Control system based on negative pressure adsorption wall-climbing robot and control method thereof

Abstract

The invention discloses a control system based on a negative pressure adsorption wall-climbing robot and a control method thereof.The control system comprises an embedded controller, a moving module, an adsorption module, a visual module, an ultrasonic module, a communication module and a power module, and the embedded controller is in communication control connection with the moving module, the adsorption module, the visual module, the ultrasonic module and the communication module; and the power supply module supplies power to the embedded controller and each module. The control system provided by the invention has the characteristics of high integration level, strong expansibility, compact structure and the like; the adsorption and movement of the wall-climbing robot can be realized, and the adsorption and movement reliability of the wall-climbing robot is improved by adopting an intelligent adsorption and movement control strategy; the robot communicates with various concrete detection sensors carried by the robot, concrete wall surface detection and robot positioning and navigation functions are achieved, remote control and autonomous detection functions are achieved, and the requirement for pressure steel pipe back pipe concrete detection can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of flaw detection wall-climbing robot control, and in particular to a control system based on a negative pressure adsorption wall-climbing robot and a control method thereof. Background Art

[0002] At present, the inspection of the back pipe of the water diversion penstock of large hydropower stations is mainly based on manual inspection. Due to the large size of the back pipe structure, the labor intensity of the inspectors is high, the risk is high, and the inspection efficiency is low. Some scholars have proposed to use robot technology to carry out the inspection of the back pipe concrete of the penstock. At present, the robot inspection of vertical walls mainly uses wall climbing robots, but there are few studies on the surface inspection robot of concrete back pipe. The structure of concrete back pipe is large, the surface is relatively rough and irregular, and the structure is a curved surface. At present, the typical means for the surface inspection of the back pipe concrete of the penstock is to use ultrasonic sensors to detect the depth of cracks. This non-destructive and non-contact inspection is relatively easy when manually operated, but this operation technology has no automated inspection technology and equipment. In the prior art, Chinese patent document CN118079288B, published / announced on July 9, 2024, discloses a fire-fighting robot that can climb walls. This robot can also be used for the inspection of the surface of the back pipe concrete of the penstock, but this robot lacks a control system for the inspection of the back pipe concrete of the penstock, and cannot meet the needs of the inspection of the back pipe concrete of the penstock. Summary of the invention

[0003] In order to solve the current technical problems, the main purpose of the present invention is to provide a control system and a control method based on a negative pressure adsorption wall-climbing robot to meet the needs of pressure steel pipe back-pipe concrete detection.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a control system based on a negative pressure adsorption wall-climbing robot, comprising an embedded controller, a mobile module, an adsorption module, a visual module, an ultrasonic module, a communication module and a power module, wherein the embedded controller is respectively connected to the mobile module, the adsorption module, the visual module, the ultrasonic module and the communication module for communication control, and the power module provides power for the embedded controller and each module; The mobile module includes crawler walking units located below both sides of the main frame, the crawler walking units on both sides are driven by crawler motors respectively, the crawler motors are electrically connected to the crawler motor drivers, and the crawler motor drivers are electrically connected to the embedded controller; The adsorption module includes an adsorption unit located in the middle of the lower side of the main frame, the adsorption unit forms negative pressure through an adsorption fan to adsorb on the working surface, and a negative pressure sensor is also installed in the adsorption unit, and the adsorption fan and the negative pressure sensor are electrically connected to the embedded controller respectively; The visual module is used to obtain depth image data, and detect concrete defects and autonomously locate and navigate the robot through the obtained depth image data; The ultrasonic module is used to perform ultrasonic testing on the working surface, collect defect information on the working surface, and generate test results; The communication module is used to send robot operation and detection data to the control base station and accept control from the control base station.

[0005] The crawler walking units on both sides are respectively hinged to the main frame, the main frame is connected to the crawler walking units through electric push rods, the electric push rods are connected to the control, and the angles of the crawler walking units on both sides are controlled by the electric push rods.

[0006] The adsorption fan is connected to the embedded controller via an IO interface. The embedded controller generates a PWM signal through the IO port to adjust the speed of the adsorption fan. The negative pressure sensor is connected to the embedded controller via an AD interface. The embedded controller collects the real-time negative pressure value detected by the negative pressure sensor and adjusts the speed of the adsorption fan in real time.

[0007] The adsorption unit includes an adsorption shell, the lower edge of the adsorption shell is provided with an annular groove, a flexible sealing skirt is installed in the annular groove for movable sealing, and a plurality of push rod devices are installed on the upper edge of the adsorption shell, the telescopic ends of the push rod devices extend downward and are connected to the sealing skirt, and the shape of the sealing skirt can be adjusted by making the extension length of the push rod devices different; the push rod devices are driven by a sealing skirt adjustment motor, the sealing skirt adjustment motor is electrically connected to a matching driver, and each driver is electrically connected to an embedded controller.

[0008] The visual module includes a visual controller, a color depth camera and an inertial measurement unit. The color depth camera and the inertial measurement unit are electrically connected to the visual controller respectively. The visual controller is electrically connected to the embedded controller for communication and control. The color depth camera obtains color depth image data, and the inertial measurement unit obtains the posture of the wall-climbing robot. The visual controller detects concrete defects and autonomously locates and navigates through the obtained color depth image data and posture data. The visual module also includes a monitoring camera, which is connected to the communication module through a network interface and monitors the camera image in real time by controlling the base station.

[0009] The ultrasonic module includes an ultrasonic sensor, an ultrasonic controller, an ultrasonic lifting motor, and an ultrasonic lifting motor driver. The ultrasonic sensor is used for ultrasonic detection. The ultrasonic sensor is electrically connected to the ultrasonic controller. The ultrasonic controller generates ultrasonic detection results. The ultrasonic controller is connected to the communication module through a network. The ultrasonic sensor moves up and down through the drive of the ultrasonic lifting motor to adjust the distance between the ultrasonic sensor and the working surface. The ultrasonic lifting motor is electrically connected to the ultrasonic lifting motor driver, and the ultrasonic lifting motor driver is connected to the embedded controller.

[0010] The ultrasonic modules are provided with two sets, wherein the ultrasonic lifting motor of one set of the ultrasonic modules is installed on the spacing adjustment mechanism, and the spacing adjustment mechanism is driven by the ultrasonic spacing adjustment motor to adjust the spacing between the two ultrasonic sensors and expand the detection range.

[0011] The communication module includes a wireless AP and a network switch. The network switch is respectively connected to the wireless AP, the embedded controller, the vision module and the ultrasound module through a network port. The wireless AP creates a wireless local area network, and the control base station is connected to the wireless AP via wireless.

[0012] The power module includes a voltage conversion module, a power management module, a built-in battery and an external DC power interface. The built-in battery is connected to the power management module, the power management module is connected to the voltage conversion module, and the voltage conversion module provides power for the embedded controller, mobile module, adsorption module, vision module, ultrasound module, and communication module; the external DC power interface is used to connect to an external DC power supply.

[0013] A control method of a negative pressure adsorption wall climbing robot based on modular design is used to detect the back-pipe concrete of a pressure steel pipe. The control system based on the negative pressure adsorption wall climbing robot is adopted. The control method comprises the following steps: Turn on the power module to power the embedded controller, mobile module, adsorption module, vision module, ultrasound module, and communication module; The image of the working surface is acquired through the visual module, the curvature of the working surface is analyzed, and the curvature data is transmitted to the embedded controller, and the embedded controller controls the angles of the crawler walking units on both sides of the mobile module so that the crawlers of the crawler walking units on both sides fit the working surface; Control the mobile module and the adsorption module to start, and the adsorption fan generates negative pressure inside the adsorption unit, so that the main frame is adsorbed on the working surface, and the embedded controller collects the real-time negative pressure value detected by the negative pressure sensor, and adjusts the speed of the adsorption fan in real time, so that the robot can be adsorbed on the working surface and can walk through the mobile module; control the mobile module to start, so that the robot can walk on the working surface; During the robot's walking process, the visual module and the ultrasonic module detect the working surface in real time. First, the visual module takes and analyzes images of the working surface. When it is analyzed that there are suspected defects on the working surface, the suspected defect information and position are fed back to the embedded controller. The embedded controller controls the movement of the mobile module and moves the ultrasonic module to the defect position through the navigation position provided by the visual module to perform ultrasonic detection. The information detected by the visual module and the ultrasonic module is fed back to the control base station through the communication module. When the ultrasonic module is performing detection, when the robot is stopped, the position of another ultrasonic sensor is adjusted through the spacing adjustment mechanism to expand the detection range.

[0014] The present invention has the following beneficial effects: The control system of the present invention has the characteristics of high integration, strong expansibility, and compact structure; it can realize the adsorption and movement of the wall-climbing robot, adopt intelligent adsorption and movement control strategies, and improve the reliability of the adsorption and movement of the wall-climbing robot; it communicates with a variety of concrete detection sensors carried by the robot to realize concrete wall detection and the positioning and navigation functions of the robot, and has remote control and autonomous detection functions, which can meet the needs of pressure steel pipe back-pipe concrete detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0016] Figure 1 It is a schematic structural diagram of the robot of the present invention.

[0017] Figure 2 It is a structural schematic diagram of the robot adsorption module of the present invention.

[0018] Figure 3 Schematic diagram of the concave deformation of the sealing skirt of the robot adsorption module of the present invention.

[0019] Figure 4 It is a schematic diagram of the convex deformation of the sealing skirt of the robot adsorption module of the present invention.

[0020] Figure 5 This is a block diagram of the control system of the present invention.

[0021] Figure 6 It is a schematic diagram of the closed-loop negative pressure adsorption principle of the control system of the present invention.

[0022] In the figure: mobile module 100, main frame 110 crawler walking unit 120; Adsorption module 200, adsorption unit 210, adsorption shell 211, annular groove 212, sealing skirt 213, push rod device 214, adsorption fan 220; Visual module 300; Ultrasonic module 400; Ultrasonic sensor 401 , ultrasonic lifting motor 402 , and spacing adjustment mechanism 403 . DETAILED DESCRIPTION

[0023] Embodiment 1: See also Figure 1-6 As shown, a control system based on a negative pressure adsorption wall-climbing robot includes an embedded controller, a mobile module 100, an adsorption module 200, a visual module 300, an ultrasonic module 400, a communication module and a power module. The embedded controller is respectively connected to the mobile module 100, the adsorption module 200, the visual module 300, the ultrasonic module 400 and the communication module for communication control, and the power module provides power for the embedded controller and each module.

[0024] In this embodiment, the embedded controller adopts a high-performance MCU as the core, including multiple IO, AD, RS232 interfaces, USB interfaces, network ports and other interfaces, and is connected to the mobile module 100, adsorption module 200, visual module 300, ultrasonic module 400, communication module and the like for communication and control, and reserves multiple IO, AD, USART, CAN, RS485 and other interfaces. Based on a modular, lightweight and compact design, it is easy to install or expand applications. The controller executes high real-time motion control and negative pressure closed-loop adsorption control algorithms to achieve reliable adsorption and movement of the wall-climbing robot, and can also perform autonomous positioning navigation and concrete wall detection.

[0025] In this embodiment, the mobile module 100 includes a crawler walking unit 120 located below both sides of the main frame 110. The crawler walking units 120 on both sides are driven by crawler motors respectively. The crawler motors are electrically connected to the crawler motor drivers, and the crawler motor drivers are electrically connected to the embedded controller.

[0026] Specifically, the track motors are electrically connected to the drivers respectively, and the drivers are connected and communicated with the embedded controller via the RS232 serial bus. The embedded controller sends motion control instructions to the driver. The driver can accurately drive the track motor to move, has multiple control modes such as current, speed, and position, and can return status information such as motor speed, position, voltage, and current. By controlling the two track motors, the wall-climbing robot can achieve planar motion, forward, backward, and turning.

[0027] Furthermore, the crawler walking units on both sides are respectively hinged to the main frame, the main frame is connected to the crawler walking units through electric push rods, the electric push rods are connected to the control, and the angles of the crawler walking units on both sides are controlled by the electric push rods, so that the crawler walking units on both sides can more stably fit the surface of the concrete back pipe with an arc structure.

[0028] In this embodiment, the adsorption module 200 includes an adsorption unit 210 located in the middle of the lower side of the main frame 110. The adsorption unit 210 forms negative pressure through the adsorption fan 220 to be adsorbed on the working surface. A negative pressure sensor is also installed in the adsorption unit 210. The adsorption fan and the negative pressure sensor are electrically connected to the embedded controller respectively.

[0029] For details, see Figure 2 , 5 6. The adsorption module 200 includes an adsorption fan 220 and a negative pressure sensor, wherein the adsorption fan is connected to the embedded controller via an IO interface, the embedded controller generates a PWM signal through the IO port to adjust the speed of the adsorption fan, the negative pressure sensor is connected to the embedded controller via an AD interface, the embedded controller collects the real-time negative pressure value in the adsorption structure of the wall-climbing robot detected by the negative pressure sensor, and the embedded controller adopts a negative pressure closed-loop adsorption control algorithm. When the wall-climbing robot is adsorbed on the wall, the negative pressure of the adsorption structure of the wall-climbing robot is controlled in real time to achieve the negative pressure required for adsorption, thereby improving the adsorption efficiency of the robot and reducing the energy consumption of the robot.

[0030] For further information, see Figure 2 , 5 The adsorption unit 210 includes an adsorption shell 211, and a ring groove 212 is provided on the lower edge of the adsorption shell 211. A flexible sealing skirt 213 is installed in the ring groove 212 in a movable seal. A plurality of push rod devices 214 are installed on the upper edge of the adsorption shell 211. The telescopic ends of the push rod devices 214 extend downward and are connected to the sealing skirt 213. By making the extension lengths of the push rod devices 214 different, the shape of the sealing skirt 213 can be adjusted; the push rod devices 214 are driven by a sealing skirt adjustment motor, the sealing skirt adjustment motor is electrically connected to a matching driver, and each driver is electrically connected to an embedded controller.

[0031] Since the concrete on the back of the pressure steel pipe is uneven, when the working surface has a concave surface, a large gap will suddenly appear between the sealing skirt 213 and the working surface. If the adsorption fan 220 cannot respond in time or the gap is too large to meet the negative pressure requirement, the robot will fall when driving vertically. Figure 2 As shown, a plurality of push rod devices 214 are installed on the upper edge of the adsorption shell 211. The telescopic ends of the push rod devices 214 extend downward and are connected to the sealing skirt 213. By making the extension lengths of the push rod devices 214 different, the shape of the bottom contact surface of the sealing skirt 213 can be adjusted, for example Figure 3 The concave arc surface shown, or Figure 4The convex curved surface shown in the figure, or the uneven curved surface of the working surface scanned by the visual module 300, is changed into a complex curved surface similar to a wave shape. In one solution, 3 to 6 push rod devices 214 are installed on each side of the adsorption shell 211. The sealing skirt 213 can be made of a flexible rubber material, and the push rod device 214 is an electric push rod.

[0032] In this embodiment, the vision module 300 is used to acquire color depth image data, and detect concrete defects and perform autonomous positioning and navigation through the acquired color depth image data.

[0033] The vision module 300 includes a vision controller, a color depth camera and an inertial measurement unit (IMU), wherein the color depth camera and the inertial measurement unit are respectively connected to the vision controller via a USB interface, and the vision controller is connected to the embedded controller via the USB interface for communication and control. The color depth camera can obtain color depth image data, and the inertial measurement unit obtains the posture of the wall-climbing robot. The vision control is used for concrete defect detection and autonomous positioning and navigation of the robot's multi-sensor fusion.

[0034] Furthermore, the visual module 300 also includes a monitoring camera, which is connected to the communication module via a network interface and monitors the camera image in real time by controlling the base station.

[0035] In this embodiment: the ultrasonic module 400 is used to perform ultrasonic detection on the working surface, collect working surface defect information, and generate detection results.

[0036] The ultrasonic module 400 includes an ultrasonic sensor 401, an ultrasonic controller, an ultrasonic lifting motor 402, and an ultrasonic lifting motor driver. The ultrasonic sensor 401 is used for ultrasonic detection. The ultrasonic sensor 401 is electrically connected to the ultrasonic controller. The ultrasonic controller generates ultrasonic detection results. The ultrasonic controller is connected to the communication module through a network. The ultrasonic sensor 401 moves up and down through the drive of the ultrasonic lifting motor 402 to adjust the distance between the ultrasonic sensor and the working surface. The ultrasonic lifting motor 402 is electrically connected to the ultrasonic lifting motor driver. The ultrasonic lifting motor driver is connected to the embedded controller through an RS232 serial bus for communication and control to achieve lifting and lowering adjustment of the ultrasonic sensor.

[0037] Furthermore, two sets of ultrasonic modules are provided, and the ultrasonic lifting motor of one set of ultrasonic modules is installed on the spacing adjustment mechanism 403, and the spacing adjustment mechanism 403 is driven by the ultrasonic spacing adjustment motor to adjust the spacing between the two ultrasonic sensors to expand the detection range. In one scheme, the spacing adjustment mechanism 403 is a linear slide module, and the ultrasonic lifting motor of one set of ultrasonic modules is installed on the slider of the linear slide module, and the ultrasonic lifting motor and the ultrasonic sensor are moved by the driving of the ultrasonic spacing adjustment motor.

[0038] Furthermore, the spacing adjustment mechanism 403 is rotatably mounted on the main frame at one end and is pushed by an electric push rod, one end of which is hinged to the main frame and the other end is hinged to the spacing adjustment mechanism, so that when the robot is disabled, one of the ultrasonic sensors has a wider detection range. During detection, a fixed ultrasonic sensor is used as a reference, and another ultrasonic sensor performs a swing scan, thereby obtaining a large-scale fan-shaped ultrasonic scanning pattern based on the fixed ultrasonic sensor, so that the size, range and development of the defect can be judged more conveniently.

[0039] A plurality of limit sensors are also installed on the ultrasonic module 400 , and the movement of the ultrasonic sensor 401 is limited by the limit sensors.

[0040] In this embodiment, the communication module is used to send robot operation and detection data to the control base station and accept control from the control base station.

[0041] The communication module includes a wireless AP and a network switch. The network switch is connected to the wireless AP, embedded controller, visual module and ultrasonic module through the network port. The wireless AP creates a wireless local area network. The control base station is connected to the wireless AP via wireless. Different network devices are assigned different IPs in the same network segment and can communicate with each other. The control base station can be used to realize remote control of the robot, robot adsorption and motion control, concrete visual inspection, ultrasonic inspection operation, autonomous inspection control, visual monitoring, etc.

[0042] In this embodiment, the power module includes a voltage conversion module, a power management module, a built-in battery and an external DC power interface, the built-in battery is connected to the power management module, the power management module is connected to the voltage conversion module, the voltage conversion module provides power for the embedded controller, mobile module, adsorption module, vision module, ultrasound module, and communication module; the external DC power interface is used to connect to an external DC power supply.

[0043] The built-in battery uses a nominal 48V high-performance power lithium battery, the external DC power supply voltage is 48V, the power management module controls the connection, disconnection, overcurrent, overvoltage protection, etc. of the power supply, as well as the charge and discharge management of the built-in battery, and the voltage conversion module realizes the conversion and voltage stabilization of multiple voltages, and provides power for the embedded controller, mobile module, adsorption module, vision module, ultrasonic module, and communication module; the wall-climbing robot is mainly powered by the external DC power supply and can operate for a long time. Due to the limited load of the wall-climbing robot, the capacity of the built-in battery cannot be too large, and it is mainly used for short-term applications or emergency applications due to accidental power outages.

[0044] Embodiment 2: A control method of a negative pressure adsorption wall climbing robot based on modular design is used to detect the back-pipe concrete of a pressure steel pipe. The control system based on the negative pressure adsorption wall climbing robot is adopted. The control method comprises the following steps: Turn on the power module to supply power to the embedded controller, the mobile module 100, the adsorption module 200, the visual module 300, the ultrasonic module 400, and the communication module; The image of the working surface is acquired through the visual module, the curvature of the working surface is analyzed, and the curvature data is transmitted to the embedded controller, and the embedded controller controls the angles of the crawler walking units on both sides of the mobile module so that the crawlers of the crawler walking units on both sides fit the curved working surface; Control the mobile module and the adsorption module to start, and the adsorption fan generates negative pressure inside the adsorption unit, so that the main frame is adsorbed on the working surface, and the embedded controller collects the real-time negative pressure value detected by the negative pressure sensor, and adjusts the speed of the adsorption fan in real time, so that the robot can be adsorbed on the working surface and can walk through the mobile module; control the mobile module to start, so that the robot can walk on the working surface; During the robot's walking process, the visual module and the ultrasonic module detect the working surface in real time. First, the visual module takes and analyzes images of the working surface. When it is analyzed that there are suspected defects on the working surface, the suspected defect information and position are fed back to the embedded controller. The embedded controller controls the movement of the mobile module and moves the ultrasonic module to the defect position through the navigation position provided by the visual module to perform ultrasonic detection. The information detected by the visual module and the ultrasonic module is fed back to the control base station through the communication module. When the ultrasonic module is performing detection, when the robot is stopped, the position of another ultrasonic sensor is adjusted through the spacing adjustment mechanism to expand the detection range.

[0045] The control system of the present invention has the characteristics of high integration, strong expansibility, and compact structure; it can realize the adsorption and movement of the wall-climbing robot; it adopts intelligent adsorption and movement control strategies to improve the reliability of the adsorption and movement of the wall-climbing robot; it communicates with a variety of concrete detection sensors carried by the robot to realize concrete wall detection and the positioning and navigation functions of the robot, and has remote control and autonomous detection functions, which can meet the needs of pressure steel pipe back-pipe concrete detection.

Claims

1. A control system based on a negative pressure adsorption wall-climbing robot, characterized in that: The invention comprises an embedded controller, a mobile module (100), an adsorption module (200), a visual module (300), an ultrasonic module (400), a communication module and a power module, wherein the embedded controller is respectively connected to the mobile module (100), the adsorption module (200), the visual module (300), the ultrasonic module (400) and the communication module for communication control, and the power module provides power to the embedded controller and each module; The mobile module (100) comprises crawler walking units (120) located below both sides of the main frame (110), the crawler walking units (120) on both sides are driven by crawler motors respectively, the crawler motors are electrically connected to crawler motor drivers, and the crawler motor drivers are electrically connected to the embedded controller; The adsorption module (200) comprises an adsorption unit (210) located in the middle of the lower side of the main frame (110); the adsorption unit (210) forms negative pressure through an adsorption fan (220) to be adsorbed on the working surface; a negative pressure sensor is also installed in the adsorption unit (210); the adsorption fan and the negative pressure sensor are respectively electrically connected to the embedded controller; The visual module (300) is used to acquire depth image data, and detect concrete defects and autonomously locate and navigate the robot through the acquired depth image data; The ultrasonic module (400) is used to perform ultrasonic detection on the working surface, collect defect information on the working surface, and generate detection results; The communication module is used to send robot operation and detection data to the control base station and accept control from the control base station.

2. According to the control system of the negative pressure adsorption wall climbing robot according to claim 1, it is characterized in that: The crawler walking units on both sides are respectively hinged to the main frame, the main frame is connected to the crawler walking units through electric push rods, the electric push rods are connected to the control, and the angles of the crawler walking units on both sides are controlled by the electric push rods.

3. The control system based on the negative pressure adsorption wall-climbing robot according to claim 1 is characterized in that: The adsorption fan (220) is connected to the embedded controller via an IO interface, the embedded controller generates a PWM signal via the IO port to adjust the speed of the adsorption fan, the negative pressure sensor is connected to the embedded controller via an AD interface, the embedded controller collects the real-time negative pressure value detected by the negative pressure sensor, and adjusts the speed of the adsorption fan in real time.

4. A control system based on a negative pressure adsorption wall-climbing robot according to claim 1 or 3, characterized in that: The adsorption unit (210) comprises an adsorption shell (211), the lower edge of the adsorption shell (211) is provided with an annular groove (212), a flexible sealing skirt (213) is installed in the annular groove (212) in a movable and sealing manner, and a plurality of push rod devices (214) are installed on the upper edge of the adsorption shell (211), the telescopic ends of the push rod devices (214) extend downward and are connected to the sealing skirt (213), and the shape of the sealing skirt (213) is adjusted by making the extension lengths of the push rod devices (214) different; the push rod devices (214) are driven by a sealing skirt adjustment motor, the sealing skirt adjustment motor is electrically connected to a matching driver, and each driver is electrically connected to an embedded controller.

5. The control system based on negative pressure adsorption wall climbing robot according to claim 1 is characterized in that: The visual module (300) comprises a visual controller, a color depth camera and an inertial measurement unit, wherein the color depth camera and the inertial measurement unit are electrically connected to the visual controller respectively, and the visual controller is electrically connected to the embedded controller for communication and control, the color depth camera acquires color depth image data, the inertial measurement unit acquires the posture of the wall-climbing robot, and the visual controller detects concrete defects and performs autonomous positioning and navigation through the acquired color depth image data and posture data; the visual module also comprises a monitoring camera, which is connected to the communication module via a network interface and monitors the camera image in real time by controlling the base station.

6. The control system based on negative pressure adsorption wall climbing robot according to claim 1 is characterized in that: The ultrasonic module (400) comprises an ultrasonic sensor (401), an ultrasonic controller, an ultrasonic lifting motor (402), and an ultrasonic lifting motor driver. The ultrasonic sensor (401) is used for ultrasonic detection. The ultrasonic sensor (401) is electrically connected to the ultrasonic controller. The ultrasonic controller generates ultrasonic detection results. The ultrasonic controller is connected to the communication module via a network. The ultrasonic sensor (401) moves up and down through the drive of the ultrasonic lifting motor (402) to adjust the distance between the ultrasonic sensor and the working surface. The ultrasonic lifting motor (402) is electrically connected to the ultrasonic lifting motor driver. The ultrasonic lifting motor driver is connected to the embedded controller.

7. The control system based on the negative pressure adsorption wall-climbing robot according to claim 6 is characterized in that: The ultrasonic module is provided with two sets, wherein the ultrasonic lifting motor of one set of the ultrasonic modules is installed on the spacing adjustment mechanism (403), and the spacing adjustment mechanism (403) is driven by the ultrasonic spacing adjustment motor to adjust the spacing between the two ultrasonic sensors and expand the detection range.

8. The control system based on negative pressure adsorption wall climbing robot according to claim 1 is characterized in that: The communication module includes a wireless AP and a network switch. The network switch is respectively connected to the wireless AP, the embedded controller, the vision module and the ultrasound module through a network port. The wireless AP creates a wireless local area network, and the control base station is connected to the wireless AP via wireless.

9. The control system based on negative pressure adsorption wall climbing robot according to claim 1 is characterized in that: The power module comprises a voltage conversion module, a power management module, a built-in battery and an external DC power interface, the built-in battery is connected to the power management module, the power management module is connected to the voltage conversion module, and the voltage conversion module provides power for the embedded controller, the mobile module (100), the adsorption module (200), the visual module (300), the ultrasound module (400), and the communication module; The external DC power interface is used to connect to an external DC power supply.

10. A control method for a negative pressure adsorption wall climbing robot based on modular design, used for detecting concrete on the back of a pressure steel pipe, characterized in that: A control system based on a negative pressure adsorption wall-climbing robot according to any one of claims 1 to 9 is adopted, and the control method comprises the following steps: Turning on the power module to supply power to the embedded controller, the mobile module (100), the adsorption module (200), the vision module (300), the ultrasound module (400), and the communication module; An image of the working surface is acquired through a visual module (300), the curvature of the working surface is analyzed, and the curvature data is transmitted to an embedded controller, and the embedded controller controls the angles of the crawler walking units (120) on both sides of the mobile module so that the crawlers of the crawler walking units (120) on both sides fit the working surface; The mobile module (100) and the adsorption module (200) are controlled to start, and the adsorption fan generates negative pressure inside the adsorption unit, thereby adsorbing the main frame (110) on the working surface, and the embedded controller collects the real-time negative pressure value detected by the negative pressure sensor, and adjusts the rotation speed of the adsorption fan in real time, so that the robot can be adsorbed on the working surface and can also walk through the mobile module; the mobile module (100) is controlled to start, so that the robot walks on the working surface; During the walking process of the robot, the visual module (300) and the ultrasonic module (400) detect the working surface in real time. First, the visual module (300) captures and analyzes images of the working surface. When it is analyzed that there is a suspected defect on the working surface, the suspected defect information and the position are fed back to the embedded controller. The embedded controller controls the movement of the mobile module (100) and moves the ultrasonic module (400) to the defect position through the navigation position provided by the visual module (300) to perform ultrasonic detection. The information detected by the visual module (300) and the ultrasonic module (400) is fed back to the control base station through the communication module. When the ultrasonic module (400) is performing detection, the position of another ultrasonic sensor is adjusted through the spacing adjustment mechanism when the robot is in a stopped state, so as to expand the detection range.

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