Installation control method and device of vertical pipe outer wall climbing device and electronic equipment

Abstract

The application relates to a mounting control method and device of a vertical-pipe outer-wall crawling device and electronic equipment, wherein the mounting control method comprises the following steps: obtaining a first distance, the first distance being the sum of the diameter of a vertical pipe to be crawled, a second distance and a third distance, the second distance being the maximum radial protrusion height of an obstacle on the vertical pipe to be crawled, and the third distance being the minimum distance from the hinged center of a clamping connecting rod and a main vehicle frame to the outer wall of the vertical pipe to be crawled when a driving wheel is in contact with the outer wall of the vertical pipe to be crawled; under the premise that the main vehicle frame and a sub-vehicle frame are respectively arranged on the two sides of the vertical pipe to be crawled, the driving wheel and an auxiliary wheel are in contact with the outer wall of the vertical pipe to be crawled, and a self-locking connecting rod is arranged below the clamping connecting rod, the lengths of the clamping connecting rod and the self-locking connecting rod are adjusted until the first mounting condition and the second mounting condition are met. The device can quickly and stably cross the obstacle, and the device can also be prevented from falling off the vertical pipe, thereby solving the problem that the existing mounting method of the pipe outer-wall crawling device cannot support the device to quickly and stably cross the obstacle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automated engineering machinery, in particular to a mounting control method and device of a vertical pipeline outer wall crawling device and an electronic equipment. BACKGROUND

[0002] The pipeline outer wall crawling device can move on the pipeline outer wall to realize the state inspection of the pipeline. Stably installing the pipeline outer wall crawling device on the pipeline outer wall is an important stage to ensure the operation of the device. Especially on some vertical pipelines, the pipeline outer wall crawling device needs to completely overcome its own gravity to avoid falling from the vertical pipeline.

[0003] At present, for the vertical pipeline, the installation method of the pipeline outer wall crawling device only increases the clamping force of the device on the pipeline to ensure that the device will not fall from the vertical pipeline, and does not consider how to cross obstacles during the operation of the device. Moreover, the greater the clamping force of the pipeline outer wall crawling device on the pipeline, the greater the resistance to the pipeline outer wall crawling device caused by the obstacle. That is, the existing installation method of the pipeline outer wall crawling device does not support the device to cross the obstacle quickly and stably.

[0004] At present, there is no effective solution to the problem that the existing installation method of the pipeline outer wall crawling device does not support the device to cross the obstacle quickly and stably. SUMMARY

[0005] The present application provides a mounting control method and device of a vertical pipeline outer wall crawling device and an electronic equipment to solve the problem that the existing installation method of the pipeline outer wall crawling device does not support the device to cross the obstacle quickly and stably.

[0006] In a first aspect, the present application provides a mounting control method of a vertical pipeline outer wall crawling device, the vertical pipeline outer wall crawling device comprising a main frame and a sub-frame oppositely arranged on the bottom surface, a clamping connecting rod and a self-locking connecting rod symmetrically arranged on both sides of the main frame, respectively, two driving wheels mounted on the bottom surface of the main frame, two auxiliary wheels mounted on the bottom surface of the sub-frame, both ends of the clamping connecting rod and the self-locking connecting rod are hinged with the main frame and the sub-frame, respectively, the clamping connecting rod and the self-locking connecting rod are controlled telescopic rods, the clamping connecting rod and the self-locking connecting rod are non-parallel, and the mounting control method comprises:

[0007] a first distance, the first distance being a sum of a diameter of the vertical pipe being climbed, a second distance and a third distance, the second distance being a maximum radial protrusion height of an obstacle on the vertical pipe being climbed, the third distance being a minimum distance from a center of articulation of the clamping link and the main frame to the outer wall of the vertical pipe being climbed when the driving wheel is in contact with the outer wall of the vertical pipe being climbed;

[0008] adjusting lengths of the clamping link and the self-locking link until a first installation condition and a second installation condition are satisfied, the first installation condition being that a distance between the clamping link and the center of articulation of the main frame to a point of intersection of the upper auxiliary wheel and the vertical pipe being climbed is greater than or equal to the first distance, the second installation condition being that an angle θ between the self-locking link and a horizontal plane satisfies a relationship:

[0009]

[0010] wherein a represents a distance from a point of intersection of the driving wheel below the main frame and the pipe to a position of the center of gravity of the main frame, b represents a distance between the point of intersection of the driving wheel below the main frame and the pipe and a point of intersection of the auxiliary wheel below the auxiliary frame and the pipe, d represents a diameter of the pipe, and μ represents a friction coefficient of contact between the pipe and the wheel.

[0011] In some embodiments, the controlled telescopic link is an electric telescopic link or a hydraulic telescopic link.

[0012] In some embodiments, adjusting the lengths of the clamping link and the self-locking link includes:

[0013] increasing the length of the clamping link and decreasing the length of the self-locking link;

[0014] or, decreasing the length of the clamping link and increasing the length of the self-locking link.

[0015] In some embodiments, the installation control method further includes, after adjusting the lengths of the clamping link and the self-locking link until the first installation condition and the second installation condition are satisfied:

[0016] decreasing the lengths of the clamping link and the self-locking link, thereby increasing a clamping force of the vertical pipe outer wall climbing device on the pipe being climbed.

[0017] In a second aspect, the present application provides a mounting method of a vertical pipeline outer wall climbing device, the vertical pipeline outer wall climbing device comprising a main frame and a sub-frame oppositely arranged on the bottom surface, a clamping connecting rod and a self-locking connecting rod symmetrically arranged on both sides of the main frame, respectively, two driving wheels mounted on the bottom surface of the main frame, two auxiliary wheels mounted on the bottom surface of the sub-frame, both ends of the clamping connecting rod and the self-locking connecting rod being hinged to the main frame and the sub-frame, respectively, the clamping connecting rod and the self-locking connecting rod being controlled telescopic rods, the clamping connecting rod and the self-locking connecting rod being non-parallel arranged, the mounting method comprising:

[0018] arranging the main frame and the sub-frame on both sides of the climbed pipeline respectively and making the driving wheels and the auxiliary wheels contact with the outer wall of the climbed pipeline;

[0019] The mounting control method of the vertical pipeline outer wall climbing device according to the first aspect is used to control the installation of the vertical pipeline outer wall climbing device.

[0020] In a third aspect, the present application provides a control method of a vertical pipeline outer wall climbing device, the control method comprising:

[0021] The mounting control method of the vertical pipeline outer wall climbing device according to the first aspect is used to control the installation of the vertical pipeline outer wall climbing device;

[0022] The vertical pipeline outer wall climbing device is controlled to climb.

[0023] In some embodiments, the vertical pipeline outer wall climbing device further comprises a distance measuring sensor and a swing motor for swinging the clamping connecting rod, and the step of controlling the vertical pipeline outer wall climbing device to climb comprises:

[0024] In the direction of travel of the vertical pipeline outer wall climbing device, it is continuously determined whether the distance between the front auxiliary wheel and the front obstacle is greater than the obstacle preparation distance according to the distance signal of the distance measuring sensor;

[0025] If not, the clamping connecting rod is controlled to swing by the swing motor until the clamping connecting rod is in a horizontal state, and the self-locking connecting rod is controlled to extend.

[0026] In some embodiments, the step of controlling the vertical pipeline outer wall climbing device to climb further comprises:

[0027] In the direction of travel of the vertical pipeline outer wall climbing device, it is continuously determined whether the distance between the rear auxiliary wheel and the rear obstacle is greater than 0 according to the distance signal of the distance sensor;

[0028] If yes, the clamping link is controlled to swing until the clamping link returns to the installation state, and the self-locking link is controlled to shorten.

[0029] In a fourth aspect, an installation control device for a vertical-pipe outer-wall climbing device, the vertical-pipe outer-wall climbing device comprising a main frame and a sub-frame oppositely arranged on the bottom surface, a clamping link and a self-locking link symmetrically arranged on both sides of the main frame, two driving wheels mounted on the bottom surface of the main frame, two auxiliary wheels mounted on the bottom surface of the sub-frame, both ends of the clamping link and the self-locking link being hingedly connected to the main frame and the sub-frame, the clamping link and the self-locking link being controlled telescopic links, the clamping link and the self-locking link being non-parallel, the installation control device comprising:

[0030] a data acquisition module configured to acquire a first distance, the first distance being the sum of a diameter of the vertical pipe to be climbed, a second distance and a third distance, the second distance being the maximum protrusion height of an obstacle on the vertical pipe to be climbed along the radial direction of the pipe, and the third distance being the minimum distance from the hinged center of the clamping link and the main frame to the outer wall of the vertical pipe to be climbed when the driving wheels are in contact with the outer wall of the vertical pipe to be climbed;

[0031] an installation control module configured to adjust the lengths of the clamping link and the self-locking link until the first installation condition and the second installation condition are met, while keeping the main frame and the sub-frame on both sides of the vertical pipe to be climbed, the driving wheels and the auxiliary wheels in contact with the outer wall of the vertical pipe to be climbed, and the self-locking link below the clamping link, the first installation condition being that the distance between the hinged center of the clamping link and the main frame and the tangent point of the nearest auxiliary wheel and the vertical pipe to be climbed is greater than or equal to the first distance, and the second installation condition being that the angle θ between the self-locking link and the horizontal plane satisfies the relationship:

[0032]

[0033] wherein a represents the distance from the tangent point of the driving wheel below the main frame and the pipe to the position of the center of gravity of the main frame, b represents the distance between the tangent point of the driving wheel below the main frame and the pipe and the tangent point of the auxiliary wheel below the sub-frame and the pipe, d represents the diameter of the pipe, and μ represents the friction coefficient of the contact between the pipe and the wheels.

[0034] Compared with the related art, the installation control method of the vertical pipeline outer wall crawling device provided by the application can support the device to quickly and stably cross the obstacles and ensure that the device will not fall from the vertical pipeline when the vertical pipeline outer wall crawling device meets the two conditions during installation, thus solving the problem that the existing installation method of the pipeline outer wall crawling device does not support the device to quickly and stably cross the obstacles.

[0035] The details of one or more embodiments of the present application are presented in the following drawings and description to make other features, objects and advantages of the present application more clear and easy to understand. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a side view of the multi-pipe-diameter outer wall crawling device provided in the embodiments of the application;

[0037] Figure 2 is a cross-sectional view of the multi-pipe-diameter outer wall crawling device provided in the embodiments of the application;

[0038] Figure 3 is a bottom view of the main frame of the multi-pipe-diameter outer wall crawling device provided in the embodiments of the application;

[0039] Figure 4 is a schematic diagram of the principle of the second installation condition in the application;

[0040] Figure 5 is a schematic diagram of the principle of the first installation condition in the application. DETAILED DESCRIPTION

[0041] In order to more clearly understand the purpose, technical scheme and advantages of the present application, the present application is described and explained below in combination with the drawings and embodiments.

[0042] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the same meaning as those commonly understood by a person skilled in the art to which the present application belongs. In the present application, "one", "a", "an", "the", "these", and similar words do not represent a quantitative limitation, but can be singular or plural. In the present application, the terms "include", "contain", "have", and any variants thereof are intended to cover non-exclusive inclusion; for example, a process, method, and system, product or device including a series of steps or modules (units) are not limited to the listed steps or modules (units), but can include steps or modules (units) not listed, or can include other steps or modules (units) inherent to the process, method, product or device. In the present application, the terms "connected", "connected", "coupled" and the like do not limit to physical or mechanical connection, but can include electrical connection, whether direct or indirect. In the present application, "multiple" means two or more. "And / or" describes the relationship between the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean that A exists alone, A and B exist together, and B exists alone. Generally, the character " / " represents an "or" relationship between the front and rear associated objects. In the present application, the terms "first", "second", "third", and the like are only used to distinguish similar objects, and do not represent a specific order for the objects.

[0043] In the present application, a mounting control method of a vertical pipeline outer wall climbing device is provided.

[0044] Figure 1 is a side view of a vertical pipeline outer wall climbing device provided in an embodiment of the present application, Figure 2 is a sectional view of a vertical pipeline outer wall climbing device provided in an embodiment of the present application, Figure 3 is a bottom view of a main frame in a vertical pipeline outer wall climbing device provided in an embodiment of the present application.

[0045] Referring to Figure 1 and Figure 2 , the vertical pipeline outer wall climbing device comprises a main frame 10 and a sub-frame 7 oppositely arranged on the bottom surface, a clamping connecting rod 9 and a self-locking connecting rod 6 symmetrically arranged on both sides of the main frame 10, respectively, two driving wheels 15 are installed on the bottom surface of the main frame 10, two auxiliary wheels 14 are installed on the bottom surface of the sub-frame 7, both ends of the clamping connecting rod 9 and the self-locking connecting rod 6 are hinged with the main frame 10 and the sub-frame 7, respectively, the clamping connecting rod 9 and the self-locking connecting rod 6 are controlled telescopic rods, and the clamping connecting rod 9 and the self-locking connecting rod 6 are non-parallel arranged. The controlled telescopic rod is an electric telescopic rod or a hydraulic telescopic rod.

[0046] The mounting control method comprises steps S110 and S120.

[0047] Step S110, obtaining a first distance, the first distance being a sum of a diameter of the vertical pipe to be crawled, a second distance and a third distance, the second distance being a maximum protruding height of the obstacle on the vertical pipe to be crawled in a radial direction of the pipe, and the third distance being a minimum distance from a center of articulation of the clamping link 9 and the main frame 10 to the outer wall of the vertical pipe to be crawled when the driving wheel 15 is in contact with the outer wall of the vertical pipe to be crawled.

[0048] Step S120, under the premise that the main frame 10 and the sub-frame 7 are respectively located on both sides of the vertical pipe to be crawled, and the driving wheel 15 and the auxiliary wheel 14 are in contact with the outer wall of the vertical pipe to be crawled, and the self-locking link 6 is below the clamping link 9, adjusting the lengths of the clamping link 9 and the self-locking link 6 until the first installation condition and the second installation condition are met, the first installation condition being that a distance between the clamping link 9 and the center of articulation of the main frame 10 to a tangent point between the upper auxiliary wheel 14 and the vertical pipe to be crawled is greater than or equal to the first distance, and the second installation condition being that an included angle θ between the self-locking link 6 and a horizontal plane satisfies the following relationship:

[0049]

[0050] wherein a represents a distance from the tangent point between the driving wheel 15 below the main frame 10 and the pipe to a position of the center of gravity of the main frame 10, b represents a distance between the tangent point between the driving wheel 15 below the main frame 10 and the pipe and the tangent point between the auxiliary wheel 14 below the sub-frame 7 and the pipe, d represents the diameter of the pipe, and μ represents a friction coefficient of the contact between the pipe and the wheel.

[0051] In the above technical solution, since the clamping link 9 and the self-locking link 6 are non-parallel, in the axial direction of the pipe, the forces applied by the clamping link 9 and the self-locking link 6 to the main frame 10 and the sub-frame 7 are opposite, and thus a balance state can be achieved. Generally, the main frame 10 is larger than the sub-frame 7. Therefore, the distances between the main frame 10 and the centers of articulation of the clamping link 9 and the self-locking link 6 are greater than the distances between the sub-frame 7 and the centers of articulation of the clamping link 9 and the self-locking link 6, as shown in FIG. 2. Figure 4 The single clamping link 9 can be one or multiple (such as two), and if multiple, the clamping links 9 need to be parallel. In addition, the self-locking link 6 is parallel to a line between the rotation centers of the driving wheel 15 below the main frame 10 and the auxiliary wheel 14 below the sub-frame 7.

[0052] Firstly, for the first installation condition, the specific relationship can refer to FIG. 3. Figure 5 An obstacle crossing angle is defined, the obstacle crossing angle being an angle of oscillation of the clamping link 9 from a position at a moment before oscillation to a position at a moment after oscillation, at which the corresponding auxiliary wheel 14 can pass through the obstacle (generally, the clamping link 9 after oscillation is in a horizontal state). Figure 5∠FAB in the figure. Wherein, the distance between the hinge center of the clamping link 9 and the main frame 10 and the tangent point between the auxiliary wheel 14 above the subframe 7 and the pipe (…). Figure 5 When AB in the distance is greater than or equal to the first distance ( Figure 4 In the middle AE (where the line connecting the hinge center of the clamping link 9 and the main frame 10 to the obstacle is a horizontal line), after the clamping link 9 swings by an obstacle-crossing angle, the distance between the main frame 10 and the subframe 7 increases to the point where it can cross the radially protruding obstacle. When the first installation condition is met, it can be ensured that the vertical pipe outer wall crawling device can quickly and stably pass through the radially protruding obstacle by swinging the clamping link 9.

[0053] Secondly, regarding the second installation condition, the specific relationship can be found in [reference needed]. Figure 4 When the second installation condition is met, it can be ensured that the friction between the crawling devices on the outer wall of the vertical pipe can overcome the weight of the devices themselves, thus ensuring that the crawling devices on the outer wall of the vertical pipe will not fall off the vertical pipe.

[0054] In summary, the installation control method for the vertical pipe outer wall crawling device provided by the present invention, by setting a first installation condition and a second installation condition, ensures that the vertical pipe outer wall crawling device can quickly and stably cross obstacles and also ensures that the device will not fall off the vertical pipe when the two conditions are met during installation. This solves the problem that the existing installation methods for pipe outer wall crawling devices do not support the device to quickly and stably cross obstacles.

[0055] Specifically, adjusting the lengths of the clamping link 9 and the self-locking link 6 includes: increasing the length of the clamping link 9 and decreasing the length of the self-locking link 6; or, decreasing the length of the clamping link 9 and increasing the length of the self-locking link 6. (Refer to...) Figure 4 When the length of the clamping link 9 increases, the subframe 7 moves downward relative to the main frame 10, which in turn requires a reduction in the length of the self-locking link 6; correspondingly, when the length of the clamping link 9 decreases, the subframe 7 moves upward relative to the main frame 10, which in turn requires an increase in the length of the self-locking link 6.

[0056] In some embodiments, the installation control method includes step S130 after adjusting the lengths of the clamping link 9 and the self-locking link 6 until the first installation condition and the second installation condition are met.

[0057] In step S130, the lengths of the clamping link 9 and the self-locking link 6 are reduced, thereby increasing the clamping force of the vertical pipe outer wall crawling device on the crawled pipe.

[0058] In order to further improve the clamping stability of the vertical pipeline outer wall climbing device to the climbed pipeline, the distance between the main frame 10 and the auxiliary frame 7 tends to be further reduced by simultaneously shortening the clamping connecting rod 9 and the self-locking connecting rod 6, so that the friction force between each wheel and the outer wall of the pipeline is increased.

[0059] Referring to Figure 3 In the installation control method of the vertical pipeline outer wall climbing device provided by the application, the vertical pipeline outer wall climbing device as the controlled object further comprises a swing motor 3 installed on the main frame 10 for controlling the swing of the clamping connecting rod 9 and a driving assembly for driving the rotation of the driving wheel 15, and the driving assembly mainly comprises a driving motor 1, a right-angle reducer 2 and a driving shaft 12, the output end of the driving motor 1 is connected with the driving shaft 12 through the right-angle reducer 2, and the driving shaft 12 is connected with the driving wheel 15 through a transmission belt, so that the rotation of the driving wheel 15 drives the vertical pipeline outer wall climbing device to move forward.

[0060] Further, the auxiliary frame 7 is provided with a distance measuring sensor. Specifically, the distance measuring sensor can be multiple, and is used for detecting the distance between different parts of the auxiliary frame 7 and obstacles. The bottom surface of the main frame 10 is further provided with a climbing guide wheel 13, which is located in front of the driving wheel 15 in the moving direction of the vertical pipeline outer wall climbing device. The main frame 10 is detachably provided with an extension rod 4 on both sides, and the end of the extension rod 4 away from the main frame 10 is connected with an auxiliary guide wheel 5. Specifically, in the design of industrial pipelines, multiple rows of pipelines are often designed. In order to prevent the climbing device from being deflected due to the uneven surface of the climbed pipeline during the climbing process, the auxiliary guide wheel 5 is installed on both sides of the climbing device to prevent the climbing device from being deflected. The installation position of the extension rod 4 and the main frame 10 is connected through an adjusting spring 11 to realize local elastic displacement (radial displacement of the pipeline), which mainly prevents obstacles (radial protrusions such as rust marks and welds) on the surface of the auxiliary guide pipeline from affecting the movement of the main body of the climbing device. The extension rod 4 can be an electric push rod, which is mainly used when the climbing device climbs from a large-diameter pipeline to a small-diameter pipeline or climbs from a small-diameter pipeline to a large-diameter pipeline. Since the arrangement spacing between pipelines with different diameters is different, the auxiliary guide wheel 5 changes the distance between the auxiliary guide wheel 5 and the main body of the climbing device by extension. When the auxiliary guide wheel 5 is not needed when climbing a single pipeline, the auxiliary guide wheel 5 and the extension rod 4 can be removed to reduce the load of the climbing device and reduce energy consumption.

[0061] Among them, the driving wheel 15, the auxiliary wheel 14 and the crawling guide wheel 13 are all U-shaped wheels. The U-shaped wheels can make the wheels contact the pipeline surface more stably. The crawling guide wheels 13 and the driving wheels 15 on the main frame 10 and the auxiliary wheels 14 on the auxiliary frame 7 are alternately arranged. Specifically, the wheels of the main frame 10 and the auxiliary frame 7 are alternately arranged, so that the crawling device is more compact when passing through the radial protruding obstacles and climbing from the large-diameter pipeline to the small-diameter pipeline or from the small-diameter pipeline to the large-diameter pipeline, while ensuring the stability of the climbing.

[0062] The application further provides a mounting method of the vertical pipeline outer wall crawling device, which comprises a main frame and an auxiliary frame oppositely arranged on the bottom surface, clamping connecting rods and self-locking connecting rods symmetrically arranged on both sides of the main frame, two driving wheels mounted on the bottom surface of the main frame, two auxiliary wheels mounted on the bottom surface of the auxiliary frame, both ends of the clamping connecting rods and the self-locking connecting rods being hingedly connected with the main frame and the auxiliary frame, the clamping connecting rods and the self-locking connecting rods being controlled telescopic rods, and the clamping connecting rods and the self-locking connecting rods being non-parallel. The mounting method comprises steps S210 and S220.

[0063] In step S210, the main frame and the auxiliary frame are arranged on both sides of the pipeline to be climbed, and the driving wheels and the auxiliary wheels are in contact with the outer wall of the pipeline to be climbed.

[0064] In step S220, the vertical pipeline outer wall crawling device is controlled by the mounting control method of the vertical pipeline outer wall crawling device provided by the application.

[0065] In the mounting method, the vertical pipeline outer wall crawling device is initially mounted on the pipeline to be climbed, and then the mounting control method of the vertical pipeline outer wall crawling device provided by the application is used to control the vertical pipeline outer wall crawling device, so that the pipeline to be climbed can be stably clamped and the subsequent rapid and stable obstacle crossing can be supported.

[0066] The application further provides a control method of the vertical pipeline outer wall crawling device, which comprises steps S310 and S320.

[0067] In step S310, the vertical pipeline outer wall crawling device is controlled by the mounting control method of the vertical pipeline outer wall crawling device provided by the application.

[0068] In step S320, the vertical pipeline outer wall crawling device is controlled.

[0069] Specifically, the control method first controls the vertical pipeline outer wall crawling device in the mounting stage by using the mounting control method provided by the application, and then controls the vertical pipeline outer wall crawling device in the climbing stage. In the climbing control, in addition to the conventional driving control, the more important obstacle crossing control is included.

[0070] Specifically, the climbing control of the vertical-pipe-outer-wall climbing device further comprises a distance sensor and a swing motor for swinging the clamping link. The distance sensor can be multiple, and can be installed at different positions of the vertical-pipe-outer-wall climbing device according to the measurement requirement, so as to measure the distance between the different positions of the vertical-pipe-outer-wall climbing device and the obstacles. On this basis, the steps of the climbing control of the vertical-pipe-outer-wall climbing device comprise steps S321 and S322.

[0071] Step S321, continuously judging whether the distance between the front auxiliary wheel and the front obstacle is greater than the obstacle-preparation distance according to the distance signal of the distance sensor in the direction of travel of the vertical-pipe-outer-wall climbing device; if not, executing step S322.

[0072] Step S322, then controlling the clamping link to swing until the clamping link is in a horizontal state through the swing motor, and controlling the self-locking link to be elongated.

[0073] Wherein, the obstacle-preparation distance is determined according to distance one and distance two, distance one is the minimum distance from the hinge center of the clamping link and the main frame to the outermost surface of the maximum radial protruding obstacle on the outer surface of the pipe, distance two is the distance between the hinge center of the clamping link and the main frame and the intersection position of the front auxiliary wheel of the auxiliary frame and the pipe, and the sum of the square of distance one and the square of the obstacle-preparation distance is the square of distance two. Usually, when the clamping link is swung to be perpendicular to the direction of travel, the distance between the main frame and the auxiliary frame can cross any obstacle on the pipe, because the distance between the hinge center of the clamping link and the main frame and the front auxiliary wheel of the auxiliary frame is greater than or equal to distance one at this time.

[0074] It should be noted that the above steps are mainly for the case where there is an obstacle in front of only the auxiliary wheel. For the case where there is an obstacle in front of only the driving wheel, a smaller obstacle-preparation distance can be set or no obstacle-preparation distance can be set, and the clamping link can be started to swing at the moment when the frontmost driving wheel contacts the obstacle. If there is an obstacle in front of both the driving wheel and the auxiliary wheel, one of them that meets the condition of swinging the clamping link can start to swing the clamping link.

[0075] Further, the steps of the climbing control of the vertical-pipe-outer-wall climbing device comprise steps S323 and S324.

[0076] Step S323, continuously judging whether the distance between the rear auxiliary wheel and the rear obstacle is greater than 0 according to the distance signal of the distance sensor in the direction of travel of the vertical-pipe-outer-wall climbing device; if yes, executing step S3240.

[0077] Step S324, swing the clamping link by swing motor control until the clamping link returns to the installation state, while controlling the self-locking link to shorten.

[0078] Similarly, the above steps are mainly to determine whether the auxiliary wheel has crossed the obstacle. The steps of determining whether the driving wheel has crossed the obstacle are the same.

[0079] If the distance between the rear auxiliary wheel and the rear obstacle is greater than 0, it means that the auxiliary frame has completely crossed the obstacle, so the clamping link needs to be swung back to make the vertical pipe outer wall climbing device return to the initial state.

[0080] Further, the above steps S321-S324 are for the case that the direction of the clamping link relative to the self-locking link is the advancing direction of the climbing device (for example, the climbing device climbs upward as shown in Figure 4 When the advancing direction of the climbing device is the direction of the self-locking link relative to the clamping link (for example, the climbing device climbs downward as shown in Figure 4 The swinging direction of the clamping link is the reverse direction of the advancing direction, and the obstacle-crossing preparation distance between the auxiliary wheel and the obstacle can be set smaller or even not set, because the swinging action does not drive the auxiliary frame to move towards the obstacle.

[0081] In the embodiments of the present application, a mounting control device for the vertical pipe outer wall climbing device is also provided, which is used to realize the above-mentioned embodiments and preferred embodiments, and has been described. The terms "module", "unit", "sub-unit" and the like used below can be a combination of software and / or hardware that realizes a predetermined function. Although the device described in the following embodiments is preferably realized in software, hardware, or a combination of software and hardware is also possible and is contemplated.

[0082] The vertical pipe outer wall climbing device comprises a main frame and an auxiliary frame oppositely arranged on the bottom surface, a clamping link and a self-locking link symmetrically arranged on both sides of the main frame, respectively, two driving wheels mounted on the bottom surface of the main frame, two auxiliary wheels mounted on the bottom surface of the auxiliary frame, both ends of the clamping link and the self-locking link are hinged with the main frame and the auxiliary frame, respectively, the clamping link and the self-locking link are controlled telescopic rods, the clamping link and the self-locking link are non-parallel, and the mounting control device comprises a data acquisition module and a mounting control module.

[0083] The data acquisition module is used to acquire a first distance, which is the sum of the diameter of the vertical pipe to be climbed, a second distance and a third distance, the second distance is the maximum protrusion height of the obstacle on the vertical pipe to be climbed along the radial direction of the pipe, and the third distance is the minimum distance from the hinged center of the clamping link and the main frame to the outer wall of the vertical pipe to be climbed when the driving wheel is in contact with the outer wall of the vertical pipe to be climbed.

[0084] The installation control module is configured to adjust the lengths of the clamping link and the self-locking link until the first installation condition and the second installation condition are met, under the premise that the main frame and the auxiliary frame are respectively kept on both sides of the vertical pipeline to be climbed, and the driving wheel and the auxiliary wheel are in contact with the outer wall of the vertical pipeline to be climbed, and the self-locking link is below the clamping link, the first installation condition is that the distance between the clamping link and the hinge center of the main frame to the tangent point between the nearest auxiliary wheel and the vertical pipeline to be climbed is greater than or equal to a first distance, and the second installation condition is that the angle θ between the self-locking link and the horizontal plane satisfies the relationship:

[0085]

[0086] Wherein, a represents the distance from the tangent point between the driving wheel below the main frame and the pipeline to the position of the gravity center of the main frame, b represents the distance between the tangent point between the driving wheel below the main frame and the pipeline and the tangent point between the auxiliary wheel below the auxiliary frame and the pipeline, d represents the diameter of the pipeline, and μ represents the friction coefficient between the pipeline and the wheel.

[0087] The installation control device of the vertical pipeline outer wall climbing device provided by the application can support the device to quickly and stably cross obstacles and ensure that the device will not fall off the vertical pipeline when the two conditions are met during installation, and the problem that the existing installation method of the pipeline outer wall climbing device does not support the device to quickly and stably cross obstacles is solved.

[0088] It should be noted that each of the above modules can be a functional module or a program module, and can be implemented by software or hardware. For the modules implemented by hardware, each of the above modules can be located in the same processor, or each of the above modules can be located in different processors in any combination.

[0089] In the application, an electronic device is also provided, which includes a memory and a processor, the memory stores a computer program, and the processor is configured to run the computer program to execute the installation control method of the vertical pipeline outer wall climbing device provided by the application.

[0090] It should be understood that the specific embodiments described herein are only used to explain this application, but not to limit it. According to the embodiments provided by the application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the application.

[0091] It is apparent that the drawings depict only some of the embodiments or examples of the application and are therefore not to be considered limiting of the scope of the application, for the application can be applied to other similar situations. Moreover, it is to be understood that unless otherwise specifically stated herein, the application can be practiced with other systems, components, materials and the like without resorting to creativity.

Claims

1. A method for controlling the installation of a vertical pipe external wall crawling device, characterized in that, The vertical pipe outer wall crawling device includes a main frame and a sub-frame with their bottom surfaces facing each other, clamping rods and self-locking rods symmetrically arranged on both sides of the main frame. Two drive wheels are mounted on the bottom surface of the main frame, and two auxiliary wheels are mounted on the bottom surface of the sub-frame. Both ends of the clamping rods and the self-locking rods are hinged to the main frame and the sub-frame, respectively. Both the clamping rods and the self-locking rods are controlled telescopic rods, and they are not arranged in parallel. The installation control method includes: Obtain a first distance, which is the sum of the diameter of the vertical pipe being crawled, a second distance, and a third distance. The second distance is the maximum protrusion height of the obstacle on the vertical pipe along the radial direction of the pipe. The third distance is the minimum distance from the hinge center of the clamping link and the main frame to the outer wall of the vertical pipe when the drive wheel contacts the outer wall of the vertical pipe being crawled. With the main frame and the subframe positioned on opposite sides of the vertical pipe being crawled, the drive wheel and the auxiliary wheel in contact with the outer wall of the vertical pipe, and the self-locking link positioned below the clamping link, the lengths of the clamping link and the self-locking link are adjusted until the first installation condition and the second installation condition are met. The first installation condition is that the distance between the hinge center of the clamping link and the main frame and the tangent point between the upper auxiliary wheel and the vertical pipe being crawled is greater than or equal to the first distance. The second installation condition is that the angle θ between the self-locking link and the horizontal plane satisfies the following relationship: Where a represents the distance from the point of tangency between the drive wheel and the pipe under the main frame to the center of gravity of the main frame, b represents the distance between the point of tangency between the drive wheel and the pipe under the main frame and the point of tangency between the auxiliary wheel and the pipe under the subframe, d represents the pipe diameter, and μ represents the coefficient of friction between the pipe and the wheel.

2. The installation control method for the vertical pipe outer wall crawling device according to claim 1, characterized in that, The controlled telescopic rod is either an electric telescopic rod or a hydraulic telescopic rod.

3. The installation control method for the vertical pipe outer wall crawling device according to claim 1, characterized in that, Adjusting the lengths of the clamping link and the self-locking link includes: Increase the length of the clamping link and decrease the length of the self-locking link; Alternatively, the length of the clamping link can be reduced and the length of the self-locking link can be increased.

4. The installation control method for the vertical pipe outer wall crawling device according to claim 1, characterized in that, The installation control method includes, after adjusting the lengths of the clamping link and the self-locking link until the first installation condition and the second installation condition are met, the following: The lengths of the clamping link and the self-locking link are reduced, thereby increasing the clamping force of the vertical pipe outer wall crawling device on the crawled pipe.

5. A method for installing a vertical pipe external wall crawling device, characterized in that, The vertical pipe outer wall crawling device includes a main frame and a sub-frame with their bottom surfaces facing each other, clamping rods and self-locking rods symmetrically arranged on both sides of the main frame. Two drive wheels are mounted on the bottom surface of the main frame, and two auxiliary wheels are mounted on the bottom surface of the sub-frame. Both ends of the clamping rods and the self-locking rods are hinged to the main frame and the sub-frame, respectively. Both the clamping rods and the self-locking rods are controlled telescopic rods, and they are not arranged in parallel. The installation method includes: The main frame and the subframe are respectively set on both sides of the pipe being crawled, and the drive wheel and the auxiliary wheel are in contact with the outer wall of the pipe being crawled. The installation control method for the vertical pipe external wall crawling device according to any one of claims 1-4 is used to control the installation of the vertical pipe external wall crawling device.

6. A control method for a vertical pipe outer wall crawling device, characterized in that, The control method includes: The installation control method for the vertical pipe outer wall crawling device according to any one of claims 1-4 is used to control the installation of the vertical pipe outer wall crawling device. The crawling device on the outer wall of the vertical pipe is crawled for control.

7. The control method for the vertical pipe outer wall crawling device according to claim 6, characterized in that, The vertical pipe outer wall crawling device also includes a distance measuring sensor and a swing motor for swinging the clamping link. The steps for controlling the crawling of the vertical pipe outer wall crawling device include: In the direction of travel of the vertical pipe outer wall crawling device, the distance between the front auxiliary wheel and the obstacle in front is continuously determined based on the distance signal of the distance measuring sensor to determine whether the distance is greater than the obstacle crossing preparation distance; If not, the clamping link is controlled by the swing motor to swing until the clamping link is in a horizontal state, while the self-locking link is extended.

8. The control method for the vertical pipe outer wall crawling device according to claim 7, characterized in that, The steps for controlling the crawling of the vertical pipe outer wall crawling device further include: In the direction of travel of the vertical pipe outer wall crawling device, the distance between the rear auxiliary wheel and the rear obstacle is continuously determined based on the distance signal of the distance sensor. If so, the clamping link is oscillated by the swing motor until it returns to the installation state, while the self-locking link is shortened.

9. An installation control device for a vertical pipe outer wall crawling device, characterized in that, The vertical pipe outer wall crawling device includes a main frame and a sub-frame with their bottom surfaces facing each other, clamping links and self-locking links symmetrically arranged on both sides of the main frame. Two drive wheels are mounted on the bottom surface of the main frame, and two auxiliary wheels are mounted on the bottom surface of the sub-frame. Both ends of the clamping links and the self-locking links are hinged to the main frame and the sub-frame, respectively. Both the clamping links and the self-locking links are controlled telescopic rods, and they are not arranged in parallel. The installation control device includes: The data acquisition module is used to acquire a first distance, which is the sum of the diameter of the vertical pipe being crawled, a second distance, and a third distance. The second distance is the maximum protrusion height of the obstacle on the vertical pipe along the radial direction of the pipe. The third distance is the minimum distance from the hinge center of the clamping link and the main frame to the outer wall of the vertical pipe when the drive wheel contacts the outer wall of the vertical pipe being crawled. The installation control module is used to adjust the lengths of the clamping link and the self-locking link until a first installation condition and a second installation condition are met, provided that the main frame and the subframe are respectively positioned on both sides of the vertical pipe being crawled, the drive wheel and the auxiliary wheel are in contact with the outer wall of the vertical pipe being crawled, and the self-locking link is below the clamping link. The first installation condition is that the distance between the hinge center of the clamping link and the main frame and the tangent point between the nearest auxiliary wheel and the vertical pipe being crawled is greater than or equal to the first distance. The second installation condition is that the angle θ between the self-locking link and the horizontal plane satisfies the following relationship: Where a represents the distance from the point of tangency between the drive wheel and the pipe under the main frame to the center of gravity of the main frame, b represents the distance between the point of tangency between the drive wheel and the pipe under the main frame and the point of tangency between the auxiliary wheel and the pipe under the subframe, d represents the pipe diameter, and μ represents the coefficient of friction between the pipe and the wheel.

10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the installation control method for the vertical pipe outer wall crawling device according to any one of claims 1 to 4.

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