Narrow-gap crawling nondestructive testing robot control system

Abstract

The invention relates to the field of robots, in particular to a narrow-gap crawling nondestructive testing robot control system which comprises a shell. The moving unit is used for driving the shell to move; the detecting unit is used for detecting crawling parameters of the moving unit; and the judging unit is used for judging whether operation of the moving unit meets a preset standard or not according to a vertical distance, measured by the detecting unit, between a position point of the robot after crawling for a preset length and a preset position point. The central control unit is used for judging that the reason for not conforming to the preset standard is crawling deviation caused by the self weight of the robot or crawling deviation caused by the fact that the friction force between the robot and the clearance surface does not conform to the preset standard when the robot does not conform to the preset standard; the nondestructive detection unit is used for nondestructive detection, and the communication unit is used for transmitting detection information acquired by the nondestructive detection unit, so that accurate movement and flaw detection can be carried out on welding points or welding seams in the narrow-gap vertical seam.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a narrow gap crawling nondestructive testing robot control system. Background Art

[0002] Nondestructive testing is also called nondestructive flaw detection. It is a technology that uses X-ray, ultrasonic, electromagnetic and other principles and technologies combined with instruments to detect defects, chemical and physical parameters of materials, parts and equipment without damaging or affecting the performance of the object being tested. Ultrasonic testing is one of the nondestructive testing methods, which is often used for flaw detection in metallurgy, welding and other processing.

[0003] Chinese patent publication number: CN114046923A, discloses a non-destructive testing method for post-tensioned prestressed corrugated pipes, which uses a traction trolley equipped with an endoscope probe for detection, displays images on a display, and determines the defect type based on the displayed images according to the judgment criteria. However, the above technical solution cannot reach the predetermined position to be detected under the working conditions of narrow gaps.

[0004] China Patent Publication No.: CN207623286U, also discloses an ultrasonic guided wave detection device for in-service energy storage springs in narrow spaces, including a connecting rod and a handle head; the connecting rod is integrally connected to one end of the handle head or detachably connected, and the other end of the handle head is equipped with a connector, the connecting rod is connected to the ultrasonic transducer, and its interior is a hollow structure, the handle head operates the connecting rod, and a coaxial cable is arranged inside, and the connector is connected to the ultrasonic transducer through the coaxial cable. However, the above technical solution cannot realize the flaw detection of some locations to be tested that are located deeper in the gap.

[0005] Therefore, how to effectively and accurately detect narrow gaps, especially welding points or welds in vertical seams, has become an urgent problem that needs to be solved in the inspection industry. Summary of the invention

[0006] To this end, the present invention provides a narrow gap crawling nondestructive testing robot control system to overcome the problem in the prior art that narrow gaps, especially welding points or welds in vertical seams, cannot be effectively and accurately detected.

[0007] To achieve the above object, the present invention provides a narrow gap crawling nondestructive testing robot control system, comprising: shell; A moving unit, used to drive the housing to move, including a first moving module and a second moving module arranged on the left side of the vehicle body, and a third moving module and a fourth moving module arranged on the right side of the vehicle body; a detection unit connected to the mobile unit and used to detect crawling parameters of the mobile unit, wherein the crawling parameters include a vertical distance between a position point after the robot crawls a preset length and a preset position point, an offset angle between the first crawler and the horizontal direction, a flatness of gap surfaces on both sides of the gap, and a tensioning force of the first tensioning wheel and a tensioning force of the second tensioning wheel; a central control unit connected to the detection unit, for determining whether the operation of the mobile unit meets the preset standard according to the vertical distance between the position point after the robot crawls the preset length and the preset position point measured by the detection unit, and determining that the reason for not meeting the preset standard is that the robot's own weight causes the crawling deviation, or the friction between the robot and the gap surface does not meet the preset standard, resulting in the crawling deviation; An adjustment unit, connected to the central control unit and the mobile unit, for adjusting the operating parameters of the corresponding components in the system operation to corresponding values ​​according to the result determined by the central control unit; A nondestructive testing unit, comprising a probe for nondestructive testing and a stepping motor for adjusting the lifting and lowering of the probe; A communication unit is connected to the nondestructive testing module and is used to transmit the testing information collected by the nondestructive testing unit.

[0008] Further, the first moving module includes a first driving wheel connected to the first driving shaft for pulling the first moving module, a first front supporting fork movably connected to the first driving shaft at one end, a first front supporting wheel axle located at an end of the first front supporting fork away from the first driving shaft, a first front supporting wheel connected to the first front supporting wheel axle, a first passive wheel connected to the first wheel axle, a first rear supporting fork movably connected to the first wheel axle at one end, a first rear adjusting rod connected to the first rear supporting fork for adjusting a supporting angle of the first rear supporting fork, a first rear supporting wheel axle located at an end of the first rear supporting fork away from the first wheel axle, a first rear supporting wheel connected to the first rear supporting wheel axle, a first crawler track that drives the first front supporting wheel, the first rear supporting wheel and the first passive wheel to rotate through the rotation of the first driving wheel, a first tensioning wheel for tensioning the first crawler track, and a first front adjusting rod connected to the first front supporting fork for adjusting a supporting angle of the first front supporting fork; The second moving module includes a second driving wheel connected to the second driving shaft for towing the second moving module, a second front supporting fork movably connected to the second driving shaft at one end, a second front supporting wheel axle located at the second front supporting fork away from the second driving shaft, a second front supporting wheel connected to the second front supporting wheel axle, a second passive wheel connected to the second wheel axle, a second rear supporting fork movably connected to the second wheel axle at one end, a second rear adjusting rod connected to the second rear supporting fork for adjusting a supporting angle of the second rear supporting fork, a second rear supporting wheel axle located at the second rear supporting fork away from the second wheel axle, a second rear supporting wheel connected to the second rear supporting wheel axle, a second track for driving the second front supporting wheel, the second rear supporting wheel and the second passive wheel to rotate through the rotation of the second driving wheel, a second tensioning wheel for tensioning the second track, and a second front adjusting rod connected to the second front supporting fork for adjusting a supporting angle of the second front supporting fork; The third movable module includes a third driving wheel connected to the third driving shaft for towing the third movable module, a third front supporting fork with one end movably connected to the third driving shaft, a third front supporting wheel axle located at the third front supporting fork away from one end of the third driving shaft, a third front supporting wheel connected to the third front supporting wheel axle, a third passive wheel connected to the third wheel axle, a third rear supporting fork with one end movably connected to the third wheel axle, a third rear adjusting rod connected to the third rear supporting fork for adjusting a supporting angle of the third rear supporting fork, a third rear supporting wheel axle located at one end of the third rear supporting fork away from the third wheel axle, a third rear supporting wheel connected to the third rear supporting wheel axle; a third crawler that drives the third front supporting wheel, the third rear supporting wheel and the third passive wheel to rotate through the rotation of the third driving wheel, a third tensioning wheel for tensioning the third crawler, and a third front adjusting rod connected to the third front supporting fork for adjusting a supporting angle of the third front supporting fork; The fourth moving module includes a fourth driving wheel connected to the fourth driving shaft for towing the fourth moving module, a fourth front supporting fork movably connected to the fourth driving shaft at one end, a fourth front supporting wheel axle located at the fourth front supporting fork away from the fourth driving shaft, a fourth front supporting wheel connected to the fourth front supporting wheel axle, a fourth passive wheel connected to the fourth wheel axle, a fourth rear supporting fork movably connected to the fourth wheel axle at one end, a fourth rear adjusting rod connected to the fourth rear supporting fork for adjusting a supporting angle of the fourth rear supporting fork, a fourth rear supporting wheel axle located at the fourth rear supporting fork away from the fourth wheel axle, a fourth rear supporting wheel connected to the fourth rear supporting wheel axle, a fourth track that drives the fourth front supporting wheel, the fourth rear supporting wheel and the fourth passive wheel to rotate through the rotation of the fourth driving wheel, a fourth tensioning wheel for tensioning the fourth track, and a fourth front adjusting rod connected to the fourth front supporting fork for adjusting the supporting angle of the fourth front supporting fork.

[0009] Furthermore, the central control unit controls the detection unit to detect the vertical distance between the position point after the robot crawls a preset length and the preset position point under the first preset condition, and the central control unit determines the determination method for whether the operation of the mobile unit meets the preset standard according to the measured vertical distance, wherein: The first determination method is that the central control unit determines that the operation of the mobile unit meets the preset standard and performs nondestructive testing under narrow gap conditions according to the current operation mode; the first determination method satisfies that the vertical distance is less than the first preset vertical distance; The second determination method is that the central control unit determines that the operation of the mobile unit does not meet the preset standard and the reason for not meeting the preset standard is that the deadweight of the robot causes crawling deviation, and the central control unit further controls the detection unit to detect the deviation angle between the first crawler and the horizontal direction, and determines the secondary determination method for whether the operation of the mobile unit meets the preset standard according to the measured deviation angle; the deviation angle is the acute angle between the first crawler and the horizontal direction; the second determination method satisfies that the vertical distance is greater than or equal to the first preset vertical distance and less than the second preset vertical distance; The third determination method is that the central control unit determines that the operation of the mobile unit does not meet the preset standard and the reason for not meeting the preset standard is that the friction between the robot and the gap surface is unqualified, resulting in crawling deviation, and the central control unit loads the supporting forces of the first front adjustment rod, the first rear adjustment rod, the second front adjustment rod, the second rear adjustment rod, the third front adjustment rod, the third rear adjustment rod, the fourth front adjustment rod and the fourth rear adjustment rod to corresponding values ​​according to the difference between the measured vertical distance and the second preset vertical distance; the third determination method satisfies that the vertical distance is greater than or equal to the second preset vertical distance; The first preset condition is that the first track and the third track of the robot fit the same gap surface of a gap of a preset width, the second track and the fourth track fit the other gap surface of the gap, and the third track and the fourth track are located above the first track and the second track in the horizontal direction, and the robot crawls a preset length in the horizontal direction.

[0010] Further, the central control unit controls the detection unit to detect the offset angle of the first crawler with the horizontal direction under the second determination mode, and the central control unit determines a secondary determination mode for whether the operation of the mobile unit meets the preset standard according to the measured offset angle, wherein: The first secondary determination method is that the central control unit determines that the operation of the mobile unit does not meet the preset standard, and the central control unit loads the supporting forces of the first front adjustment rod, the first rear adjustment rod, the second front adjustment rod, the second rear adjustment rod, the third front adjustment rod, the third rear adjustment rod, the fourth front adjustment rod, and the fourth rear adjustment rod to corresponding values ​​according to the difference between the measured vertical distance and the first preset vertical distance; the first secondary determination method satisfies that the offset angle is zero; The second secondary judgment method is that the central control unit determines that the operation of the mobile unit does not meet the preset standard, and the central control unit increases the acceleration of the first driving wheel and the second driving wheel to corresponding values ​​according to the measured offset angle; the second secondary judgment method satisfies that the offset angle is greater than zero.

[0011] Further, the adjustment unit determines an adjustment method for the acceleration of the first driving wheel and the second driving wheel according to the measured offset angle in the second secondary determination method, wherein: The first adjustment method is that the adjustment unit uses a first preset adjustment coefficient to increase the acceleration of the first driving wheel and the second driving wheel to a corresponding value; the first adjustment method satisfies that the offset angle is less than the first preset offset angle; The second adjustment method is that the adjustment unit uses a second preset adjustment coefficient to increase the acceleration of the first driving wheel and the second driving wheel to a corresponding value; the second adjustment method satisfies that the offset angle is greater than or equal to the first preset offset angle and less than the second preset offset angle; The third adjustment method is that the adjustment unit uses a third preset adjustment coefficient to increase the acceleration of the first driving wheel and the second driving wheel to corresponding values; the third adjustment method satisfies that the offset angle is greater than or equal to the second preset offset angle.

[0012] Further, the central control unit calculates the difference between the vertical distance and the second preset vertical distance under the third determination method, and records the difference as the distance difference, and the adjustment unit determines the adjustment method for the supporting force of the first front adjustment rod, the first rear adjustment rod, the second front adjustment rod, the second rear adjustment rod, the third front adjustment rod, the third rear adjustment rod, the fourth front adjustment rod, and the fourth rear adjustment rod according to the distance difference, wherein, The first supporting force adjustment mode is that the adjustment unit uses a first preset supporting force adjustment coefficient to load the supporting forces of the first front adjusting rod, the first rear adjusting rod, the second front adjusting rod, the second rear adjusting rod, the third front adjusting rod, the third rear adjusting rod, the fourth front adjusting rod and the fourth rear adjusting rod to corresponding values; the first supporting force adjustment mode satisfies that the distance difference is less than the first preset distance difference; The second supporting force adjustment method is that the adjustment unit uses a second preset supporting force adjustment coefficient to load the supporting forces of the first front adjusting rod, the first rear adjusting rod, the second front adjusting rod, the second rear adjusting rod, the third front adjusting rod, the third rear adjusting rod, the fourth front adjusting rod and the fourth rear adjusting rod to corresponding values; the second supporting force adjustment method satisfies that the distance difference is greater than or equal to the first preset distance difference and less than the second preset distance difference; The third support force adjustment method is that the adjustment unit uses a third preset support force adjustment coefficient to load the support forces of the first front adjustment rod, the first rear adjustment rod, the second front adjustment rod, the second rear adjustment rod, the third front adjustment rod, the third rear adjustment rod, the fourth front adjustment rod and the fourth rear adjustment rod to corresponding values; the third support force adjustment method satisfies that the distance difference is greater than or equal to the second preset distance difference.

[0013] Further, the central control unit controls the detection unit to detect the flatness of the gap surfaces on both sides of the gap under the second preset condition, and the central control unit determines whether the tensioning force of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel and the fourth tensioning wheel meets the preset standard according to the measured flatness, wherein, The first tensioning force determination method is that the central control unit determines that the tensioning forces of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel and the fourth tensioning wheel meet the preset standard, and performs non-destructive testing under narrow gap conditions according to the current operation mode; the first tensioning force determination method satisfies that the measured flatness is less than the preset flatness; The second tension force determination method is that the central control unit determines that the tension of the first tension wheel, the second tension wheel, the third tension wheel and the fourth tension wheel do not meet the preset standard, and the adjustment unit increases the tension of the first tension wheel, the second tension wheel, the third tension wheel and the fourth tension wheel to a corresponding value according to the difference between the flatness and the preset flatness; the second tension force determination method satisfies that the measured flatness is greater than or equal to the preset flatness; The second preset condition is satisfied when the adjustment unit completes the adjustment of the supporting forces of the first front adjustment rod, the first rear adjustment rod, the second front adjustment rod, the second rear adjustment rod, the third front adjustment rod, the third rear adjustment rod, the fourth front adjustment rod, and the fourth rear adjustment rod.

[0014] Further, the central control unit calculates the difference between the flatness and the preset flatness under the second tensioning force determination mode, and records the difference as the flatness difference, and the adjustment unit determines the adjustment mode of the tensioning force for the first tensioning wheel, the second tensioning wheel, the third tensioning wheel and the fourth tensioning wheel according to the flatness difference, wherein, The first tensioning force adjustment method is that the adjustment unit uses a first preset tensioning force adjustment coefficient to increase the tensioning forces of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel, and the fourth tensioning wheel to corresponding values; the first tensioning force adjustment method satisfies that the flatness difference is less than the first preset flatness difference; The second tensioning force adjustment method is that the adjustment unit uses a second preset tensioning force adjustment coefficient to increase the tensioning force of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel and the fourth tensioning wheel to a corresponding value; the second tensioning force adjustment method satisfies that the flatness difference is greater than or equal to the first preset flatness difference and less than the second preset flatness difference; The third tensioning force adjustment method is that the adjustment unit uses the third preset tensioning force adjustment coefficient to increase the tension of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel and the fourth tensioning wheel to the corresponding value; the third tensioning force adjustment method satisfies that the flatness difference is greater than or equal to the second preset flatness difference.

[0015] Further, the central control unit controls the detection unit to detect the tensioning force of the first tensioning wheel and the tensioning force of the second tensioning wheel under a third preset condition, and the central control unit determines a determination method for whether the operation of the mobile unit meets the preset standard according to the tensioning force difference between the measured tensioning force of the first tensioning wheel and the tensioning force of the second tensioning wheel, wherein The first type of determination method is that the central control unit determines that the operation of the mobile unit does not meet the preset standard and the reason for not meeting the preset standard is that the gap has a horizontal arc, and the adjustment unit increases the acceleration values ​​of the first driving wheel and the third driving wheel by corresponding values ​​according to the absolute value of the tension difference; the first type of determination method satisfies that the tension difference is less than zero; The second type of determination method is that the central control unit determines that the operation of the mobile unit meets the preset standard and performs non-destructive testing under narrow gap conditions according to the current operation mode; the second type of determination method satisfies that the tension difference is equal to zero; The third type of determination method is that the central control unit determines that the operation of the mobile unit does not meet the preset standard and does not meet the preset standard, and the adjustment unit increases the acceleration of the second driving wheel and the fourth driving wheel by a corresponding value according to the tension difference; the third type of determination method satisfies that the tension difference is greater than zero; The third preset condition is met so that the adjustment unit completes the adjustment of the tensioning forces of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel, and the fourth tensioning wheel.

[0016] Further, the central control unit calculates the tension difference between the tension of the first tension wheel and the tension of the second tension wheel under the third type of determination method, and records the difference as the curve difference, and the adjustment unit determines the adjustment method for the acceleration of the second driving wheel and the fourth driving wheel according to the curve difference, wherein, The first acceleration adjustment method is that the adjustment unit uses a first preset acceleration adjustment coefficient to increase the acceleration of the second driving wheel and the fourth driving wheel to corresponding values; the first acceleration adjustment method satisfies that the curve difference is less than the first preset curve difference; The second acceleration adjustment method is that the adjustment unit uses a second preset acceleration adjustment coefficient to increase the acceleration of the second driving wheel and the fourth driving wheel to a corresponding value; the second acceleration adjustment method satisfies that the curve difference is greater than or equal to the first preset curve difference and less than the second preset curve difference; The third acceleration adjustment method is that the adjustment unit uses a third preset acceleration adjustment coefficient to increase the acceleration of the second driving wheel and the fourth driving wheel to corresponding values; the third acceleration adjustment method satisfies that the curve difference is greater than or equal to the second preset curve difference.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention realizes the crawling of the non-destructive testing robot in a narrow gap by means of the first moving module and the second moving module arranged on the left side of the vehicle body, and the third moving module and the fourth moving module arranged on the right side of the vehicle body. At the same time, by determining whether the operation of the moving unit meets the preset standard according to the vertical distance between the position point after the robot crawls a preset length measured by the detection unit and the preset position point, and when it does not meet the preset standard, determining that the reason for not meeting the preset standard is that the robot's own weight causes the crawling deviation, or the friction between the robot and the gap surface does not meet the preset standard, resulting in the crawling deviation, the central control module realizes the precise movement of the robot crawling in a narrow gap.

[0018] Furthermore, the mobile module of the present invention is provided with a front support fork and a rear support fork with adjustable angles, and front and rear support wheels are respectively provided on the front and rear support forks. Through four groups of mobile modules, crawling in narrow gaps of different widths is achieved. At the same time, a tensioning wheel is also provided to complete the tightness adjustment of the track to adapt to different gap surfaces.

[0019] Furthermore, the central control unit of the present invention can determine whether the operation of the mobile unit meets the preset standard based on the vertical distance between the position point after the robot crawls a preset length measured by the detection unit and the preset position point, and when it does not meet the preset standard, determine that the reason for not meeting the preset standard is that the robot's own weight causes the crawling deviation, or the friction between the robot and the gap surface does not meet the preset standard causing the crawling deviation, thereby achieving accurate judgment of the robot's crawling.

[0020] Furthermore, when the central control unit determines that the operation of the mobile unit does not meet the preset standards because the robot's own weight causes crawling deviation, the central control unit of the present invention performs a secondary judgment on whether the operation of the mobile unit meets the preset standards by detecting the deviation angle of the first crawler and the horizontal direction, thereby achieving precise displacement of the mobile unit.

[0021] Furthermore, when the robot walks in a horizontal direction and there is an offset angle, the adjustment unit overcomes the offset of the position and direction of crawling caused by gravity by increasing the acceleration of the first driving wheel and the second driving wheel to corresponding values.

[0022] Furthermore, when the robot deviates in the horizontal direction due to insufficient friction, the adjustment unit increases the supporting force of the adjustment rods corresponding to the four moving modules, thereby stably fixing the robot in the gap.

[0023] Furthermore, after the adjustment unit completes the adjustment of the supporting force of the adjustment rod, the central control unit further detects the flatness of the two sides of the gap. When the flatness value of the gap surface is large, that is, the wall surface is uneven, the tensioning force of the tensioning wheel is increased to ensure the stable crawling of the robot.

[0024] Furthermore, when the tensioning force of the tensioning wheel needs to be increased, the adjustment unit of the present invention uses different adjustment coefficients to achieve precise increase of the tensioning force.

[0025] Furthermore, after the adjustment of the tensioning force is completed, the present invention further detects the tensioning force difference between the tensioning force of the first tensioning wheel and the tensioning force of the second tensioning wheel, and determines that there is an arc in the gap when the difference is not zero, thereby adjusting the acceleration of the first driving wheel and the third driving wheel, or the second driving wheel and the fourth driving wheel accordingly, so that the robot can crawl stably in the gap with an arc.

[0026] Furthermore, when the acceleration of the corresponding driving wheel needs to be adjusted, the adjustment unit of the present invention increases the corresponding acceleration to the corresponding value through the corresponding preset acceleration adjustment coefficient, thereby achieving precise adjustment and ensuring the stability and precise displacement of the robot's crawling. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1This is a schematic diagram of the structure of a control system for a narrow gap crawling nondestructive testing robot according to an embodiment of the present invention; Figure 2 It is a partial structural schematic diagram of the first mobile module and the second mobile module according to an embodiment of the present invention; Figure 3 It is a partial structural schematic diagram of the first mobile module and the second mobile module according to an embodiment of the present invention; Figure 4 It is a partial structural schematic diagram of the third mobile module and the fourth mobile module according to an embodiment of the present invention; Figure 5 It is a partial structural schematic diagram of the third mobile module and the fourth mobile module according to an embodiment of the present invention; Figure 6 A schematic diagram of a method for determining whether the operation of a mobile unit meets a preset standard according to an embodiment of the present invention; In the figure: 1, housing; 2, mobile unit; 21, first mobile module; 2101, first drive shaft; 2102, first driving wheel; 2103, first front supporting fork; 2104, first front supporting wheel shaft; 2105, first front supporting wheel; 2106, first wheel shaft; 2107, first passive wheel; 2108, first rear supporting fork; 2109, first rear adjusting rod; 2110, first rear supporting wheel shaft; 2111, first rear supporting wheel; 2112, first crawler; 2113, first tensioning wheel; 2114, first front adjusting rod ; 22. Second mobile module; 2201. Second drive shaft; 2202. Second driving wheel; 2203. Second front supporting fork; 2204. Second front supporting wheel axle; 2205. Second front supporting wheel; 2206. Second wheel axle; 2207. Second passive wheel; 2208. Second rear supporting fork; 2209. Second rear adjusting rod; 2210. Second rear supporting wheel axle; 2211. Second rear supporting wheel; 2212. Second crawler; 2213. Second tensioning wheel; 2214. Second front adjusting rod; 23. Third mobile module; 2301 , third drive shaft; 2302, third driving wheel; 2303, third front supporting fork; 2304, third front supporting wheel axle; 2305, third front supporting wheel; 2306, third wheel axle; 2307, third passive wheel; 2308, third rear supporting fork; 2309, third rear adjusting rod; 2310, third rear supporting wheel axle; 2311, third rear supporting wheel; 2312, third crawler; 2313, third tensioning wheel; 2314, third front adjusting rod; 24, fourth mobile module; 2401, fourth drive shaft; 2402, fourth Driving wheel; 2403, fourth front supporting fork; 2404, fourth front supporting wheel axle; 2405, fourth front supporting wheel; 2406, fourth wheel axle; 2407, fourth passive wheel; 2408, fourth rear supporting fork; 2409, fourth rear adjusting rod; 2410, fourth rear supporting wheel axle; 2411, fourth rear supporting wheel; 2412, fourth crawler track; 2413, fourth tensioning wheel; 2414, fourth front adjusting rod; 3, detection unit; 4, central control unit; 5, adjustment unit; 6, nondestructive detection unit; 61, probe; 7, communication unit. DETAILED DESCRIPTION

[0028] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0029] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0030] It should be pointed out that the data in this embodiment are obtained by comprehensive analysis and evaluation of the historical operation data of the central control unit of the present invention in the first three months of system operation and the corresponding historical operation results. Before this operation, the central control unit of the present invention comprehensively determines the values ​​of various preset parameter standards for this system operation based on the 12,245 robot non-destructive testing tests conducted in the first three months. It can be understood by those skilled in the art that the determination method for a single parameter of the above-mentioned system of the present invention can be to select the value with the highest proportion as the preset standard parameter according to the data distribution, use weighted summation to use the obtained value as the preset standard parameter, substitute each historical data into a specific formula and use the value obtained by the formula as the preset standard parameter or other selection methods, as long as the system of the present invention can clearly define different specific situations in the single judgment process through the obtained values.

[0031] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0032] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 as well as Figure 6 As shown, there are respectively a schematic diagram of the structure of the narrow gap crawling non-destructive testing robot control system of an embodiment of the present invention; a schematic diagram of the partial structure of the first mobile module and the second mobile module of the embodiment; a schematic diagram of the partial structure of the first mobile module and the second mobile module of the embodiment; a schematic diagram of the partial structure of the third mobile module and the fourth mobile module of the embodiment; a schematic diagram of the partial structure of the third mobile module and the fourth mobile module of the embodiment; a schematic diagram of the method for determining whether the operation of the mobile unit of the embodiment meets the preset standards.

[0033] The narrow gap crawling nondestructive testing robot control system of the embodiment of the present invention includes: Shell 1; The moving unit 2 is used to drive the housing 1 to move, and includes a first moving module 21 and a second moving module 22 arranged on the left side of the vehicle body, and a third moving module 23 and a fourth moving module 24 arranged on the right side of the vehicle body; A detection unit 3, which is connected to the mobile unit 2 and is used to detect the crawling parameters of the mobile unit 2, wherein the crawling parameters include the vertical distance between the position point after the robot crawls a preset length and the preset position point, the offset angle between the first crawler 2112 and the horizontal direction, the flatness of the gap surfaces on both sides of the gap, and the tensioning force of the first tensioning wheel 2113 and the tensioning force of the second tensioning wheel 2213; The central control unit 4 is connected to the detection unit 3, and is used to determine whether the operation of the mobile unit 2 meets the preset standard according to the vertical distance between the position point after the robot crawls the preset length and the preset position point measured by the detection unit 3, and if it does not meet the preset standard, determine that the reason for not meeting the preset standard is that the robot's own weight causes the crawling deviation, or the friction between the robot and the gap surface does not meet the preset standard, resulting in the crawling deviation; An adjustment unit 5, which is connected to the central control unit 4 and the mobile unit 2, and is used to adjust the operating parameters of the corresponding components in the operation of the system to corresponding values ​​according to the result determined by the central control unit 4; The nondestructive testing unit 6 includes a probe 61 for nondestructive testing and a stepping motor for adjusting the lifting and lowering of the probe; The communication unit 7 is connected to the nondestructive testing module and is used to transmit the testing information collected by the nondestructive testing unit 6 .

[0034] Specifically, the first moving module 21 includes a first driving wheel 2102 connected to the first driving shaft 2101 for pulling the first moving module 21, a first front supporting fork 2103 movably connected to the first driving shaft 2101 at one end, a first front supporting wheel 2105 shaft 2104 located at one end of the first front supporting fork 2103 away from the first driving shaft 2101, a first front supporting wheel 2105 connected to the first front supporting wheel 2105 shaft 2104, a first passive wheel 2107 connected to the first wheel shaft 2106, a first rear supporting fork 2108 movably connected to the first wheel shaft 2106, and a first rear supporting wheel 2108 connected to the first rear supporting wheel 2108 for adjusting the first rear supporting wheel 2105. A first rear adjustment rod 2109 for supporting the angle of the support fork 2108, a first rear support wheel 2111 shaft 2110 located at the end of the first rear support fork 2108 away from the first wheel axle 2106, a first rear support wheel 2111 connected to the first rear support wheel 2111 shaft 2110, a first crawler track 2112 for driving the first front support wheel 2105, the first rear support wheel 2111 and the first driven wheel 2107 to rotate by rotating the first driving wheel 2102, a first tensioning wheel 2113 for tensioning the first crawler track 2112, and a first front adjustment rod 2114 connected to the first front support fork 2103 for adjusting the supporting angle of the first front support fork 2103; The second moving module 22 includes a second driving wheel 2202 connected to the second driving shaft 2201 for pulling the second moving module 22, a second front supporting fork 2203 movably connected to the second driving shaft 2201 at one end, a second front supporting wheel 2205 shaft 2204 located at the end of the second front supporting fork 2203 away from the second driving shaft 2201, a second front supporting wheel 2205 connected to the second front supporting wheel 2205 shaft 2204, a second passive wheel 2207 connected to the second wheel shaft 2206, a second rear supporting fork 2208 movably connected to the second wheel shaft 2206, and a second rear supporting fork 2208 connected to the second rear supporting fork 2208 for adjusting the second rear supporting fork 2208. a second rear adjusting rod 2209 for adjusting the support angle of the second rear support fork 2208, a second rear supporting wheel 2211 shaft 2210 located at an end of the second rear supporting fork 2208 away from the second wheel axle 2206, a second rear supporting wheel 2211 connected to the second rear supporting wheel 2211 shaft 2210, a second crawler track 2212 for rotating the second front supporting wheel 2205, the second rear supporting wheel 2211 and the second driven wheel 2207 by rotating the second driving wheel 2202, a second tensioning wheel 2213 for tensioning the second crawler track 2212, and a second front adjusting rod 2214 connected to the second front supporting fork 2203 for adjusting the support angle of the second front supporting fork 2203; The third mobile module 23 includes a third active wheel 2302 connected to the third drive shaft 2301 for towing the third mobile module 23, a third front support fork 2303 movably connected to the third drive shaft 2301 at one end, a third front support wheel 2305 shaft 2304 located at the end of the third front support fork 2303 away from the third drive shaft 2301, a third front support wheel 2305 connected to the third front support wheel 2305 shaft 2304, a third passive wheel 2307 connected to the third wheel shaft 2306, a third rear support fork 2308 movably connected to the third wheel shaft 2306, and a third rear support fork 2308 connected to the third rear support fork 2308 for adjusting the third rear support fork 2308. a third rear adjusting rod 2309 for adjusting the support angle of the third front support fork 2308, a third rear supporting wheel 2311 shaft 2310 located at the end of the third rear supporting fork 2308 away from the third wheel axle 2306, a third rear supporting wheel 2311 connected to the third rear supporting wheel 2311 shaft 2310, a third crawler track 2312 for driving the third front supporting wheel 2305, the third rear supporting wheel 2311 and the third driven wheel 2307 to rotate through the rotation of the third driving wheel 2302, a third tensioning wheel 2313 for tensioning the third crawler track 2312, and a third front adjusting rod 2314 connected to the third front supporting fork 2303 for adjusting the support angle of the third front supporting fork 2303; The fourth mobile module 24 includes a fourth active wheel 2402 connected to the fourth drive shaft 2401 for towing the fourth mobile module 24, a fourth front support fork 2403 movably connected to the fourth drive shaft 2401 at one end, a fourth front support wheel 2405 shaft 2404 located at the end of the fourth front support fork 2403 away from the fourth drive shaft 2401, a fourth front support wheel 2405 connected to the fourth front support wheel 2405 shaft 2404, a fourth passive wheel 2407 connected to the fourth wheel shaft 2406, a fourth rear support fork 2408 one end of which is movably connected to the fourth wheel shaft 2406, and a fourth rear support fork 2408 connected to the fourth rear support fork 2408 for adjusting the fourth rear support fork 2408. The fourth rear adjusting rod 2409 of the present invention comprises a fourth rear adjusting rod 2409 for adjusting the support angle of the fourth rear support wheel 2411 and a fourth rear supporting wheel 2411 shaft 2410 located at the end of the fourth rear supporting fork 2408 away from the fourth wheel axle 2406, a fourth rear supporting wheel 2411 connected to the fourth rear supporting wheel 2411 shaft 2410, a fourth track 2412 which drives the fourth front supporting wheel 2405, the fourth rear supporting wheel 2411 and the fourth driven wheel 2407 to rotate through the rotation of the fourth driving wheel 2402, a fourth tensioning wheel 2413 for tensioning the fourth track 2412, and a fourth front adjusting rod 2414 connected to the fourth front supporting fork 2403 for adjusting the support angle of the fourth front supporting fork 2403.

[0035] Specifically, the central control unit 4 controls the detection unit 3 to detect the vertical distance between the position point after the robot crawls a preset length and the preset position point under the first preset condition, and the central control unit 4 determines the determination method for whether the operation of the mobile unit 2 meets the preset standard according to the measured vertical distance, wherein: The first determination method is that the central control unit 4 determines that the operation of the mobile unit 2 meets the preset standard and performs non-destructive testing under narrow gap conditions according to the current operation mode; the first determination method satisfies that the vertical distance is less than the first preset vertical distance of 8 mm; The second determination method is that the central control unit 4 determines that the operation of the mobile unit 2 does not meet the preset standard and the reason for not meeting the preset standard is that the deadweight of the robot causes crawling deviation, and the central control unit 4 further controls the detection unit 3 to detect the deviation angle between the first crawler 2112 and the horizontal direction, and determines the secondary determination method for whether the operation of the mobile unit 2 meets the preset standard according to the measured deviation angle; the deviation angle is the acute angle between the first crawler 2112 and the horizontal direction; the second determination method satisfies that the vertical distance is greater than or equal to the first preset vertical distance and less than the second preset vertical distance 25mm; The third determination method is that the central control unit 4 determines that the operation of the mobile unit 2 does not meet the preset standard and the reason for not meeting the preset standard is that the friction between the robot and the gap surface is unqualified, resulting in crawling deviation, and the central control unit 4 loads the supporting forces of the first front adjustment rod 2114, the first rear adjustment rod 2109, the second front adjustment rod 2214, the second rear adjustment rod 2209, the third front adjustment rod 2314, the third rear adjustment rod 2309, the fourth front adjustment rod 2414 and the fourth rear adjustment rod 2409 to corresponding values ​​according to the difference between the measured vertical distance and the second preset vertical distance; the third determination method satisfies that the vertical distance is greater than or equal to the second preset vertical distance; The first preset condition is that the first track 2112 and the third track 2312 of the robot fit into the same gap surface of a gap of a preset width, the second track 2212 and the fourth track 2412 fit into another gap surface of the gap, and the third track 2312 and the fourth track 2412 are located above the first track 2112 and the second track 2212 in the horizontal direction, and the robot crawls a preset length of 2m in the horizontal direction.

[0036] Specifically, the central control unit 4 controls the detection unit 3 to detect the offset angle of the first crawler 2112 from the horizontal direction under the second determination mode, and the central control unit 4 determines the secondary determination mode for whether the operation of the mobile unit 2 meets the preset standard according to the measured offset angle, wherein: The first secondary determination method is that the central control unit 4 determines that the operation of the mobile unit 2 does not meet the preset standard, and the central control unit 4 loads the supporting forces of the first front adjustment rod 2114, the first rear adjustment rod 2109, the second front adjustment rod 2214, the second rear adjustment rod 2209, the third front adjustment rod 2314, the third rear adjustment rod 2309, the fourth front adjustment rod 2414 and the fourth rear adjustment rod 2409 to corresponding values ​​according to the difference between the measured vertical distance and the first preset vertical distance; the first secondary determination method satisfies that the offset angle is zero; The second secondary judgment method is that the central control unit 4 determines that the operation of the mobile unit 2 does not meet the preset standard, and the central control unit 4 increases the acceleration of the first driving wheel 2102 and the second driving wheel 2202 to corresponding values ​​according to the measured offset angle; the second secondary judgment method satisfies that the offset angle is greater than zero.

[0037] Specifically, the adjustment unit 5 determines the adjustment method for the acceleration of the first driving wheel 2102 and the second driving wheel 2202 according to the measured offset angle in the second secondary determination method, wherein: The first adjustment method is that the adjustment unit 5 uses the first preset adjustment coefficient 1.02 to increase the acceleration of the first driving wheel 2102 and the second driving wheel 2202 to the corresponding value; the first adjustment method satisfies that the offset angle is less than the first preset offset angle of 5°; The second adjustment method is that the adjustment unit 5 uses the second preset adjustment coefficient 1.04 to increase the acceleration of the first driving wheel 2102 and the second driving wheel 2202 to the corresponding value; the second adjustment method satisfies that the offset angle is greater than or equal to the first preset offset angle and less than the second preset offset angle 18°; The third adjustment method is that the adjustment unit 5 uses the third preset adjustment coefficient 1.08 to increase the acceleration of the first driving wheel 2102 and the second driving wheel 2202 to corresponding values; the third adjustment method satisfies that the offset angle is greater than or equal to the second preset offset angle.

[0038] Specifically, the central control unit 4 calculates the difference between the vertical distance and the second preset vertical distance under the third determination method, and records the difference as the distance difference, and the adjustment unit 5 determines the adjustment method for the supporting force of the first front adjustment rod 2114, the first rear adjustment rod 2109, the second front adjustment rod 2214, the second rear adjustment rod 2209, the third front adjustment rod 2314, the third rear adjustment rod 2309, the fourth front adjustment rod 2414, and the fourth rear adjustment rod 2409 according to the distance difference, wherein, The first supporting force adjustment method is that the adjustment unit 5 uses the first preset supporting force adjustment coefficient 1.05 to load the supporting forces of the first front adjusting rod 2114, the first rear adjusting rod 2109, the second front adjusting rod 2214, the second rear adjusting rod 2209, the third front adjusting rod 2314, the third rear adjusting rod 2309, the fourth front adjusting rod 2414 and the fourth rear adjusting rod 2409 to corresponding values; the first supporting force adjustment method satisfies that the distance difference is less than the first preset distance difference of 10 mm; The second supporting force adjustment method is that the adjustment unit 5 uses the second preset supporting force adjustment coefficient of 1.13 to load the supporting forces of the first front adjusting rod 2114, the first rear adjusting rod 2109, the second front adjusting rod 2214, the second rear adjusting rod 2209, the third front adjusting rod 2314, the third rear adjusting rod 2309, the fourth front adjusting rod 2414 and the fourth rear adjusting rod 2409 to corresponding values; the second supporting force adjustment method satisfies that the distance difference is greater than or equal to the first preset distance difference and less than the second preset distance difference of 23 mm; The third support force adjustment method is that the adjustment unit 5 uses the third preset support force adjustment coefficient of 1.20 to load the support forces of the first front adjustment rod 2114, the first rear adjustment rod 2109, the second front adjustment rod 2214, the second rear adjustment rod 2209, the third front adjustment rod 2314, the third rear adjustment rod 2309, the fourth front adjustment rod 2414 and the fourth rear adjustment rod 2409 to corresponding values; the third support force adjustment method satisfies that the distance difference is greater than or equal to the second preset distance difference.

[0039] Specifically, the central control unit 4 controls the detection unit 3 to detect the flatness of the gap surfaces on both sides of the gap under the second preset condition, and the central control unit 4 determines whether the tensioning force of the first tensioning wheel 2113, the second tensioning wheel 2213, the third tensioning wheel 2313 and the fourth tensioning wheel 2413 meets the preset standard according to the measured flatness, wherein, The first tensioning force determination method is that the central control unit 4 determines that the tensioning forces of the first tensioning wheel 2113, the second tensioning wheel 2213, the third tensioning wheel 2313 and the fourth tensioning wheel 2413 meet the preset standard, and performs non-destructive testing under narrow gap conditions according to the current operation mode; the first tensioning force determination method satisfies that the measured flatness is less than the preset flatness of 3.5 mm; The second tensioning force determination method is that the central control unit 4 determines that the tensioning forces of the first tensioning wheel 2113, the second tensioning wheel 2213, the third tensioning wheel 2313 and the fourth tensioning wheel 2413 do not meet the preset standard, and the adjustment unit 5 increases the tensioning forces of the first tensioning wheel 2113, the second tensioning wheel 2213, the third tensioning wheel 2313 and the fourth tensioning wheel 2413 to corresponding values ​​according to the difference between the flatness and the preset flatness; the second tensioning force determination method satisfies that the measured flatness is greater than or equal to the preset flatness; The second preset condition is met when the adjustment unit 5 completes the adjustment of the supporting force of the first front adjustment rod 2114, the first rear adjustment rod 2109, the second front adjustment rod 2214, the second rear adjustment rod 2209, the third front adjustment rod 2314, the third rear adjustment rod 2309, the fourth front adjustment rod 2414 and the fourth rear adjustment rod 2409.

[0040] Specifically, the central control unit 4 calculates the difference between the flatness and the preset flatness under the second tensioning force determination mode, and records the difference as the flatness difference. The adjustment unit 5 determines the adjustment mode of the tensioning force for the first tensioning wheel 2113, the second tensioning wheel 2213, the third tensioning wheel 2313 and the fourth tensioning wheel 2413 according to the flatness difference, wherein: The first tensioning force adjustment method is that the adjustment unit 5 uses the first preset tensioning force adjustment coefficient 1.1 to increase the tensioning force of the first tensioning wheel 2113, the second tensioning wheel 2213, the third tensioning wheel 2313 and the fourth tensioning wheel 2413 to the corresponding value; the first tensioning force adjustment method satisfies that the flatness difference is less than the first preset flatness difference of 1.2 mm; The second tensioning force adjustment method is that the adjustment unit 5 uses the second preset tensioning force adjustment coefficient 1.2 to increase the tensioning force of the first tensioning wheel 2113, the second tensioning wheel 2213, the third tensioning wheel 2313 and the fourth tensioning wheel 2413 to the corresponding value; the second tensioning force adjustment method satisfies that the flatness difference is greater than or equal to the first preset flatness difference and less than the second preset flatness difference of 2.7 mm; The third tensioning force adjustment method is that the adjustment unit 5 uses the third preset tensioning force adjustment coefficient 1.3 to increase the tension of the first tensioning wheel 2113, the second tensioning wheel 2213, the third tensioning wheel 2313 and the fourth tensioning wheel 2413 to the corresponding value; the third tensioning force adjustment method satisfies that the flatness difference is greater than or equal to the second preset flatness difference.

[0041] Specifically, the central control unit 4 controls the detection unit 3 to detect the tensioning force of the first tensioning wheel 2113 and the tensioning force of the second tensioning wheel 2213 under the third preset condition, and the central control unit 4 determines the determination method for whether the operation of the mobile unit 2 meets the preset standard according to the tensioning force difference between the measured tensioning force of the first tensioning wheel 2113 and the tensioning force of the second tensioning wheel 2213, wherein The first type of determination method is that the central control unit 4 determines that the operation of the mobile unit 2 does not meet the preset standard and the reason for not meeting the preset standard is that the gap has a horizontal arc, and the adjustment unit 5 increases the acceleration values ​​of the first driving wheel 2102 and the third driving wheel 2302 by corresponding values ​​according to the absolute value of the tension difference; the first type of determination method satisfies that the tension difference is less than zero; The second type of determination method is that the central control unit 4 determines that the operation of the mobile unit 2 meets the preset standard and performs non-destructive testing under narrow gap conditions according to the current operation mode; the second type of determination method satisfies that the tension difference is equal to zero; The third type of determination method is that the central control unit 4 determines that the operation of the mobile unit 2 does not meet the preset standard and does not meet the preset standard, and the adjustment unit 5 increases the acceleration values ​​of the second driving wheel 2202 and the fourth driving wheel 2402 by corresponding values ​​according to the tension difference; the third type of determination method satisfies that the tension difference is greater than zero; The third preset condition is met when the adjustment unit 5 completes the adjustment of the tensioning forces of the first tensioning wheel 2113 , the second tensioning wheel 2213 , the third tensioning wheel 2313 , and the fourth tensioning wheel 2413 .

[0042] Specifically, the central control unit 4 calculates the tension difference between the tension of the first tension wheel 2113 and the tension of the second tension wheel 2213 under the third type of determination method, and records the difference as the curve difference. The adjustment unit 5 determines the adjustment method for the acceleration of the second driving wheel 2202 and the fourth driving wheel 2402 according to the curve difference, wherein: The first acceleration adjustment method is that the adjustment unit 5 uses the first preset acceleration adjustment coefficient 1.05 to increase the acceleration of the second driving wheel 2202 and the fourth driving wheel 2402 to the corresponding value; the first acceleration adjustment method satisfies that the curve difference is less than the first preset curve difference of 1.20N; The second acceleration adjustment method is that the adjustment unit 5 uses the second preset acceleration adjustment coefficient 1.08 to increase the acceleration of the second driving wheel 2202 and the fourth driving wheel 2402 to the corresponding value; the second acceleration adjustment method satisfies that the curve difference is greater than or equal to the first preset curve difference and less than the second preset curve difference 1.80N; The third acceleration adjustment method is that the adjustment unit 5 uses the third preset acceleration adjustment coefficient 1.12 to increase the acceleration of the second driving wheel 2202 and the fourth driving wheel 2402 to corresponding values; the third acceleration adjustment method satisfies that the curve difference is greater than or equal to the second preset curve difference.

[0043] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A narrow gap crawling nondestructive testing robot control system, characterized in that: include: shell; A moving unit, used to drive the housing to move, including a first moving module and a second moving module arranged on the left side of the vehicle body, and a third moving module and a fourth moving module arranged on the right side of the vehicle body; a detection unit connected to the mobile unit and used to detect crawling parameters of the mobile unit, wherein the crawling parameters include a vertical distance between a position point after the robot crawls a preset length and a preset position point, an offset angle between the first crawler and the horizontal direction, a flatness of gap surfaces on both sides of the gap, and a tensioning force of the first tensioning wheel and a tensioning force of the second tensioning wheel; a central control unit connected to the detection unit, for determining whether the operation of the mobile unit meets the preset standard according to the vertical distance between the position point after the robot crawls the preset length and the preset position point measured by the detection unit, and determining that the reason for not meeting the preset standard is that the robot's own weight causes the crawling deviation, or the friction between the robot and the gap surface does not meet the preset standard, resulting in the crawling deviation; An adjustment unit, connected to the central control unit and the mobile unit, for adjusting the operating parameters of the corresponding components in the system operation to corresponding values ​​according to the result determined by the central control unit; A nondestructive testing unit, comprising a probe for nondestructive testing and a stepping motor for adjusting the lifting and lowering of the probe; A communication unit is connected to the nondestructive testing module and is used to transmit the testing information collected by the nondestructive testing unit.

2. The narrow gap crawling nondestructive testing robot control system according to claim 1 is characterized in that: The first moving module includes a first driving wheel connected to the first driving shaft for pulling the first moving module, a first front supporting fork movably connected to the first driving shaft at one end, a first front supporting wheel axle located at an end of the first front supporting fork away from the first driving shaft, a first front supporting wheel connected to the first front supporting wheel axle, a first passive wheel connected to the first wheel axle, a first rear supporting fork movably connected to the first wheel axle at one end, a first rear adjusting rod connected to the first rear supporting fork for adjusting a supporting angle of the first rear supporting fork, a first rear supporting wheel axle located at an end of the first rear supporting fork away from the first wheel axle, a first rear supporting wheel connected to the first rear supporting wheel axle, a first crawler track that drives the first front supporting wheel, the first rear supporting wheel and the first passive wheel to rotate through the rotation of the first driving wheel, a first tensioning wheel for tensioning the first crawler track, and a first front adjusting rod connected to the first front supporting fork for adjusting a supporting angle of the first front supporting fork; The second moving module includes a second driving wheel connected to the second driving shaft for towing the second moving module, a second front supporting fork movably connected to the second driving shaft at one end, a second front supporting wheel axle located at the second front supporting fork away from the second driving shaft, a second front supporting wheel connected to the second front supporting wheel axle, a second passive wheel connected to the second wheel axle, a second rear supporting fork movably connected to the second wheel axle at one end, a second rear adjusting rod connected to the second rear supporting fork for adjusting a supporting angle of the second rear supporting fork, a second rear supporting wheel axle located at the second rear supporting fork away from the second wheel axle, a second rear supporting wheel connected to the second rear supporting wheel axle, a second track for driving the second front supporting wheel, the second rear supporting wheel and the second passive wheel to rotate through the rotation of the second driving wheel, a second tensioning wheel for tensioning the second track, and a second front adjusting rod connected to the second front supporting fork for adjusting a supporting angle of the second front supporting fork; The third movable module includes a third driving wheel connected to the third driving shaft for towing the third movable module, a third front supporting fork with one end movably connected to the third driving shaft, a third front supporting wheel axle located at the third front supporting fork away from one end of the third driving shaft, a third front supporting wheel connected to the third front supporting wheel axle, a third passive wheel connected to the third wheel axle, a third rear supporting fork with one end movably connected to the third wheel axle, a third rear adjusting rod connected to the third rear supporting fork for adjusting a supporting angle of the third rear supporting fork, a third rear supporting wheel axle located at one end of the third rear supporting fork away from the third wheel axle, a third rear supporting wheel connected to the third rear supporting wheel axle; a third crawler that drives the third front supporting wheel, the third rear supporting wheel and the third passive wheel to rotate through the rotation of the third driving wheel, a third tensioning wheel for tensioning the third crawler, and a third front adjusting rod connected to the third front supporting fork for adjusting a supporting angle of the third front supporting fork; The fourth moving module includes a fourth driving wheel connected to the fourth driving shaft for towing the fourth moving module, a fourth front supporting fork movably connected to the fourth driving shaft at one end, a fourth front supporting wheel axle located at the fourth front supporting fork away from the fourth driving shaft, a fourth front supporting wheel connected to the fourth front supporting wheel axle, a fourth passive wheel connected to the fourth wheel axle, a fourth rear supporting fork movably connected to the fourth wheel axle at one end, a fourth rear adjusting rod connected to the fourth rear supporting fork for adjusting a supporting angle of the fourth rear supporting fork, a fourth rear supporting wheel axle located at the fourth rear supporting fork away from the fourth wheel axle, a fourth rear supporting wheel connected to the fourth rear supporting wheel axle, a fourth track that drives the fourth front supporting wheel, the fourth rear supporting wheel and the fourth passive wheel to rotate through the rotation of the fourth driving wheel, a fourth tensioning wheel for tensioning the fourth track, and a fourth front adjusting rod connected to the fourth front supporting fork for adjusting the supporting angle of the fourth front supporting fork.

3. The narrow gap crawling nondestructive testing robot control system according to claim 1 is characterized in that: The central control unit controls the detection unit to detect the vertical distance between the position point after the robot crawls a preset length and the preset position point under the first preset condition, and the central control unit determines the determination method for whether the operation of the mobile unit meets the preset standard according to the measured vertical distance, wherein: The first determination method is that the central control unit determines that the operation of the mobile unit meets the preset standard and performs nondestructive testing under narrow gap conditions according to the current operation mode; the first determination method satisfies that the vertical distance is less than the first preset vertical distance; The second determination method is that the central control unit determines that the operation of the mobile unit does not meet the preset standard and the reason for not meeting the preset standard is that the deadweight of the robot causes crawling deviation, and the central control unit further controls the detection unit to detect the deviation angle between the first crawler and the horizontal direction, and determines the secondary determination method for whether the operation of the mobile unit meets the preset standard according to the measured deviation angle; the deviation angle is the acute angle between the first crawler and the horizontal direction; the second determination method satisfies that the vertical distance is greater than or equal to the first preset vertical distance and less than the second preset vertical distance; The third determination method is that the central control unit determines that the operation of the mobile unit does not meet the preset standard and the reason for not meeting the preset standard is that the friction between the robot and the gap surface is unqualified, resulting in crawling deviation, and the central control unit loads the supporting forces of the first front adjustment rod, the first rear adjustment rod, the second front adjustment rod, the second rear adjustment rod, the third front adjustment rod, the third rear adjustment rod, the fourth front adjustment rod and the fourth rear adjustment rod to corresponding values ​​according to the difference between the measured vertical distance and the second preset vertical distance; the third determination method satisfies that the vertical distance is greater than or equal to the second preset vertical distance; The first preset condition is that the first track and the third track of the robot fit the same gap surface of a gap of a preset width, the second track and the fourth track fit the other gap surface of the gap, and the third track and the fourth track are located above the first track and the second track in the horizontal direction, and the robot crawls a preset length in the horizontal direction.

4. The narrow gap crawling nondestructive testing robot control system according to claim 3 is characterized in that: The central control unit controls the detection unit to detect the offset angle of the first crawler with the horizontal direction under the second determination mode, and the central control unit determines a secondary determination mode for whether the operation of the mobile unit meets the preset standard according to the measured offset angle, wherein: The first secondary determination method is that the central control unit determines that the operation of the mobile unit does not meet the preset standard, and the central control unit loads the supporting forces of the first front adjustment rod, the first rear adjustment rod, the second front adjustment rod, the second rear adjustment rod, the third front adjustment rod, the third rear adjustment rod, the fourth front adjustment rod, and the fourth rear adjustment rod to corresponding values ​​according to the difference between the measured vertical distance and the first preset vertical distance; the first secondary determination method satisfies that the offset angle is zero; The second secondary judgment method is that the central control unit determines that the operation of the mobile unit does not meet the preset standard, and the central control unit increases the acceleration of the first driving wheel and the second driving wheel to corresponding values ​​according to the measured offset angle; the second secondary judgment method satisfies that the offset angle is greater than zero.

5. The narrow gap crawling nondestructive testing robot control system according to claim 4 is characterized in that: The regulating unit determines the regulating mode for the acceleration of the first driving wheel and the second driving wheel according to the measured offset angle in the second secondary determination mode, wherein: The first adjustment method is that the adjustment unit uses a first preset adjustment coefficient to increase the acceleration of the first driving wheel and the second driving wheel to a corresponding value; the first adjustment method satisfies that the offset angle is less than the first preset offset angle; The second adjustment method is that the adjustment unit uses a second preset adjustment coefficient to increase the acceleration of the first driving wheel and the second driving wheel to a corresponding value; the second adjustment method satisfies that the offset angle is greater than or equal to the first preset offset angle and less than the second preset offset angle; The third adjustment method is that the adjustment unit uses a third preset adjustment coefficient to increase the acceleration of the first driving wheel and the second driving wheel to corresponding values; the third adjustment method satisfies that the offset angle is greater than or equal to the second preset offset angle.

6. The narrow gap crawling nondestructive testing robot control system according to claim 5 is characterized in that: The central control unit calculates the difference between the vertical distance and the second preset vertical distance under the third determination method, and records the difference as the distance difference, and the adjustment unit determines the adjustment method for the supporting force of the first front adjustment rod, the first rear adjustment rod, the second front adjustment rod, the second rear adjustment rod, the third front adjustment rod, the third rear adjustment rod, the fourth front adjustment rod, and the fourth rear adjustment rod according to the distance difference, wherein: The first supporting force adjustment mode is that the adjustment unit uses a first preset supporting force adjustment coefficient to load the supporting forces of the first front adjusting rod, the first rear adjusting rod, the second front adjusting rod, the second rear adjusting rod, the third front adjusting rod, the third rear adjusting rod, the fourth front adjusting rod and the fourth rear adjusting rod to corresponding values; the first supporting force adjustment mode satisfies that the distance difference is less than the first preset distance difference; The second supporting force adjustment method is that the adjustment unit uses a second preset supporting force adjustment coefficient to load the supporting forces of the first front adjusting rod, the first rear adjusting rod, the second front adjusting rod, the second rear adjusting rod, the third front adjusting rod, the third rear adjusting rod, the fourth front adjusting rod and the fourth rear adjusting rod to corresponding values; the second supporting force adjustment method satisfies that the distance difference is greater than or equal to the first preset distance difference and less than the second preset distance difference; The third support force adjustment method is that the adjustment unit uses a third preset support force adjustment coefficient to load the support forces of the first front adjustment rod, the first rear adjustment rod, the second front adjustment rod, the second rear adjustment rod, the third front adjustment rod, the third rear adjustment rod, the fourth front adjustment rod and the fourth rear adjustment rod to corresponding values; the third support force adjustment method satisfies that the distance difference is greater than or equal to the second preset distance difference.

7. The narrow gap crawling nondestructive testing robot control system according to claim 6, characterized in that: The central control unit controls the detection unit to detect the flatness of the gap surfaces on both sides of the gap under the second preset condition, and the central control unit determines whether the tensioning force of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel and the fourth tensioning wheel meets the preset standard according to the measured flatness, wherein: The first tensioning force determination method is that the central control unit determines that the tensioning forces of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel and the fourth tensioning wheel meet the preset standard, and performs non-destructive testing under narrow gap conditions according to the current operation mode; the first tensioning force determination method satisfies that the measured flatness is less than the preset flatness; The second tension force determination method is that the central control unit determines that the tension of the first tension wheel, the second tension wheel, the third tension wheel and the fourth tension wheel do not meet the preset standard, and the adjustment unit increases the tension of the first tension wheel, the second tension wheel, the third tension wheel and the fourth tension wheel to a corresponding value according to the difference between the flatness and the preset flatness; the second tension force determination method satisfies that the measured flatness is greater than or equal to the preset flatness; The second preset condition is satisfied when the adjustment unit completes the adjustment of the supporting forces of the first front adjustment rod, the first rear adjustment rod, the second front adjustment rod, the second rear adjustment rod, the third front adjustment rod, the third rear adjustment rod, the fourth front adjustment rod, and the fourth rear adjustment rod.

8. The narrow gap crawling nondestructive testing robot control system according to claim 7, characterized in that: The central control unit calculates the difference between the flatness and the preset flatness under the second tensioning force determination mode, and records the difference as the flatness difference. The adjustment unit determines the adjustment mode for the tensioning force of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel, and the fourth tensioning wheel according to the flatness difference, wherein: The first tensioning force adjustment method is that the adjustment unit uses a first preset tensioning force adjustment coefficient to increase the tensioning forces of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel, and the fourth tensioning wheel to corresponding values; the first tensioning force adjustment method satisfies that the flatness difference is less than the first preset flatness difference; The second tensioning force adjustment method is that the adjustment unit uses a second preset tensioning force adjustment coefficient to increase the tensioning force of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel and the fourth tensioning wheel to a corresponding value; the second tensioning force adjustment method satisfies that the flatness difference is greater than or equal to the first preset flatness difference and less than the second preset flatness difference; The third tensioning force adjustment method is that the adjustment unit uses the third preset tensioning force adjustment coefficient to increase the tension of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel and the fourth tensioning wheel to the corresponding value; the third tensioning force adjustment method satisfies that the flatness difference is greater than or equal to the second preset flatness difference.

9. The narrow gap crawling nondestructive testing robot control system according to claim 8, characterized in that: The central control unit controls the detection unit to detect the tension of the first tension wheel and the tension of the second tension wheel under the third preset condition, and the central control unit determines the determination method for whether the operation of the mobile unit meets the preset standard according to the tension difference between the measured tension of the first tension wheel and the tension of the second tension wheel, wherein The first type of determination method is that the central control unit determines that the operation of the mobile unit does not meet the preset standard and the reason for not meeting the preset standard is that the gap has a horizontal arc, and the adjustment unit increases the acceleration values ​​of the first driving wheel and the third driving wheel by corresponding values ​​according to the absolute value of the tension difference; the first type of determination method satisfies that the tension difference is less than zero; The second determination method is that the central control unit determines that the operation of the mobile unit meets the preset standard and performs non-destructive testing under narrow gap conditions according to the current operation mode; The second type of determination method satisfies that the tension force difference is equal to zero; The third type of determination method is that the central control unit determines that the operation of the mobile unit does not meet the preset standard and does not meet the preset standard, and the adjustment unit increases the acceleration of the second driving wheel and the fourth driving wheel by a corresponding value according to the tension force difference; The third type of determination method satisfies that the tension difference is greater than zero; The third preset condition is met so that the adjustment unit completes the adjustment of the tensioning forces of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel, and the fourth tensioning wheel.

10. The narrow gap crawling nondestructive testing robot control system according to claim 9, characterized in that: The central control unit calculates the tension difference between the tension of the first tension wheel and the tension of the second tension wheel under the third determination method, and records the difference as the curve difference. The adjustment unit determines the adjustment method for the acceleration of the second driving wheel and the fourth driving wheel according to the curve difference, wherein: The first acceleration adjustment method is that the adjustment unit uses a first preset acceleration adjustment coefficient to increase the acceleration of the second driving wheel and the fourth driving wheel to corresponding values; the first acceleration adjustment method satisfies that the curve difference is less than the first preset curve difference; The second acceleration adjustment method is that the adjustment unit uses a second preset acceleration adjustment coefficient to increase the acceleration of the second driving wheel and the fourth driving wheel to a corresponding value; the second acceleration adjustment method satisfies that the curve difference is greater than or equal to the first preset curve difference and less than the second preset curve difference; The third acceleration adjustment method is that the adjustment unit uses a third preset acceleration adjustment coefficient to increase the acceleration of the second driving wheel and the fourth driving wheel to corresponding values; the third acceleration adjustment method satisfies that the curve difference is greater than or equal to the second preset curve difference.

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