A narrow gap crawling non-destructive testing robot control system

Abstract

This invention relates to the field of robotics, and more particularly to a control system for a narrow-gap crawling non-destructive testing robot, comprising: a housing; a moving unit for moving the housing; a detection unit for detecting the crawling parameters of the moving unit; a central control unit for determining whether the movement of the moving unit conforms to a preset standard based on the vertical distance between the robot's position after crawling a preset length and the preset position point measured by the detection unit, and determining that the reason for non-compliance is that the robot's own weight causes crawling deviation, or that the friction between the robot and the gap surface does not meet the preset standard; an adjustment unit for adjusting the operating parameters of corresponding components in the system to corresponding values; a non-destructive testing unit for non-destructive testing; and a communication unit for transmitting the testing information collected by the non-destructive testing unit, which can precisely move and inspect welding points or welds within narrow gaps and vertical seams.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a control system for a narrow-gap crawling non-destructive testing robot. Background Technology

[0002] Non-destructive testing, also known as non-destructive inspection, is a technique that uses principles and technologies such as radiography, ultrasound, and electromagnetics, combined with instruments, to detect defects, chemical parameters, and other properties in materials, parts, and equipment without damaging or affecting their performance. Ultrasonic testing is one such non-destructive testing method, commonly used for flaw detection in metallurgical and welding processes.

[0003] Chinese Patent Publication No. CN114046923A discloses a non-destructive testing method for post-tensioned prestressed corrugated pipes. This method uses a traction trolley equipped with an endoscope probe for detection, displays images on a monitor, and determines the defect type based on the displayed images and judgment criteria. However, the above technical solution cannot reach the predetermined inspection location under conditions of narrow gaps.

[0004] Chinese Patent Publication No. CN207623286U discloses an ultrasonic guided wave testing device for in-service energy storage springs in confined spaces, comprising a connecting rod and a handle head; one end of the connecting rod and the handle head are integrally formed or detachably connected, and the other end of the handle head is equipped with a connector. The connecting rod is connected to an ultrasonic transducer and has a hollow internal structure. The handle head operates the connecting rod, and a coaxial cable is installed inside. The connector is connected to the ultrasonic transducer through the coaxial cable. However, the above technical solution cannot achieve flaw detection at some test locations located deep within gaps.

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

[0006] Therefore, the present invention provides a narrow-gap crawling non-destructive testing robot control system to overcome the problem in the prior art that it is impossible to effectively and accurately detect welding points or welds in narrow gaps, especially vertical gaps.

[0007] To achieve the above objectives, the present invention provides a control system for a narrow-gap crawling non-destructive testing robot, comprising: shell; The moving unit, used to move the outer casing, includes a first moving module and a second moving module disposed on the left side of the vehicle body, and a third moving module and a fourth moving module disposed on the right side of the vehicle body; A detection unit, which is connected to the moving unit, is used to detect the crawling parameters of the moving unit. The crawling parameters include the vertical distance between the position point of the robot after crawling a preset length and the preset position point, the offset angle of the first track and the horizontal direction, the flatness of the gap surface on both sides of the gap, and the tension force of the first tension wheel and the tension force of the second tension wheel. The central control unit is connected to the detection unit and is used to determine whether the operation of the moving unit meets the preset standard based on the vertical distance between the position point of the robot after crawling a preset length and the preset position point measured by the detection unit. If the operation does not meet the preset standard, 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. An adjustment unit, which is connected to the central control unit and the moving unit, is used to adjust the operating parameters of the corresponding components in the system to the corresponding values ​​according to the result determined by the central control unit. The non-destructive testing unit includes a probe for non-destructive testing and a stepper motor for adjusting the lifting and lowering of the probe; A communication unit, which is connected to the non-destructive testing module, is used to transmit the testing information collected by the non-destructive testing unit.

[0008] Furthermore, the first moving module includes a first drive wheel connected to the first drive shaft for traction of the first moving module, a first front support fork movably connected to the first drive shaft at one end, a first front support wheel axle located at the end of the first front support fork away from the first drive shaft, a first front support wheel connected to the first front support wheel axle, a first driven wheel connected to the first wheel axle, a first rear support fork movably connected to the first wheel axle at one end, a first rear adjusting rod connected to the first rear support fork for adjusting the support angle of the first rear support fork, a first rear support wheel axle located at the end of the first rear support fork away from the first wheel axle, a first rear support wheel connected to the first rear support wheel axle, a first track that drives the first front support wheel, the first rear support wheel and the first driven wheel to rotate through the rotation of the first drive wheel, a first tensioning wheel for tensioning the first track, and a first front adjusting rod connected to the first front support fork for adjusting the support angle of the first front support fork; The second moving module includes a second drive wheel connected to a second drive shaft for traction, a second front support fork movably connected to the second drive shaft at one end, a second front support wheel axle located at the end of the second front support fork away from the second drive shaft, a second front support wheel connected to the second front support wheel axle, a second driven wheel connected to the second wheel axle, a second rear support fork movably connected to the second wheel axle at one end, a second rear adjusting rod connected to the second rear support fork for adjusting the support angle of the second rear support fork, a second rear support wheel axle located at the end of the second rear support fork away from the second wheel axle, a second rear support wheel connected to the second rear support wheel axle, a second track that drives the second front support wheel, the second rear support wheel, and the second driven wheel to rotate through the rotation of the second drive wheel, a second tensioning wheel for tensioning the second track, and a second front adjusting rod connected to the second front support fork for adjusting the support angle of the second front support fork. The third moving module includes a third drive wheel connected to a third drive shaft for traction of the third moving module, a third front support fork movably connected to the third drive shaft at one end, a third front support wheel axle located at the end of the third front support fork away from the third drive shaft, a third front support wheel connected to the third front support wheel axle, a third driven wheel connected to the third wheel axle, a third rear support fork movably connected to the third wheel axle at one end, a third rear adjusting rod connected to the third rear support fork for adjusting the support angle of the third rear support fork, a third rear support wheel axle located at the end of the third rear support fork away from the third wheel axle, a third rear support wheel connected to the third rear support wheel axle, a third track that drives the third front support wheel, the third rear support wheel and the third driven wheel to rotate through the rotation of the third drive wheel, a third tensioning wheel for tensioning the third track, and a third front adjusting rod connected to the third front support fork for adjusting the support angle of the third front support fork; The fourth moving module includes a fourth drive wheel connected to the fourth drive shaft for traction, a fourth front support fork movably connected to the fourth drive shaft at one end, a fourth front support wheel axle located at the end of the fourth front support fork away from the fourth drive shaft, a fourth front support wheel connected to the fourth front support wheel axle, a fourth driven wheel connected to the fourth wheel axle, a fourth rear support fork movably connected to the fourth wheel axle at one end, a fourth rear adjusting rod connected to the fourth rear support fork for adjusting the support angle of the fourth rear support fork, a fourth rear support wheel axle located at the end of the fourth rear support fork away from the fourth wheel axle, a fourth rear support wheel connected to the fourth rear support wheel axle, a fourth track that drives the fourth front support wheel, the fourth rear support wheel, and the fourth driven wheel to rotate through the rotation of the fourth drive wheel, a fourth tensioning wheel for tensioning the fourth track, and a fourth front adjusting rod connected to the fourth front support fork for adjusting the support angle of the fourth front support fork.

[0009] Furthermore, under a first preset condition, the central control unit controls the detection unit to detect the vertical distance between the robot's position point after crawling a preset length and a preset position point. Based on the measured vertical distance, the central control unit determines a method for judging whether the movement of the mobile unit meets a preset standard. The first 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 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 robot's own weight causes crawling deviation. The central control unit further controls the detection unit to detect the deviation angle between the first track and the horizontal direction, and determines a secondary determination method for whether the operation of the mobile unit meets the preset standard based on the measured deviation angle; the deviation angle is the acute angle between the first track 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, causing crawling deviation. The central control unit loads the support 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 to the corresponding value 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 together at the same gap surface with a preset width of gap, the second track and the fourth track fit together at another gap surface, 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] Furthermore, under the second determination method, the central control unit controls the detection unit to detect the offset angle of the first track relative to the horizontal direction. Based on the measured offset angle, the central control unit determines a secondary determination method to determine whether the operation of the moving unit meets the preset standard. The first and second determination methods involve the central control unit determining that the operation of the moving unit does not meet the preset standard. Based on the difference between the measured vertical distance and the first preset vertical distance, the central control unit applies the support 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 to the corresponding value. The first and second determination methods satisfy the condition that the offset angle is zero. The second secondary determination method is that the central control unit determines that the operation of the moving 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 the corresponding value according to the measured offset angle; the second secondary determination method satisfies that the offset angle is greater than zero.

[0011] Furthermore, under the second secondary determination method, the adjustment unit determines the adjustment method for the acceleration of the first driving wheel and the second driving wheel based on the measured offset angle, wherein, The first adjustment method involves the adjustment unit using a first preset adjustment coefficient to increase the acceleration of the first drive wheel and the second drive 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 involves the adjustment unit using a second preset adjustment coefficient to increase the acceleration of the first drive wheel and the second drive 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 drive wheel and the second drive wheel to the corresponding value; 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 this difference as the distance difference. The adjustment unit determines the adjustment method of the support force for 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 based on the distance difference. The first support force adjustment method is that the adjustment unit uses a first preset support force adjustment coefficient to load the support 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 to the corresponding values; the first support force adjustment method satisfies that the distance difference is less than the first preset distance difference; The second support force adjustment method involves the adjustment unit using a second 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 second support 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 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 to the corresponding value; the third support force adjustment method satisfies that the distance difference is greater than or equal to the second preset distance difference.

[0013] Furthermore, under a second preset condition, the central control unit controls the detection unit to detect the flatness of the gap surfaces on both sides of the gap. Based on the measured flatness, the central control unit determines a method for judging whether the tension of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel, and the fourth tensioning wheel meets a preset standard. The first tension determination method is that the central control unit determines that the tension of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel, and the fourth tensioning wheel meets the preset standard, and performs non-destructive testing under narrow gap conditions according to the current operating mode; the first tension determination method satisfies that the measured flatness is less than the preset flatness. The second tension determination method involves the central control unit determining that the tension of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel, and the fourth tensioning wheel does not meet the preset standard. The adjustment unit then increases the tension of these four tensioning wheels to the corresponding values ​​based on the difference between the flatness and the preset flatness. The second tension determination method satisfies the condition that the measured flatness is greater than or equal to the preset flatness. When the second preset condition is met, the adjustment unit completes the adjustment of the support 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.

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

[0015] Furthermore, under a third preset condition, the central control unit controls the detection unit to detect the tension of the first tensioning wheel and the tension of the second tensioning wheel. The central control unit determines, based on the tension difference between the measured tension of the first and second tensioning wheels, whether the operation of the moving unit meets a preset standard. The first type of determination method is that the central control unit determines that the operation of the moving unit does not meet the preset standard and the reason for not meeting the preset standard is that the gap has a horizontal arc. The adjustment unit increases the acceleration of the first driving wheel and the third driving wheel by the corresponding value 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 moving 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 moving unit does not meet the preset standard and the adjustment unit increases the acceleration of the second driving wheel and the fourth driving wheel by the 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 satisfies the adjustment unit to complete the adjustment of the tension of the first tension wheel, the second tension wheel, the third tension wheel, and the fourth tension wheel.

[0016] Furthermore, under the third type of determination method, the central control unit calculates the tension difference between the tension of the first tensioning wheel and the tension of the second tensioning wheel, and records this difference as the cornering difference. The adjustment unit determines the adjustment method for the acceleration of the second driving wheel and the fourth driving wheel based on the cornering difference. The first acceleration adjustment method involves the adjustment unit using a first preset acceleration adjustment coefficient to increase the acceleration of the second drive wheel and the fourth drive wheel to a corresponding value; the first acceleration adjustment method satisfies the condition that the curve difference is less than the first preset curve difference. The second acceleration adjustment method involves the adjustment unit using a second preset acceleration adjustment coefficient to increase the acceleration of the second drive wheel and the fourth drive wheel to corresponding values; 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 drive wheel and the fourth drive wheel to the corresponding value; 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 a non-destructive testing robot in narrow gaps by using a first and second moving module set on the left side of the vehicle body, and a third and fourth moving module set on the right side of the vehicle body. At the same time, the central control module determines whether the operation of the moving unit meets the preset standard by judging the vertical distance between the position point after the robot has crawled a preset length and the preset position point measured by the detection unit. If the robot does not meet the preset standard, the reason for the non-compliance is determined to be 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, thus achieving precise movement of the robot crawling in narrow gaps.

[0018] Furthermore, the moving module of the present invention is equipped with an angle-adjustable front support fork and a rear support fork, and front and rear support wheels are respectively provided on the front and rear support forks. Through four sets of moving modules, crawling with narrow gaps of different widths is realized. At the same time, a tensioning wheel is also provided to complete the tension 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 moving unit conforms to the preset standard based on the vertical distance between the position point after the robot has crawled a preset length and the preset position point measured by the detection unit. If the robot does not conform to the preset standard, the control unit can determine that the reason for the non-compliance is that the robot's own weight causes the crawling deviation, or that the friction between the robot and the gap surface does not meet the preset standard, thereby achieving accurate determination 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 standard because the robot's own weight causes crawling deviation, the central control unit of the present invention makes a secondary determination on whether the operation of the mobile unit meets the preset standard by detecting the offset angle between the first track and the horizontal direction, thereby realizing the precise displacement of the mobile unit.

[0021] Furthermore, when the robot is walking horizontally and there is an offset angle, the adjustment unit increases the acceleration of the first drive wheel and the second drive wheel to the corresponding value, thereby overcoming the offset in position and direction of crawling caused by gravity.

[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 making the robot stably fixed in the gap.

[0023] Furthermore, after the adjustment unit completes the adjustment of the support 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, when the wall surface is uneven, the tension of the tension wheel is increased to ensure the robot's stable crawling.

[0024] Furthermore, when it is necessary to increase the tension of the tensioning wheel, the adjustment unit of the present invention uses different adjustment coefficients to achieve a precise increase in tension.

[0025] Furthermore, after the tension adjustment is completed, the present invention further detects the tension difference between the tension of the first tension wheel and the tension of the second tension wheel. When the difference is not zero, it is determined that there is curvature in the gap, and the acceleration of the first and third driving wheels, or the second and fourth driving wheels, is adjusted accordingly, so that the robot can crawl stably in the curved gap.

[0026] Furthermore, when it is necessary to adjust the acceleration of the corresponding drive wheel, 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. Attached Figure Description

[0027] Figure 1This is a schematic diagram of the control system for a narrow-gap crawling non-destructive testing robot according to an embodiment of the present invention; Figure 2 This is a partial structural diagram of the first and second moving modules according to an embodiment of the present invention; Figure 3 This is a partial structural diagram of the first and second moving modules according to an embodiment of the present invention; Figure 4 This is a partial structural diagram of the third and fourth moving modules according to an embodiment of the present invention; Figure 5 This is a partial structural diagram of the third and fourth moving modules according to an embodiment of the present invention; Figure 6 This is a schematic diagram illustrating a method for determining whether the operation of the mobile unit conforms to a preset standard in an embodiment of the present invention. In the diagram: 1. Outer shell; 2. Moving unit; 21. First moving module; 2101. First drive shaft; 2102. First drive wheel; 2103. First front support fork; 2104. First front support wheel axle; 2105. First front support wheel; 2106. First wheel axle; 2107. First driven wheel; 2108. First rear support fork; 2109. First rear adjusting rod; 2110. First rear support wheel axle; 2111. First rear support wheel; 2112. First track; 2113. First tension wheel; 2114. First front adjusting rod 22. Second moving module; 2201. Second drive shaft; 2202. Second drive wheel; 2203. Second front support fork; 2204. Second front support wheel axle; 2205. Second front support wheel; 2206. Second wheel axle; 2207. Second driven wheel; 2208. Second rear support fork; 2209. Second rear adjusting rod; 2210. Second rear support wheel axle; 2211. Second rear support wheel; 2212. Second track; 2213. Second tension wheel; 2214. Second front adjusting rod; 23. Third moving module; 2301 2302. Third drive shaft; 2303. Third drive wheel; 2304. Third front support fork; 2305. Third front support wheel axle; 2306. Third wheel axle; 2307. Third driven wheel; 2308. Third rear support fork; 2309. Third rear adjusting rod; 2310. Third rear support wheel axle; 2311. Third rear support wheel; 2312. Third track; 2313. Third tension wheel; 2314. Third front adjusting rod; 24. Fourth moving module; 2401. Fourth drive shaft; 2402. Fourth... 2403. Drive wheel; 2404. Fourth front support fork; 2405. Fourth front support wheel axle; 2406. Fourth wheel axle; 2407. Fourth driven wheel; 2408. Fourth rear support fork; 2409. Fourth rear adjusting rod; 2410. Fourth rear support wheel axle; 2411. Fourth rear support wheel; 2412. Fourth track; 2413. Fourth tension wheel; 2414. Fourth front adjusting rod; 3. Detection unit; 4. Central control unit; 5. Adjustment unit; 6. Non-destructive testing unit; 61. Probe; 7. Communication unit. Detailed Implementation

[0028] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0029] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0030] It should be noted that the data in this embodiment are all derived from the comprehensive analysis and evaluation of historical operating data and corresponding historical operating results of the central control unit of the present invention in the three months prior to system operation. Before this operation, the central control unit of the present invention comprehensively determined the values ​​of various preset parameter standards for this system operation based on 12,245 robot non-destructive testings conducted cumulatively in the previous three months. Those skilled in the art will understand that the system of the present invention can determine the above-mentioned parameters in the following ways: selecting the value with the highest proportion based on data distribution as the preset standard parameter; using weighted summation to obtain the value as the preset standard parameter; substituting each historical data into a specific formula and using 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-item judgment process through the obtained values.

[0031] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0032] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 as well as Figure 6 The figures shown are schematic diagrams of the narrow-gap crawling non-destructive testing robot control system according to embodiments of the present invention; partial structural schematic diagrams of the first and second moving modules of the embodiments; partial structural schematic diagrams of the first and second moving modules of the embodiments; partial structural schematic diagrams of the third and fourth moving modules of the embodiments; partial structural schematic diagrams of the third and fourth moving modules of the embodiments; and schematic diagrams of the determination method for whether the operation of the moving unit meets the preset standard.

[0033] The narrow-gap crawling non-destructive testing robot control system of this invention includes: Outer shell 1; The moving unit 2, used to move the outer shell 1, includes a first moving module 21 and a second moving module 22 disposed on the left side of the vehicle body, and a third moving module 23 and a fourth moving module 24 disposed on the right side of the vehicle body. The detection unit 3 is connected to the moving unit 2 and is used to detect the crawling parameters of the moving unit 2. The crawling parameters include the vertical distance between the position point of the robot after crawling a preset length and the preset position point, the offset angle of the first track 2112 and the horizontal direction, the flatness of the gap surface on both sides of the gap, and the tension of the first tension wheel 2113 and the tension of the second tension wheel 2213. The central control unit 4 is connected to the detection unit 3 and is used to determine whether the operation of the moving unit 2 meets the preset standard based on the vertical distance between the position point of the robot after crawling a preset length and the preset position point measured by the detection unit 3. If it does not meet the preset standard, it is determined that the reason for not meeting the preset standard is that the robot's own weight causes crawling deviation, or the friction between the robot and the gap surface does not meet the preset standard, causing crawling deviation. The adjustment unit 5 is connected to the central control unit 4 and the moving unit 2, and is used to adjust the operating parameters of the corresponding components in the system operation to the corresponding values ​​according to the result determined by the central control unit 4. The non-destructive testing unit 6 includes a probe 61 for non-destructive testing and a stepper motor for adjusting the lifting and lowering of the probe; The communication unit 7 is connected to the non-destructive testing module and is used to transmit the testing information collected by the non-destructive testing unit 6.

[0034] Specifically, the first moving module 21 includes a first drive wheel 2102 connected to the first drive shaft 2101 for traction, a first front support fork 2103 movably connected at one end to the first drive shaft 2101, a first front support wheel 2105 shaft 2104 located at the end of the first front support fork 2103 away from the first drive shaft 2101, a first front support wheel 2105 connected to the first front support wheel 2105 shaft 2104, a first driven wheel 2107 connected to the first wheel shaft 2106, a first rear support fork 2108 movably connected at one end to the first wheel shaft 2106, and a first rear support fork 2108 connected to the first rear support fork 2108 for adjusting the first rear support wheel 2107. The first rear adjustment rod 2109 for the support angle of the support fork 2108, the 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, the first rear support wheel 2111 connected to the first rear support wheel 2111 shaft 2110, the first track 2112 that drives the first front support wheel 2105, the first rear support wheel 2111 and the first passive wheel 2107 to rotate through the rotation of the first drive wheel 2102, the first tension wheel 2113 for tensioning the first track 2112, and the first front adjustment rod 2114 connected to the first front support fork 2103 for adjusting the support angle of the first front support fork 2103; The second moving module 22 includes a second drive wheel 2202 connected to the second drive shaft 2201 for traction, a second front support fork 2203 with one end movably connected to the second drive shaft 2201, a second front support wheel 2205 shaft 2204 located at the end of the second front support fork 2203 away from the second drive shaft 2201, a second front support wheel 2205 connected to the second front support wheel 2205 shaft 2204, a second driven wheel 2207 connected to the second wheel shaft 2206, a second rear support fork 2208 with one end movably connected to the second wheel shaft 2206, and a second rear support fork 2208 connected to the second rear support fork 2208 for adjustment. The second rear adjustment rod 2209 supports the angle of the second rear support fork 2208; the shaft 2210 of the second rear support wheel 2211 located at the end of the second rear support fork 2208 away from the second wheel axle 2206; the second rear support wheel 2211 connected to the shaft 2210 of the second rear support wheel 2211; the second track 2212 that drives the second front support wheel 2205, the second rear support wheel 2211 and the second passive wheel 2207 to rotate through the rotation of the second drive wheel 2202; the second tension wheel 2213 for tensioning the second track 2212; and the second front adjustment rod 2214 connected to the second front support fork 2203 for adjusting the support angle of the second front support fork 2203. The third moving module 23 includes a third drive wheel 2302 connected to the third drive shaft 2301 for traction, a third front support fork 2303 movably connected at one end to the third drive shaft 2301, 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 at one end to the third wheel shaft 2306, and a third rear support fork 2308 connected to the third rear support fork 2308 for adjustment. The third rear adjustment rod 2309 for supporting the angle of the 308, the shaft 2310 of the third rear support wheel 2311 located at the end of the third rear support fork 2308 away from the third wheel axle 2306, the third rear support wheel 2311 connected to the shaft 2310 of the third rear support wheel 2311, the third track 2312 that drives the third front support wheel 2305, the third rear support wheel 2311 and the third passive wheel 2307 to rotate through the rotation of the third drive wheel 2302, the third tension wheel 2313 for tensioning the third track 2312, and the third front adjustment rod 2314 connected to the third front support fork 2303 for adjusting the support angle of the third front support fork 2303; The fourth moving module 24 includes a fourth drive wheel 2402 connected to the fourth drive shaft 2401 for traction, a fourth front support fork 2403 movably connected at one end to the fourth drive shaft 2401, 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 driven wheel 2407 connected to the fourth wheel shaft 2406, a fourth rear support fork 2408 movably connected at one end to the fourth wheel shaft 2406, and a fourth rear support fork 2408 connected to the fourth rear support fork 2408 for adjustment. The fourth rear adjustment rod 2409 supports the angle of the fourth rear support fork 2408; the shaft 2410 of the fourth rear support wheel 2411 located at the end of the fourth rear support fork 2408 away from the fourth wheel axle 2406; the fourth rear support wheel 2411 connected to the shaft 2410 of the fourth rear support wheel 2411; the fourth track 2412 that drives the fourth front support wheel 2405, the fourth rear support wheel 2411 and the fourth passive wheel 2407 to rotate through the rotation of the fourth drive wheel 2402; the fourth tension wheel 2413 for tensioning the fourth track 2412; and the fourth front adjustment rod 2414 connected to the fourth front support fork 2403 for adjusting the support angle of the fourth front support fork 2403.

[0035] Specifically, under a first preset condition, the central control unit 4 controls the detection unit 3 to detect the vertical distance between the position point of the robot after crawling a preset length and the preset position point. The central control unit 4 then determines, based on the measured vertical distance, whether the operation of the moving unit 2 meets a preset standard. 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 8mm; 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 robot's own weight causes crawling deviation. The central control unit 4 further controls the detection unit 3 to detect the deviation angle between the first track 2112 and the horizontal direction, and determines a secondary determination method for whether the operation of the mobile unit 2 meets the preset standard based on the measured deviation angle; the deviation angle is the acute angle between the first track 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 of 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, causing crawling deviation. The central control unit 4 loads the support 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 to the corresponding value 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 together on the same gap surface of a preset width, the second track 2212 and the fourth track 2412 fit together on another gap surface, 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, under the second determination method, the central control unit 4 controls the detection unit 3 to detect the offset angle of the first track 2112 with respect to the horizontal direction. Based on the measured offset angle, the central control unit 4 determines a secondary determination method to determine whether the operation of the moving unit 2 meets preset standards. The first and second determination methods involve the central control unit 4 determining that the operation of the moving unit 2 does not meet the preset standard. Based on the difference between the measured vertical distance and the first preset vertical distance, the central control unit 4 applies support forces to 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 the corresponding values. The first and second determination methods satisfy the condition that the offset angle is zero. The second secondary determination method is that the central control unit 4 determines that the operation of the moving 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 the corresponding value according to the measured offset angle; the second secondary determination method satisfies that the offset angle is greater than zero.

[0037] Specifically, under the second secondary determination method, the adjustment unit 5 determines the adjustment method for the acceleration of the first drive wheel 2102 and the second drive wheel 2202 based on the measured offset angle, wherein, The first adjustment method is that the adjustment unit 5 uses a first preset adjustment coefficient of 1.02 to increase the acceleration of the first drive wheel 2102 and the second drive 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 a second preset adjustment coefficient of 1.04 to increase the acceleration of the first drive wheel 2102 and the second drive 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 of 18°; The third adjustment method is that the adjustment unit 5 uses a third preset adjustment coefficient of 1.08 to increase the acceleration of the first drive wheel 2102 and the second drive wheel 2202 to the corresponding value; 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 this difference as the distance difference. The adjustment unit 5 determines the adjustment method of the support force for 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 based on the distance difference. The first support force adjustment method is that the adjustment unit 5 uses a first preset support force adjustment coefficient of 1.05 to load the support 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 to the corresponding values; the first support force adjustment method satisfies that the distance difference is less than the first preset distance difference of 10mm; The second support force adjustment method involves the adjustment unit 5 using a second preset support force adjustment coefficient of 1.13 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 their corresponding values; the second support 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 23mm; The third support force adjustment method is that the adjustment unit 5 uses a third preset support force adjustment coefficient of 1.20 to load the support 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 to the 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, under a second preset condition, the central control unit 4 controls the detection unit 3 to detect the flatness of the gap surfaces on both sides of the gap. Based on the measured flatness, the central control unit 4 determines whether the tension of the first tensioning roller 2113, the second tensioning roller 2213, the third tensioning roller 2313, and the fourth tensioning roller 2413 meets a preset standard. The first tension determination method involves the central control unit 4 determining that the tension of the first tensioning roller 2113, the second tensioning roller 2213, the third tensioning roller 2313, and the fourth tensioning roller 2413 meets the preset standard, and performing non-destructive testing under narrow gap conditions according to the current operating mode; the first tension determination method satisfies that the measured flatness is less than the preset flatness of 3.5mm; The second tension determination method involves the central control unit 4 determining that the tension of the first tensioning roller 2113, the second tensioning roller 2213, the third tensioning roller 2313, and the fourth tensioning roller 2413 does not meet the preset standard. The adjustment unit 5 then increases the tension of these rollers to the corresponding values ​​based on the difference between the flatness and the preset flatness. The second tension determination method satisfies the requirement that the measured flatness is greater than or equal to the preset flatness. When the second preset condition is met, the adjustment unit 5 completes the adjustment of the support 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 tension determination method, and records this difference as the flatness difference. The adjustment unit 5 determines the tension adjustment method for the first tensioning roller 2113, the second tensioning roller 2213, the third tensioning roller 2313, and the fourth tensioning roller 2413 based on the flatness difference. The first tension adjustment method involves the adjustment unit 5 using a first preset tension adjustment coefficient of 1.1 to increase the tension of the first tension wheel 2113, the second tension wheel 2213, the third tension wheel 2313, and the fourth tension wheel 2413 to the corresponding values; the first tension adjustment method satisfies the requirement that the flatness difference is less than the first preset flatness difference of 1.2 mm; The second tension adjustment method involves the adjustment unit 5 using a second preset tension adjustment coefficient of 1.2 to increase the tension of the first tension wheel 2113, the second tension wheel 2213, the third tension wheel 2313, and the fourth tension wheel 2413 to the corresponding values; the second tension 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 2.7mm; The third tension adjustment method is that the adjustment unit 5 uses a third preset tension adjustment coefficient of 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 values; the third tension adjustment method satisfies that the flatness difference is greater than or equal to the second preset flatness difference.

[0041] Specifically, under a third preset condition, the central control unit 4 controls the detection unit 3 to detect the tension of the first tensioning wheel 2113 and the tension of the second tensioning wheel 2213. The central control unit 4 determines a method for judging whether the operation of the moving unit 2 meets preset standards based on the tension difference between the measured tension of the first tensioning wheel 2113 and the second tensioning wheel 2213. The first type of determination method is that the central control unit 4 determines that the operation of the moving 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. The adjustment unit 5 increases the acceleration of the first driving wheel 2102 and the third driving wheel 2302 by the corresponding value 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 moving 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 moving unit 2 does not meet the preset standard and the adjustment unit 5 increases the acceleration of the second driving wheel 2202 and the fourth driving wheel 2402 by the 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 5 can adjust the tension of the first tensioning wheel 2113, the second tensioning wheel 2213, the third tensioning wheel 2313 and the fourth tensioning wheel 2413.

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

[0043] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles 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 all fall within the scope of protection of the present invention.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A narrow gap crawling non-destructive inspection robot control system, characterized by, include: shell; A moving unit, used to move the outer casing, includes a first moving module and a second moving module disposed on the left side of the vehicle body, and a third moving module and a fourth moving module disposed on the right side of the vehicle body. The first moving module includes a first front support fork movably connected at one end to a first drive shaft, a first rear support fork movably connected at one end to a first wheel axle, a first rear adjusting rod connected to the first rear support fork for adjusting the support angle of the first rear support fork, a first track that drives the first front support wheel, the first rear support wheel, and the first driven wheel to rotate via the rotation of the first drive wheel, and a first front adjusting rod connected to the first front support fork for adjusting the support angle of the first front support fork. The second moving module includes a second front support fork movably connected at one end to a second drive shaft, a second rear support fork movably connected at one end to a second wheel axle, a second rear adjusting rod connected to the second rear support fork for adjusting the support angle of the second rear support fork, and a second track that drives the second front support wheel, the second rear support wheel, and the second driven wheel to rotate via the rotation of the second drive wheel. The third moving module includes a third front support fork movably connected to a third drive shaft at one end, a third rear support fork movably connected to a third wheel axle at one end, a third rear adjustment rod connected to the third rear support fork for adjusting the support angle of the third rear support fork, a third track that drives the third front support wheel, the third rear support wheel, and the third driven wheel to rotate via the rotation of the third drive wheel, and a third front adjustment rod connected to the third front support fork for adjusting the support angle of the third front support fork; the fourth moving module includes a third front support fork movably connected to a fourth drive shaft at one end, a fourth rear support fork movably connected to a fourth wheel axle at one end, a fourth rear adjustment rod connected to the fourth rear support fork for adjusting the support angle of the fourth rear support fork, a fourth track that drives the fourth front support wheel, the fourth rear support wheel, and the fourth driven wheel to rotate via the rotation of the fourth drive wheel, and a fourth front adjustment rod connected to the fourth front support fork for adjusting the support angle of the fourth front support fork; A detection unit, which is connected to the moving unit, is used to detect the crawling parameters of the moving unit. The crawling parameters include the vertical distance between the position point of the robot after crawling a preset length and the preset position point, the offset angle of the first track and the horizontal direction, the flatness of the gap surface on both sides of the gap, and the tension force of the first tension wheel and the tension force of the second tension wheel. The central control unit is connected to the detection unit and is used to determine whether the operation of the moving unit meets the preset standard based on the vertical distance between the position point of the robot after crawling a preset length and the preset position point measured by the detection unit. If the operation does not meet the preset standard, 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. An adjustment unit, which is connected to the central control unit and the moving unit, is used to adjust the operating parameters of the corresponding components in the system to the corresponding values ​​according to the result determined by the central control unit. The non-destructive testing unit includes a probe for non-destructive testing and a stepper motor for adjusting the lifting and lowering of the probe; A communication unit, which is connected to the non-destructive testing unit, is used to transmit the testing information collected by the non-destructive testing unit; The central control unit, under a first preset condition, controls the detection unit to detect the vertical distance between the robot's position point after crawling a preset length and a preset position point. Based on the measured vertical distance, the central control unit determines whether the movement of the mobile unit conforms to a preset standard. The first 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 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 robot's own weight causes crawling deviation. The central control unit further controls the detection unit to detect the deviation angle between the first track and the horizontal direction, and determines a secondary determination method for whether the operation of the mobile unit meets the preset standard based on the measured deviation angle; the deviation angle is the acute angle between the first track 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, causing crawling deviation. The central control unit loads the support 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 to the corresponding value 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 together at the same gap surface with a preset width of gap, the second track and the fourth track fit together at another gap surface, 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.

2. The narrow gap crawling non-destructive inspection robot control system of claim 1, wherein, The first moving module further includes a first drive wheel connected to the first drive shaft for traction of the first moving module, a first front support wheel axle located at the end of the first front support fork away from the first drive shaft, a first front support wheel connected to the first front support wheel axle, a first driven wheel connected to the first wheel axle, a first rear support wheel axle located at the end of the first rear support fork away from the first wheel axle, a first rear support wheel connected to the first rear support wheel axle, and a first tensioning wheel for tensioning the first track. The second moving module also includes a second drive wheel connected to the second drive shaft for traction of the second moving module, a second front support wheel axle located at the end of the second front support fork away from the second drive shaft, a second front support wheel connected to the second front support wheel axle, a second driven wheel connected to the second wheel axle, a second rear support wheel axle located at the end of the second rear support fork away from the second wheel axle, a second rear support wheel connected to the second rear support wheel axle, and a second tensioning wheel for tensioning the second track; The third moving module also includes a third driving wheel connected to the third drive shaft for traction of the third moving module, a third front support wheel axle located at the end of the third front support fork away from the third drive shaft, a third front support wheel connected to the third front support wheel axle, a third driven wheel connected to the third wheel axle, a third rear support wheel axle located at the end of the third rear support fork away from the third wheel axle, a third rear support wheel connected to the third rear support wheel axle, and a third tensioning wheel for tensioning the third track. The fourth moving module also includes a fourth drive wheel connected to the fourth drive shaft for traction of the fourth moving module, a fourth front support wheel axle located at the end of the fourth front support fork away from the fourth drive shaft, a fourth front support wheel connected to the fourth front support wheel axle, a fourth driven wheel connected to the fourth wheel axle, a fourth rear support wheel axle located at the end of the fourth rear support fork away from the fourth wheel axle, a fourth rear support wheel connected to the fourth rear support wheel axle, and a fourth tensioning wheel for tensioning the fourth track.

3. The narrow gap crawling non-destructive inspection robot control system of claim 2, wherein, Under the second determination method, the central control unit controls the detection unit to detect the offset angle of the first track with respect to the horizontal direction. Based on the measured offset angle, the central control unit determines a secondary determination method to determine whether the operation of the moving unit meets the preset standard. The first and second determination methods involve the central control unit determining that the operation of the moving unit does not meet the preset standard. Based on the difference between the measured vertical distance and the first preset vertical distance, the central control unit applies the support 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 to the corresponding value. The first and second determination methods satisfy the condition that the offset angle is zero. The second secondary determination method is that the central control unit determines that the operation of the moving 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 the corresponding value according to the measured offset angle; the second secondary determination method satisfies that the offset angle is greater than zero.

4. The narrow gap crawling non-destructive inspection robot control system of claim 3, wherein, The adjustment unit determines the adjustment method for the acceleration of the first drive wheel and the second drive wheel based on the measured offset angle under the second secondary determination method, wherein, The first adjustment method involves the adjustment unit using a first preset adjustment coefficient to increase the acceleration of the first drive wheel and the second drive 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 involves the adjustment unit using a second preset adjustment coefficient to increase the acceleration of the first drive wheel and the second drive 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 drive wheel and the second drive wheel to the corresponding value; the third adjustment method satisfies that the offset angle is greater than or equal to the second preset offset angle.

5. The narrow gap crawling non-destructive inspection robot control system of claim 4, wherein, The central control unit calculates the difference between the vertical distance and the second preset vertical distance under the third determination method, and records this difference as the distance difference. The adjustment unit determines the adjustment method of the support force for 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 based on the distance difference. The first support force adjustment method is that the adjustment unit uses a first preset support force adjustment coefficient to load the support 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 to the corresponding values; the first support force adjustment method satisfies that the distance difference is less than the first preset distance difference; The second support force adjustment method involves the adjustment unit using a second 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 second support 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 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 to the corresponding value; the third support force adjustment method satisfies that the distance difference is greater than or equal to the second preset distance difference.

6. The narrow gap crawling non-destructive inspection robot control system of claim 5, wherein, The central control unit controls the detection unit to detect the flatness of the gap surfaces on both sides of the gap under a second preset condition. Based on the measured flatness, the central control unit determines whether the tension of the first, second, third, and fourth tensioning rollers meets a preset standard. The first tension determination method is that the central control unit determines that the tension of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel, and the fourth tensioning wheel meets the preset standard, and performs non-destructive testing under narrow gap conditions according to the current operating mode; the first tension determination method satisfies that the measured flatness is less than the preset flatness. The second tension determination method involves the central control unit determining that the tension of the first tensioning wheel, the second tensioning wheel, the third tensioning wheel, and the fourth tensioning wheel does not meet the preset standard. The adjustment unit then increases the tension of these four tensioning wheels to the corresponding values ​​based on the difference between the flatness and the preset flatness. The second tension determination method satisfies the requirement that the measured flatness is greater than or equal to the preset flatness. When the second preset condition is met, the adjustment unit completes the adjustment of the support 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.

7. The narrow gap crawling NDE robot control system of claim 6, wherein, The central control unit calculates the difference between the flatness and the preset flatness under the second tension determination method, and records this difference as the flatness difference. The adjustment unit determines the tension adjustment method for the first tensioning wheel, the second tensioning wheel, the third tensioning wheel, and the fourth tensioning wheel based on the flatness difference. The first tension adjustment method involves the adjustment unit using a first preset tension adjustment coefficient to increase the tension of the first tension wheel, the second tension wheel, the third tension wheel, and the fourth tension wheel to the corresponding values; the first tension adjustment method satisfies the requirement that the flatness difference is less than the first preset flatness difference. The second tension adjustment method involves the adjustment unit using a second preset tension adjustment coefficient to increase the tension of the first tension wheel, the second tension wheel, the third tension wheel, and the fourth tension wheel to the corresponding values; the second tension 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 tension adjustment method is that the adjustment unit uses a third preset tension adjustment coefficient to increase the tension of the first tension wheel, the second tension wheel, the third tension wheel and the fourth tension wheel to the corresponding value; the third tension adjustment method satisfies that the flatness difference is greater than or equal to the second preset flatness difference.

8. The narrow gap crawling non-destructive inspection robot control system of claim 7, wherein, Under a third preset condition, the central control unit controls the detection unit to detect the tension of the first tensioning wheel and the tension of the second tensioning wheel. The central control unit determines whether the operation of the moving unit meets a preset standard based on the tension difference between the measured tension of the first and second tensioning wheels. The first type of determination method is that the central control unit determines that the operation of the moving unit does not meet the preset standard and the reason for not meeting the preset standard is that the gap has a horizontal arc. The adjustment unit increases the acceleration of the first driving wheel and the third driving wheel by the corresponding value 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 the condition 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 moving 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 the corresponding value according to the tension difference. The third type of determination method satisfies the condition that the tension difference is greater than zero; The third preset condition satisfies the adjustment unit to complete the adjustment of the tension of the first tension wheel, the second tension wheel, the third tension wheel and the fourth tension wheel.

9. The narrow gap crawling NDE robot control system of claim 8, wherein, The central control unit calculates the tension difference between the tension of the first tensioning wheel and the tension of the second tensioning wheel under the third type of determination method, and records this difference as the cornering difference. The adjustment unit determines the adjustment method for the acceleration of the second driving wheel and the fourth driving wheel based on the cornering difference. The first acceleration adjustment method involves the adjustment unit using a first preset acceleration adjustment coefficient to increase the acceleration of the second drive wheel and the fourth drive wheel to a corresponding value; the first acceleration adjustment method satisfies the condition that the curve difference is less than the first preset curve difference. The second acceleration adjustment method involves the adjustment unit using a second preset acceleration adjustment coefficient to increase the acceleration of the second drive wheel and the fourth drive wheel to corresponding values; 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 drive wheel and the fourth drive wheel to the corresponding value; 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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