findings on pipeline inspection robots, the inspection robots designed for research are divided into tracked and wheeled types. Tracked inspection robots move slowly when working, which greatly limits their work; wheeled inspection robots have poor obstacle crossing capabilities and are not stable enough. The wheel-track composite pipeline inspection robot can combine the advantages of both and is the best walking mechanism, but it requires a guide arm to extend the track to adapt to pipelines in different terrains.

[0004] However, the pipeline inspection robots currently used are prone to collision and falling hazards when moving in the pipeline, and have poor adaptability to complex obstacle environments. Therefore, they are inefficient in actual use and cannot meet the user's requirements for safe use. Summary of the invention

[0005] In view of the shortcomings of existing pipeline inspection robots, the present invention provides a wheel-track composite pipeline inspection robot capable of overcoming obstacles and a control method thereof.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] In the first aspect, the present invention provides a variable-configuration obstacle-crossing wheel-track composite pipeline inspection robot, comprising: a robot body, an obstacle-crossing mechanism and a support frame mechanism; the obstacle-crossing mechanism is symmetrically installed on both sides of the robot body and is connected to the robot body through bearings; the obstacle-crossing mechanism includes a wheel-track composite guide arm mechanism, a flexible guide arm mechanism and a traveling track; the wheel-track composite guide arm mechanism is transmission-connected to the flexible guide arm mechanism through the traveling track; the support frame mechanism is installed in the middle of the rear end of the robot body.

[0008] Furthermore, it includes: the wheel-track composite guide arm mechanism includes a guide arm, a first driving wheel, a second driving wheel, a first driven wheel, a first guide arm track, a first guide shaft, a first traveling wheel, a belt and a pulley; the first traveling wheel, the first driving wheel, the guide arm and the second driving wheel are installed on the first guide shaft in sequence; the guide arm is vertically fixed on the first guide shaft; the first driven wheel is fixed to the tip of the guide arm through a bearing, and the first driven wheel is connected to the first driving wheel and the second driving wheel through the first guide arm track; the first traveling wheel and the first driving wheel are fixed by a buckle to achieve synchronous rotation; the pulley is installed on the outer side of the rear end of the guide arm through a bearing, and is connected to the second driving wheel through a belt.

[0009] Furthermore, the flexible guide arm mechanism includes a main guide arm, a secondary guide arm, a third driving wheel, a fourth driving wheel, a second driven wheel, a second guide arm track, a second guide shaft, a second traveling wheel, a tensioner and a guide arm servo; the second traveling wheel, the third driving wheel, the main guide arm and the fourth driving wheel are sequentially installed on the second guide shaft; the main guide arm is vertically fixed on the second guide shaft; the second driven wheel is fixed to the tip of the secondary guide arm through a bearing, and the second driven wheel, the third driving wheel and the fourth driving wheel are connected through the second guide arm track; the second traveling wheel and the third driving wheel are fixed by a buckle to achieve synchronous rotation; the main guide arm and the secondary guide arm are connected through a guide arm servo fixed on the main guide arm to achieve the swing of the secondary guide arm; the tensioner is symmetrically fixed on both sides of the main guide arm and the secondary guide arm.

[0010] Furthermore, the two ends of the traveling crawler are respectively connected to the first traveling wheel of the wheel-track composite guide arm mechanism and the second traveling wheel of the flexible guide arm mechanism, and the traveling crawler is tightened by a tensioning wheel assembly installed on the robot body.

[0011] Furthermore, the support frame mechanism includes a support wheel and a support frame; the support frame has a set curvature and through holes are reserved at both ends, wherein the through hole at one end is used to install a bearing for fixing the support wheel, and the through hole at the other end is used to install a support frame servo that drives the support frame to swing up and down.

[0012] Furthermore, piezoresistive pressure sensors are installed in the wheel-track composite guide arm mechanism and the support frame mechanism.

[0013] Furthermore, the robot body includes a robot cover, a robot bottom plate, a depth camera, a battery assembly, a power supply assembly, a main control assembly, a power assembly, a radio assembly, a tensioner assembly and an IMU sensor;

[0014] The depth camera is installed in front of the robot cover and is used to shoot pictures;

[0015] The battery assembly is installed on both sides of the middle of the robot base plate to provide an energy source for the inspection robot;

[0016] The radio component is installed behind the robot cover and is used to wirelessly transmit the data signal fed back by the main control component and the picture taken by the depth camera;

[0017] The power supply assembly, main control assembly, and IMU sensor are installed on the robot cover; the power supply assembly is electrically connected to the battery assembly, main control assembly, and power assembly respectively to provide a stable power supply;

[0018] The IMU sensor is used to collect the horizontal angle and relative angle of the inspection robot;

[0019] The main control component is used to collect data and output control signals to the power component;

[0020] The power assembly is mounted on the robot base plate and is used to provide power for the inspection robot;

[0021] The tension wheel assembly is symmetrically mounted on both sides of the bottom end of the robot base plate.

[0022] Furthermore, the power assembly includes a traveling motor, gears, a support frame servo and a stepper motor; the traveling motor is meshed with the first traveling wheel in the wheel-track composite guide arm mechanism through gears; the support frame servo is connected to the support frame in the support frame mechanism; the stepper motor is respectively connected to the first guide shaft of the wheel-track composite guide arm mechanism and the second guide shaft of the flexible guide arm mechanism.

[0023] In a second aspect, the present invention provides a control method for a variable-configuration obstacle-crossing wheel-track composite pipeline inspection robot, wherein the variable-configuration obstacle-crossing wheel-track composite pipeline inspection robot comprises: a robot body, an obstacle-crossing mechanism and a support frame mechanism; the obstacle-crossing mechanism is symmetrically mounted on both sides of the robot body and connected to the robot body through bearings; the obstacle-crossing mechanism comprises a wheel-track composite guide arm mechanism, a bendable guide arm mechanism and a traveling crawler; the wheel-track composite guide arm mechanism is connected to the bendable guide arm mechanism through the traveling crawler; the support frame mechanism is mounted in the middle of the tail end of the robot body;

[0024] The wheel-track composite guide arm mechanism comprises a guide arm, a first driving wheel, a second driving wheel, a first driven wheel, a first guide arm crawler, a first guide shaft, a first traveling wheel, a belt and a pulley; the first traveling wheel, the first driving wheel, the guide arm and the second driving wheel are sequentially mounted on the first guide shaft; the guide arm is vertically fixed on the first guide shaft; the first driven wheel is fixed to the tip of the guide arm through a bearing, and the first driven wheel is connected to the first driving wheel and the second driving wheel through the first guide arm crawler; the first traveling wheel and the first driving wheel are fixed by a buckle to realize synchronous rotation; the pulley is mounted on the outer side of the rear end of the guide arm through a bearing, and is connected to the second driving wheel through a belt;

[0025] The bendable guide arm mechanism comprises a main guide arm, a secondary guide arm, a third driving wheel, a fourth driving wheel, a second driven wheel, a second guide arm crawler, a second guide shaft, a second traveling wheel, a tensioning wheel and a guide arm servo; the second traveling wheel, the third driving wheel, the main guide arm and the fourth driving wheel are sequentially mounted on the second guide shaft; the main guide arm is vertically fixed on the second guide shaft; the second driven wheel is fixed to the tip of the secondary guide arm through a bearing, and the second driven wheel, the third driving wheel and the fourth driving wheel are connected through the second guide arm crawler; the second traveling wheel and the third driving wheel are fixed by a buckle to realize synchronous rotation; the main guide arm and the secondary guide arm are connected through the guide arm servo fixed on the main guide arm to realize the swing of the secondary guide arm; the tensioning wheel is symmetrically fixed on both sides of the main guide arm and the secondary guide arm;

[0026] The two ends of the traveling crawler are respectively connected to the first traveling wheel of the wheel-track composite guide arm mechanism and the second traveling wheel of the flexible guide arm mechanism, and the traveling crawler is tightened by a tensioning wheel assembly installed on the robot body.

[0027] The support frame mechanism includes a support wheel and a support frame; the support frame has a set curvature and through holes are reserved at both ends, wherein the through hole at one end is used to install a bearing for fixing the support wheel, and the through hole at the other end is used to install a support frame steering gear for driving the support frame to swing up and down;

[0028] The two traveling motors are respectively meshed with the first traveling wheels in the two wheel-track composite guide arm mechanisms through gears;

[0029] The control method comprises: obtaining the pressure value of the pulley and the pressure value of the support wheel; calculating the ratio of the two pressure values;

[0030] If the inspection robot is required to achieve wheeled movement, the support frame steering gear is controlled to rotate so that the ratio is the same as the set threshold;

[0031] Controlling the travel motor to rotate so that the inspection robot moves;

[0032] The inspection robot is turned by respectively controlling the differential rotation of the travel motors on both sides.

[0033] Furthermore, the first guide shaft and the second guide shaft are both connected to a stepper motor; the control method further includes an obstacle crossing control step, specifically including:

[0034] Step 1: Obtain parameters for subsequent calculations, including the angle of the inspection robot in the Y-axis direction, the distance between the inspection robot and the obstacle in front, and the height of the obstacle. ；

[0035] Step 2: Calculate the vertical distance between the front end of the guide arm and the front end of the robot body; and determine whether the inspection robot should move forward or backward according to the relationship between the vertical distance between the guide arm and the distance between the inspection robot and the obstacle in front;

[0036] Step 3: If it is determined that the inspection robot should move forward, then the distance the inspection robot moves forward is calculated;

[0037] Step 4: Control the stepper motors connected to the first guide shaft and the second guide shaft to rotate at set angles respectively, so that the robot body climbs upward;

[0038] Step 5: Control the stepper motor, the guide arm servo and the support frame servo to rotate to set angles respectively, so that the robot body and the upper surface of the obstacle are in the same plane;

[0039] Step 6: Control the stepper motor, guide arm servo and support frame servo to rotate at set angles respectively, so that the inspection robot moves forward until the rear end of the robot body coincides with the vertical plane of the rear end of the obstacle.

[0040] Beneficial effects of the present invention:

[0041] The obstacle-crossing mechanisms on both sides of the present invention move independently, and can simultaneously cross obstacles of different heights. At the same time, the small size of the inspection robot can realize steering inside the pipeline, and has good adaptability.

[0042] The present invention adopts a wheel-track composite movement scheme. When crossing obstacles, the track type is used to climb over obstacles, thereby improving the inspection stability of the inspection robot. When moving in a stable pipeline, the wheel type is used to speed up the inspection speed of the inspection robot, thereby reducing power consumption and improving the working efficiency of the pipeline inspection robot. The present invention adopts a solution in which the wheel and track of the obstacle crossing mechanism on one side rotate synchronously, so that the front and rear tracks of the obstacle crossing mechanism can rotate normally when the main body of the inspection robot is suspended in the air, thereby helping the inspection robot to get out of trouble.

[0043] The present invention adopts a bendable guide arm and support frame mechanism. When climbing over an obstacle, the guide arm bends and lowers the support frame, thereby increasing the contact surface between the crawler of the inspection robot and the pipeline when climbing over the obstacle, increasing the friction force, and preventing the inspection robot from sliding and causing the risk of falling.

[0044] The present invention installs a depth camera in front of the robot to obtain the distance and height information of the obstacle in front. The IMU installed in the center of the robot body can obtain the road slope information, and combined with the obstacle crossing control method, it can realize climbing over obstacles on the ground with different slopes.

[0045] The present invention adopts a piezoresistive pressure sensor, which is installed at the pulley in the crawler composite guide arm mechanism and the supporting wheel in the support frame mechanism, and can accurately measure the pressure value of each wheel direction and infer the cross-sectional angle relationship between the robot body and the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The present invention will be further described below in conjunction with the accompanying drawings.

[0047] Figure 1 1 is a schematic diagram of the overall structure of the wheel-track composite pipeline inspection robot provided by an embodiment of the present invention;

[0048] Figure 2 It is a schematic diagram of the structure of the obstacle crossing mechanism and the support frame mechanism in an embodiment of the present invention;

[0049] Figure 3 Schematic diagram of an exploded view of a wheel-track composite guide arm mechanism according to an embodiment of the present invention;

[0050] Figure 4 is an exploded schematic diagram of a bendable guide arm mechanism according to an embodiment of the present invention;

[0051] Figure 5 is a schematic diagram of a robot body in an embodiment of the present invention;

[0052] Figure 6 is a schematic diagram of a power assembly in an embodiment of the present invention;

[0053] Figure 7 is a schematic diagram of the inspection robot using wheels for movement in an embodiment of the present invention;

[0054] Figure 8 It is the length of the guide arm in the wheel-track composite guide arm mechanism of the inspection robot in the embodiment of the present invention, the length of the main guide arm in the flexible guide arm mechanism, the length of the main robot body, the length of the two end points of the support frame, the distance between the front end of the main robot body and the obstacle, the height of the obstacle measured by the depth camera, the slope angle of the road surface on which the inspection robot is traveling, the guide arm in the wheel-track composite guide arm mechanism, the angle between the main guide arm and the support frame and the main robot body in the flexible guide arm mechanism, and the angle between the main guide arm and the auxiliary guide arm in the flexible guide arm mechanism.

[0055] Fig. 9 The present invention is a schematic diagram of the process of the wheel-track composite pipeline inspection robot climbing over an obstacle provided by the embodiment of the present invention. Figure 1 ;

[0056] Fig.10 The present invention is a schematic diagram of the process of the wheel-track composite pipeline inspection robot climbing over an obstacle provided by the embodiment of the present invention. Figure 2 ;

[0057] Fig.11The present invention is a schematic diagram of the process of the wheel-track composite pipeline inspection robot climbing over an obstacle provided by the embodiment of the present invention. Figure 3 ;

[0058] Fig.12 The present invention is a schematic diagram of the process of the wheel-track composite pipeline inspection robot climbing over an obstacle provided by the embodiment of the present invention. Figure 4 ;

[0059] Fig.13 The present invention is a schematic diagram of the process of the wheel-track composite pipeline inspection robot climbing over an obstacle provided by the embodiment of the present invention. Figure 5 ;

[0060] Fig.14 The present invention is a schematic diagram of the process of the wheel-track composite pipeline inspection robot climbing over an obstacle provided by the embodiment of the present invention. Figure 6 ;

[0061] List of Figure Symbols

[0062] 1: robot body; 11: robot cover; 12: robot bottom plate; 13: depth camera; 14: battery assembly; 15: power assembly; 16: main control assembly; 17: radio assembly; 18: tensioner assembly; 19: power assembly; 110: IMU sensor; 111: laser ranging sensor; 191: travel motor; 192: gear; 193: support frame servo; 194: stepper motor; 2: obstacle crossing mechanism; 21: wheel-track composite guide arm mechanism; 22 flexible guide arm mechanism; 23: travel track; 211: guide arm; 212: first driving wheel; 213: second driving wheel Wheel; 214: first driven wheel; 215: first guide arm crawler track; 216: first guide shaft; 217: first traveling wheel; 218: belt; 219: pulley; 2110: wheel-track composite guide arm pressure sensor; 221: main guide arm; 222: auxiliary guide arm; 223: third driving wheel; 224: fourth driving wheel; 225: second driven wheel; 226: second guide arm crawler track; 227: second guide shaft; 228: second traveling wheel; 229: tensioner wheel; 2210: guide arm servo; 3: support frame mechanism; 31: support wheel; 32: support frame; 33: support wheel pressure sensor. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the invention.

[0065] Implementation 1: A wheel-track composite pipeline inspection robot with variable configuration and obstacle crossing, such as Figure 1-Figure 6 As shown, it includes a robot body 1, an obstacle crossing mechanism 2 and a support frame mechanism 3.

[0066] The obstacle crossing mechanism 2 is symmetrically installed on both sides of the robot body 1 and is connected to the robot body 1 through bearings; the obstacle crossing mechanism 2 includes a wheel-track composite guide arm mechanism 21, a flexible guide arm mechanism 22 and a traveling track 23; the wheel-track composite guide arm mechanism 21 is connected to the flexible guide arm mechanism 22 through the traveling track 23; the support frame mechanism 3 is installed in the middle of the tail end of the robot body 1.

[0067] The wheel-track composite guide arm mechanism 21 comprises a guide arm 211, a first driving wheel 212, a second driving wheel 213, a first driven wheel 214, a first guide arm track 215, a first guide shaft 216, a first traveling wheel 217, a belt 218 and a pulley 219; the first traveling wheel 217, the first driving wheel 212, the guide arm 211 and the second driving wheel 213 are sequentially mounted on the first guide shaft 216; the first driving wheel 212, the second driving wheel 213 and the first traveling wheel 217 are mounted on the first guide shaft 216 via bearings; the guide arm 21 The guide arm 211 is vertically fixed on the first guide shaft 216, and the first driving wheel 212 and the second driving wheel 213 are located on both sides of the guide arm 211; the first driven wheel 214 is fixed to the tip of the guide arm 211 through a bearing, and the first driven wheel 214 is connected with the first driving wheel 212 and the second driving wheel 213 through the first guide arm crawler 215; the first traveling wheel 217 is fixed with the first driving wheel 212 through a buckle to achieve synchronous rotation; the pulley 219 is installed on the outer side of the rear end of the guide arm 211 through a bearing, and is connected with the second driving wheel 213 through a belt 218.

[0068] The bendable guide arm mechanism 22 comprises a main guide arm 221, a secondary guide arm 222, a third driving wheel 223, a fourth driving wheel 224, a second driven wheel 225, a second guide arm crawler 226, a second guide shaft 227, a second traveling wheel 228, a tensioning wheel 229, and a guide arm steering gear 2210; the second traveling wheel 228, the third driving wheel 223, the main guide arm 221, and the fourth driving wheel 224 are sequentially mounted on the second guide shaft 227; the third driving wheel 223, the fourth driving wheel 224, and the second traveling wheel 228 are mounted on the second guide shaft 227 through bearings; the main guide arm 221 is vertically fixed on the second guide shaft 227. On the shaft 227, the third driving wheel 223 and the fourth driving wheel 224 are located on both sides of the main guide arm 221; the second driven wheel 225 is fixed to the tip of the auxiliary guide arm 222 through a bearing, and the second driven wheel 225 is connected to the third driving wheel 223 and the fourth driving wheel 224 through the second guide arm track 226; the second traveling wheel 228 is fixed to the third driving wheel 223 through a buckle to achieve synchronous rotation; the main guide arm 221 and the auxiliary guide arm 222 are connected through the guide arm servo 2210 fixed on the main guide arm 221 to achieve the swing of the auxiliary guide arm 222; the tensioning wheel 229 is symmetrically fixed on both sides of the main guide arm 221 and the auxiliary guide arm 222.

[0069] The two ends of the traveling track 23 are respectively connected to the first traveling wheel 217 of the wheel-track composite guide arm mechanism 21 and the second traveling wheel 228 of the flexible guide arm mechanism 22, and the traveling track 23 is tightened by the tensioning wheel assembly 18 installed on the robot body 1.

[0070] The support frame mechanism 3 includes a support wheel 31 and a support frame 32; the support frame 32 has a set curvature, and through holes are reserved at both ends for connecting with the support wheel 31 and the support frame servo 193; the through hole at one end of the support frame 32 is used to install the bearing for fixing the support wheel 31, and the through hole at the other end is used to install the support frame servo 193, and the support frame 32 is driven to swing up and down through the support frame servo 193.

[0071] A piezoresistive wheel-track composite guide arm pressure sensor 2110 and a support wheel pressure sensor 33 are respectively installed on the pulley 219 in the track-track composite guide arm mechanism 21 and on the support wheel 31 in the support frame mechanism 3.

[0072] The robot body 1 includes a robot cover 11, a robot base 12, a depth camera 13, a battery assembly 14, a power assembly 15, a main control assembly 16, a radio assembly 17, a tensioner assembly 18, a power assembly 19 and an IMU sensor 110; the depth camera 13 is fixedly installed in front of the robot cover 11.

[0073] The battery assembly 14 is installed on both sides of the middle of the robot base plate 12; the power assembly 15, the main control assembly 16, the radio assembly 17, and the IMU sensor 110 are installed on the robot cover 11, and the IMU sensor 110 is optionally in the center of the robot cover 11. The power assembly 15 is electrically connected to the battery assembly 14, the main control assembly 16, and the power assembly 19, respectively, to provide a stable power supply; optionally, the radio assembly 17, the depth camera 13, and the IMU sensor 110 can be powered by an internal battery or externally connected to a power source. The specific connection relationship between the power assembly and the battery assembly and other components is common knowledge and will not be repeated in this application.

[0074] Optionally, a laser distance measuring sensor 111 is further included, and the laser distance measuring sensor 111 is symmetrically installed on both sides of the robot base plate 12.

[0075] The power assembly 19 is installed on the robot base plate 12 ; the tension wheel assembly 18 is symmetrically installed on both sides of the bottom end of the robot base plate 12 .

[0076] Furthermore, the power assembly 19 includes a traveling motor 191, a gear 192, a support frame servo 193 and a stepper motor 194; the traveling motor 191 is meshed with the first traveling wheel 217 in the wheel-track composite guide arm mechanism 21 through the gear 192; the support frame servo 193 is connected to the support frame 32; the stepper motor 194 is respectively connected to the first guide shaft 216 of the wheel-track composite guide arm mechanism 21 and the second guide shaft 227 of the flexible guide arm mechanism 22.

[0077] The present invention also provides a wheeled movement control method of a wheel-track composite pipeline inspection robot capable of overcoming obstacles, characterized in that the method comprises the following process:

[0078] Process 11, collect the pressure value output by the piezoresistive pressure sensor, the sampling period is 100HZ, and obtain the pressure value of the pulley in the front wheel-track composite guide arm mechanism , the pressure value of the support wheel in the support frame mechanism ;

[0079] Process 12, controlling the front wheel-track composite guide arm mechanism to rotate to both sides of the robot body and be parallel to the robot body, the support frame mechanism rotates downward, and calculating the ratio of the pressure value of the pulley in the front wheel-track composite guide arm mechanism to the pressure value of the support wheel in the support frame mechanism;

[0080] (1)

[0081] Process 13, controlling the support frame servo to rotate to adjust the difference between the ratio and the set positive threshold, as shown below

[0082] (2)

[0083] M is the set positive threshold;

[0084] when When the robot body is parallel to the pipeline, the robot is in the best state of wheeled movement (such as Figure 7 shown);

[0085] when When the rear end of the robot body is lower, the support frame needs to be rotated downward until the robot body is parallel to the pipeline; otherwise, the support frame needs to be rotated upward.

[0086] Process 14, the above processes 11 to 13 are the support frame angle self-adaptation processes.

[0087] In a specific embodiment, the main control component outputs a control signal to the support frame steering gear to make the ratio equal to the set threshold value to realize the wheeled movement of the inspection robot. When the value is 0 (it can fluctuate around 0), the wheeled movement of the inspection robot is the best state.

[0088] Controlling the travel motor to rotate so that the inspection robot moves;

[0089] By controlling the rotation speeds of the travel motors on both sides respectively, a speed difference is formed between the left and right pulleys, thereby achieving the steering of the inspection robot.

[0090] The present invention also provides an obstacle crossing control method for a variable-configuration obstacle-crossing wheel-track composite pipeline inspection robot, characterized in that the method comprises the following process:

[0091] Process 21: Sample the IMU sensor output to obtain the angle of the inspection robot in the Y-axis direction , the sampling frequency is 100HZ; the distance of the obstacle in front is calculated based on the images captured by the depth camera S and obstacle height ;

[0092] Process 22: before the inspection robot reaches the obstacle, it lifts the wheel-track composite guide arm mechanism; calculates the angle that the stepper motor 194 connected to the first guide shaft of the wheel-track composite guide arm mechanism in the power assembly needs to rotate ; Calculate the vertical distance between the front end of the guide arm and the front end of the robot body in the wheel-track composite guide arm mechanism ;when When When the inspection robot moves backwards,

[0093] (3)

[0094] (4)

[0095] in is the arm length of the guide arm in the wheel-track composite guide arm mechanism;

[0096] Process 23: The inspection robot moves forward until the front end of the wheel-track composite guide arm mechanism contacts the obstacle; the distance the inspection robot moves forward is calculated. ;

[0097] (5)

[0098] Process 24, the inspection robot body climbs upward, and the angle that the stepper motor 194 connected to the first guide shaft of the wheel-track composite guide arm mechanism in the power assembly needs to rotate is calculated. ; Calculate the angle that the stepper motor connected to the second guide shaft of the bendable guide arm mechanism in the power assembly needs to rotate ; Calculate the distance the inspection robot moves ;

[0099] (6)

[0100] (7)

[0101] (8)

[0102] in is the length of the inspection robot body;

[0103] In process 25, the inspection robot body and the upper surface of the obstacle are in the same plane, and the auxiliary guide arm in the bendable guide arm mechanism and the pipeline slope are in the same plane; at this time, it is required ; Calculate the angle that the stepper motor connected to the first guide shaft of the wheel-track composite guide arm mechanism in the power assembly needs to rotate ; Calculate the angle that the stepper motor connected to the second guide shaft of the bendable guide arm mechanism in the power assembly needs to rotate ; Calculate the angle that the guide arm servo needs to rotate in the bendable guide arm mechanism ; Calculate the angle that the support frame servo connected to the support frame mechanism in the power assembly needs to rotate ;

[0104] (9)

[0105] (10)

[0106] (11)

[0107] (12)

[0108] in is the arm length of the main arm in the bendable guide arm mechanism, is the straight-line distance between the two ends of the support frame in the support frame mechanism;

[0109] Step 26: The inspection robot moves forward until the rear end of the robot body coincides with the vertical plane of the rear end of the obstacle, and calculates the angle that the stepper motor connected to the second guide shaft of the flexible guide arm mechanism in the power assembly needs to rotate. ; Calculate the angle that the guide arm servo needs to rotate in the bendable guide arm mechanism ; Calculate the angle that the support frame servo connected to the support frame mechanism in the power assembly needs to rotate ; Calculate the distance the inspection robot moves ;

[0110] (13)

[0111] (14)

[0112] (15)

[0113] (16)

[0114] In the above process, it is required , complete the obstacle crossing requirements of the inspection robot.

[0115] Based on the above process, in a specific embodiment, if the inspection robot crosses an obstacle, the obstacle crossing mechanism and the support frame mechanism on both sides of the inspection robot are optionally retracted, and the robot moves forward.

[0116] Optionally, the motor rotation angle calculated by the above process 21 to process 26 is , the distance the inspection robot moves The same amount of data, all in the specified state to select the appropriate control algorithm to execute.

[0117] It should be noted that how to select an appropriate control algorithm according to the control target in a specific embodiment is common knowledge for those skilled in the art, and the specific control algorithm is not the invention point of this application, so it will not be described in detail. The invention point of this application is to provide a patrol robot structure with a special structure and how to determine the control parameters based on this structure to achieve robot movement and obstacle crossing.

[0118] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0119] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand 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, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A wheel-track composite pipeline inspection robot with variable configuration and obstacle-crossing capability, characterized in that: include: The robot body, the obstacle-crossing mechanism and the support frame mechanism; the obstacle-crossing mechanism is symmetrically installed on both sides of the robot body and connected to the robot body through bearings; The obstacle-crossing mechanism includes a wheel-track composite guide arm mechanism, a bendable guide arm mechanism and a traveling track; The wheel-track composite guide arm mechanism comprises a guide arm, a first driving wheel, a second driving wheel, a first driven wheel, a first guide arm crawler, a first guide shaft, a first traveling wheel, a belt and a pulley; the first traveling wheel, the first driving wheel, the guide arm and the second driving wheel are sequentially mounted on the first guide shaft; the guide arm is vertically fixed on the first guide shaft; the first driven wheel is fixed to the tip of the guide arm through a bearing, and the first driven wheel is connected to the first driving wheel and the second driving wheel through the first guide arm crawler; the first traveling wheel and the first driving wheel are fixed through a buckle to achieve synchronous rotation; the pulley is mounted on the outer side of the rear end of the guide arm through a bearing, and is connected to the second driving wheel through a belt; The bendable guide arm mechanism comprises a main guide arm, a secondary guide arm, a third driving wheel, a fourth driving wheel, a second driven wheel, a second guide arm crawler, a second guide shaft, a second traveling wheel, a tensioning wheel and a guide arm servo; the second traveling wheel, the third driving wheel, the main guide arm and the fourth driving wheel are sequentially mounted on the second guide shaft; the main guide arm is vertically fixed on the second guide shaft; the second driven wheel is fixed to the tip of the secondary guide arm through a bearing, and the second driven wheel, the third driving wheel and the fourth driving wheel are connected through the second guide arm crawler; the second traveling wheel and the third driving wheel are fixed through a buckle to realize synchronous rotation; the main guide arm and the secondary guide arm are connected through the guide arm servo fixed on the main guide arm to realize the swing of the secondary guide arm; the tensioning wheel is symmetrically fixed on both sides of the main guide arm and the secondary guide arm; The wheel-track composite guide arm mechanism is transmission-connected with the flexible guide arm mechanism through the traveling track; and the support frame mechanism is installed at the middle of the tail end of the robot body.

2. The variable-configuration obstacle-crossing wheel-track composite pipeline inspection robot according to claim 1 is characterized by: The two ends of the traveling crawler are respectively connected to the first traveling wheel of the wheel-track composite guide arm mechanism and the second traveling wheel of the flexible guide arm mechanism, and the traveling crawler is tightened by a tensioning wheel assembly installed on the robot body.

3. The variable-configuration obstacle-crossing wheel-track composite pipeline inspection robot according to claim 2 is characterized in that: The support frame mechanism includes a support wheel and a support frame; the support frame has a set curvature and through holes are reserved at both ends, wherein the through hole at one end is used to install a bearing for fixing the support wheel, and the through hole at the other end is used to connect a support frame servo that drives the support frame to swing up and down.

4. The variable-configuration obstacle-crossing wheel-track composite pipeline inspection robot according to claim 3 is characterized by: Piezoresistive pressure sensors are installed in the wheel-track composite guide arm mechanism and the support frame mechanism.

5. The variable-configuration obstacle-crossing wheel-track composite pipeline inspection robot according to claim 4 is characterized by: The robot body includes a robot cover, a robot bottom plate, a depth camera, a battery assembly, a power assembly, a main control assembly, a power assembly, a radio assembly, a tensioner assembly and an IMU sensor; The depth camera is installed in front of the robot cover and is used to shoot pictures; The battery assembly is installed on both sides of the middle of the robot base plate to provide an energy source for the inspection robot; The radio component is installed behind the robot cover and is used to wirelessly transmit the data signal fed back by the main control component and the picture taken by the depth camera; The power supply assembly, main control assembly, and IMU sensor are installed on the robot cover; the power supply assembly is electrically connected to the battery assembly, main control assembly, and power assembly, respectively, to provide a stable power supply; The IMU sensor is used to collect the horizontal angle and relative angle of the inspection robot; The main control component is used to collect data and output control signals to the power component; The power assembly is mounted on the robot base plate and is used to provide power for the inspection robot; The tension wheel assembly is symmetrically mounted on both sides of the bottom end of the robot base plate.

6. The variable-configuration obstacle-crossing wheel-track composite pipeline inspection robot according to claim 5 is characterized by: The power assembly includes a travel motor, a gear, a support frame steering gear and a stepper motor; the travel motor is meshed with the first travel wheel in the wheel-track composite guide arm mechanism through the gear; the support frame steering gear is connected to the support frame in the support frame mechanism; The stepper motor is connected to the first guide shaft of the wheel-track composite guide arm mechanism and the second guide shaft of the bendable guide arm mechanism respectively.

7. A control method for a variable-configuration obstacle-crossing wheel-track composite pipeline inspection robot as claimed in claim 6, characterized in that: The control method comprises: obtaining the pressure value of the pulley and the pressure value of the support wheel; calculating the ratio of the two pressure values; If the inspection robot is required to achieve wheeled movement, the support frame steering gear is controlled to rotate so that the ratio is the same as the set threshold; Controlling the travel motor to rotate so that the inspection robot moves; The inspection robot is turned by respectively controlling the differential rotation of the travel motors on both sides; The first guide shaft and the second guide shaft are both connected to a stepper motor; The control method further includes an obstacle crossing control step, specifically including: Step 1: Obtain parameters, including: the Y-axis angle of the inspection robot, the distance between the inspection robot and the obstacle in front, and the obstacle height ； Step 2: Calculate the vertical distance between the front end of the guide arm and the front end of the robot body; and determine whether the inspection robot should move forward or backward according to the relationship between the vertical distance between the guide arm and the distance between the inspection robot and the obstacle in front; Step 3: If it is determined that the inspection robot should move forward, then the distance the inspection robot moves forward is calculated; Step 4: Control the stepper motor connected to the first guide shaft and the stepper motor connected to the second guide shaft to rotate at set angles respectively, so that the robot body climbs upward; Step 5: Control the stepper motor, the guide arm servo and the support frame servo to rotate to set angles respectively, so that the robot body and the upper surface of the obstacle are in the same plane; Step 6: Control the stepper motor, the guide arm servo and the support frame servo to rotate at set angles respectively, so that the inspection robot moves forward until the rear end of the robot body coincides with the vertical plane of the rear end of the obstacle.

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