On-line pose adjusting device and method for local magnetic control type fly-away inspection robot

Abstract

The invention relates to an online pose adjusting device and method for a local magnetic control type fly-away inspection robot. The online pose adjusting device and method are used for enhancing the pose stability of the robot walking on a line in a complex environment. The adjusting device mainly comprises a magnetic field generator, a magnetic control balance ball, a master control board, an inertia sensing unit, a current sensor and a magnetic induction meter. The device enables the magnetic control balance ball to drive the rotor wings to deflect by adjusting the local magnetic field so as to adjust the pitch angle, the roll angle and the yaw angle of the robot under a three-axis coordinate system. In the fine adjustment control mode, the system monitors the posture of the robot in real time, calculates the current deflection angle difference value, regulates and controls rotation of the rotor wings and adjusts the gravity center through the magnetic field, and enables the robot to keep balance. In the enhanced control mode, the system predicts a posture track through model prediction control, optimizes a control sequence, regulates and controls a magnetic field in advance, and further regulates the gravity center and the wind disturbance effect so as to restrain posture deflection of the robot. According to the method, the posture stability and safety of the robot in a complex environment are effectively improved.

Description

Technical Field

[0001] The invention relates to an online posture adjustment device and method for a local magnetically controlled flying inspection robot, belonging to the technical field of online posture control of high-voltage transmission line inspection robots. Background Art

[0002] As an important way of power transmission, high-voltage transmission lines need to be inspected regularly to ensure safe operation. Currently, manual and robot inspections are used, of which robot inspections are safer and more efficient. Inspection robots are equipped with various sensors and equipment, which can quickly and accurately detect line problems, repair them in time, and ensure stable power supply of the power system. The popularization of this technology application will improve the efficiency of transmission line inspections, solve the problems of insufficient human resources and environmental restrictions, and ensure the reliability and stability of power supply. However, during the inspection process, power inspection robots may encounter complex working conditions, such as wind swing and sag. Wind swing refers to the swing of the robot under the action of wind, which may cause it to lose balance and affect the inspection accuracy and efficiency; sag refers to the sagging arc of the transmission line under the action of its own weight and external force. The robot needs to constantly adjust its posture to adapt to this change. In addition, obstacles such as tower heads, shock-absorbing hammers, and hardware may be encountered, requiring the robot to frequently switch between walking and flying modes. Due to structural limitations, excessive wind disturbance will cause the robot to swing on the line, so it is particularly important to study the stability of the robot through posture control according to different environments.

[0003] The safety and stability of the inspection robot are key factors to ensure that the inspection work is carried out smoothly and effectively. There are many obstacles in the actual inspection line, such as tower heads, shock-absorbing hammers, hardware, etc. The flying inspection robot needs to frequently switch between the modes of walking along the line and flying over obstacles, and respond to various changes in the environment and power lines during the inspection process. Limited by the structure of the robot, when the wind disturbance is too large during the inspection process, the inspection robot will swing uncontrollably on the line. Since there are no other controllable mechanisms except the walking mechanism and the clamping mechanism, if the online posture control is not adopted, it will greatly affect the stability and safety of the inspection robot, resulting in the failure of the inspection task or even the robot falling off the line, which does not meet the safety and stability requirements of power line inspection work.

[0004] Chinese patent CN202211742009.0 mentions an inspection robot that uses an electric telescopic rod and a pressure roller to fix the robot at the bottom of the power transmission line to form a "W" shape to prevent the hanging roller from slipping, but it cannot cope with the disturbance of the power transmission line and the robot, affecting efficiency. Chinese patent CN201922355659.X proposes to prevent the robot from shaking by relative displacement of the hinge seat and the connecting column, but the connecting rod and the shaft rod may fail due to fatigue due to long-term use, affecting stability and life. Therefore, it is necessary to study flexible control methods that do not rely on fixed structures. Chinese patent CN202111594855.8 describes a robot that combines flying and crawling functions, but lacks anti-wind disturbance control. It only adjusts the propeller to change the flight direction, and the stability is insufficient. It is necessary to study control methods to maintain stability.

[0005] For power line inspection robots with both flying and walking modes, since their working environment requires that the machine should not be too heavy, in addition to completely improving the mechanical structure, small-scale structural improvements and auxiliary control programs can be used to achieve deflection control during the online inspection process. The use of lightweight materials and lightweight design can reduce the overall weight, increase flexibility and response speed. In addition, adding precision sensors and actuators to key parts can improve the stability and control performance of the robot through real-time monitoring and adjustment of posture, thereby effectively responding to inspection needs in complex working environments.

[0006] Therefore, in order to improve the safety performance and online stability of the flying power robot and reduce the cost of overall structural modification, it is necessary to adopt more appropriate monitoring and control methods for the deflection problems that occur during the online inspection process. Therefore, we proposed a local magnetically controlled flying inspection robot online posture adjustment device and method. Summary of the invention

[0007] The main purpose of the present invention is to propose a local magnetically controlled flying inspection robot online posture adjustment device and method, aiming to solve the problem of insufficient stability of the flying inspection robot caused by deflection due to environmental factors during the online inspection process, so as to achieve the ability to control the deflection angle of the flying inspection robot when walking online in two ways: fine-tuning and enhancing, eliminating the shortcomings of the flying inspection robot's left and right, front and back, and even oblique swinging during online inspection, and optimizing its inspection stability.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] A local magnetically controlled flying inspection robot online posture adjustment device and method are proposed: the flying power inspection robot operates normally. After landing on the power line, the flying power inspection robot adopts a rotor adjustable control method, including fine-tuning and enhancement control modes to handle the balance of the robot in the inspection state; afterwards, during the normal walking of the flying power inspection robot along the line, it is necessary to monitor the posture of the robot at all times and adjust the angle control when walking online;

[0010] The local magnetically controlled flying inspection robot online posture adjustment device is based on a flying power inspection robot, and includes a flight unit, a walking unit, a monitoring unit, a control unit and a power supply unit. The flight unit includes: six arms, six rotors (203), a rotor motor driver, and a rotor motor (412); the walking unit includes: a bracket (201), a wire hanging arm (204), a walking wheel (205), and a clamping wheel (206); the monitoring unit includes: a main control board (401), a middle cabin (202), an inertial sensing unit (402), a current sensor (403), a magnetic induction meter (404), a photoelectric sensor, an airborne global positioning device (GPS), a data transmitter, an image transmitter and a temperature sensor; the control unit includes: a main control board (401), a differential unit, six An online posture adjustment device (207); the power supply unit includes: lithium batteries for powering each unit; the inertial sensing unit (402) includes: an accelerometer, a gyroscope, a magnetometer, and an inclination sensor; the six online posture adjustment devices (207) include: a magnetic ring coil (413), a magnetic control balancing ball 1 (406), a magnetic control balancing ball 2 (407), a magnetic control balancing ball 3 (408), a magnetic control balancing ball 4 (409), a magnetic control balancing ball 5 (410), a magnetic control balancing ball 6 (411) and corresponding magnetic field generators (405); the main control board (401) is both a monitoring unit and a control unit;

[0011] Furthermore, the arms are symmetrically arranged with the middle cabin (202) as the center, and each arm is divided into a rotor front arm (301) and a rotor rear arm (302), including an online posture adjustment device (207), and the rotor (203) and the rotor motor (412) are installed at the end;

[0012] Furthermore, the bracket is mounted on the lower surface of the middle cabin (202), and the unit power supply lithium battery is mounted on the bracket;

[0013] Furthermore, the bottom end of the wire hanging arm (204) is mounted on the upper surface of the middle engine room (202), the walking wheel (205) is mounted on the upper end of the wire hanging arm (204), the walking wheel (205) is driven by a walking motor mounted inside the walking wheel (205), the clamping wheel (206) is mounted at both ends of the walking wheel (205), and the clamping wheel (206) is driven by the walking wheel (205);

[0014] Furthermore, the inertial sensing unit (402), an airborne global positioning system (GPS), a data transmitter, an image transmitter and a temperature sensor are installed on the upper surface of the middle cabin (202);

[0015] Furthermore, the current sensor (403), the magnetic induction meter (404), the photoelectric sensor, and the differential unit are installed in the middle cabin (202) at the locations connected to the arms;

[0016] Furthermore, the magnetically controlled balancing ball is installed inside the carbon tube of each machine arm and is connected to the carbon tube of the rotor motor (412) bracket, and the magnetic field generator (405) is installed on the outer surface of each machine arm and adjacent to the magnetically controlled balancing ball;

[0017] Furthermore, the magnetic control balancing ball 1 (406), magnetic control balancing ball 2 (407), magnetic control balancing ball 3 (408), magnetic control balancing ball 4 (409), magnetic control balancing ball 5 (410), and magnetic control balancing ball 6 (411) are distributed in such a way that the magnetic control balancing ball 1 (406) and the magnetic control balancing ball 4 (409) are located on the X' axis of the coordinate system of the machine body, and the magnetic control balancing ball 2 (407), magnetic control balancing ball 3 (408), magnetic control balancing ball 5 (410), and magnetic control balancing ball 6 (411) are located on both sides of the Y' axis;

[0018] Furthermore, the magnetic ring coil (413) is installed around each magnetically controlled balancing ball and is located inside the carbon tube of each machine arm;

[0019] Furthermore, the rotor motor driver, the travel motor driver, and the main control panel (401) are installed in the middle cabin (202), and the temperature sensor is installed on the upper surface of the rotor motor (412) and the travel motor driver;

[0020] Furthermore, the main control board (401) is used to send control signals to various subsystems of the flying electric robot, including attitude control, current control, and magnetic field control, and to process and make decisions on monitoring data in real time through the monitoring unit, and is also used to control the walking motor driver, the rotor motor driver and other sensors.

[0021] A method for adjusting the online posture of a local magnetically controlled flying inspection robot, characterized in that the method comprises the following steps:

[0022] Step S1: The flying inspection robot is in a normal online inspection state. When it lands on the power line and starts walking, the main control board (401) sends a monitoring signal. The monitoring unit monitors the posture and movement state of the flying power inspection robot in real time and transmits the monitoring data to the main control board (401), wherein the monitoring data includes the current deflection angle, current intensity, magnetic field intensity and direction of the robot;

[0023] Step S2: The main control board (401) obtains the current state posture Current through the monitoring unit, and calculates the deflection difference between this state and the previous state Previous posture, including the pitch angle difference θD, the roll angle difference ΦD, and the yaw angle difference ψD. The deflection calculation formula of this process is as follows:

[0024]

[0025] ψ=ψ Previous +ω z ·dt

[0026] Among them, A x , A y and A z are the accelerations of the robot on the x, y and z axes respectively; ω z is the angular velocity of the robot about the vertical direction, and dt is a small increment of time;

[0027] θ D =θ Current -θ Previous , Φ D =Φ Current -Φ Previous , ψ D =ψ Current -ψ Previous

[0028] Step S3: Determine the difference between the pitch angle θ, the roll angle Φ, the yaw angle ψ and the angles of the previous state attitude, that is, θ D , Φ D , D Is it less than 10 degrees? If yes, go to step S4; otherwise, go to step S5;

[0029] Step S4: the main control panel (401) selects a fine-tuning control mode, which includes steps S4.1 to S4.11;

[0030] Step S4.1: the main control board (401) calculates the real-time control output of the flying power inspection robot according to the deflection angle difference between the current state posture and the previous state posture, and in combination with the deflection angle error range of ±5 degrees;

[0031]

[0032] If a single deflection angle difference exceeds the error range but is less than 10 degrees, it is a single deflection; if two or three deflection angle differences exceed the error range but are less than 10 degrees, it is a mixed deflection;

[0033] Step S4.2: When the pitch angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field, and adjusts the magnetically controlled balance ball in the X'-axis direction to rotate clockwise or counterclockwise around the Y'-axis, driving the corresponding pair of rotors (203) to move to the specified position. After the rotor (203) reaches the specified position, the center of gravity of the robot will change, thereby gradually correcting the posture by adjusting the center of gravity. In this process, the system gradually restores the robot to a balanced state by fine-tuning the center of gravity. If the deflection angle is large, the rotor (203) continues to be regulated by the magnetic field at the new specified position, and changes its posture through the adjustment of the center of gravity and the effect of wind disturbance on the rotor blades. At this time, one of the rotor blades in the pair of rotors is facing the direction of wind disturbance to increase the force area. Through the continuous rotation of the rotor (203), the pitch angle is gradually restored to the set range, and the robot returns to a stable state;

[0034] When a roll angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field to adjust the rotation of the magnetically controlled balancing balls on the -Y' axis or both sides of the Y axis, driving the corresponding rotor (203) to move to a specified position, and changing the posture by adjusting the center of gravity or the wind disturbance of the rotor blades to reduce the roll angle deviation and return the robot to a stable state;

[0035] When a yaw angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field, and a pair of online posture adjustment devices (207) that are closest to each other along the X-axis direction will be activated, and the magnetically controlled balancing balls in the devices will rotate around the axis of the rotor (203), driving the corresponding pair of rotors (203) to move to a specified position, so that one of the rotor blades faces the direction of wind disturbance, increasing the force-bearing area, and changing the posture by adjusting the center of gravity or the wind disturbance of the rotor blades, thereby reducing the yaw angle deviation and returning the robot to a stable state;

[0036] Step S4.3: When the deflection direction of the flying electric inspection robot is a combination of any two of the above three directions, that is, mixed deflection, the online posture adjustment device (207) needs to obtain two adjustment magnetic field directions in sequence, that is, the online posture adjustment device (207) needs to preferentially solve the deflection problem in a certain direction of the robot's current deflection, and then solve the deflection problem in the other direction; since the coupling degree between the pitch angle and the roll angle is relatively high, processing the pitch angle first can reduce the influence on the roll angle adjustment, and then adjusting the roll angle can be performed under a more stable premise, and the adjustment of the yaw angle has less influence on the pitch angle and the roll angle, so it is processed last;

[0037] Step S4.4: When processing mixed deflection, after each adjustment, the system will detect the current deflection angle difference in real time to ensure that the adjusted angle difference is within the allowable error range. The adjustment of the yaw angle will be processed after the pitch angle and roll angle are adjusted. It is determined in turn whether the deflection in each direction has been corrected, and further adjustments are made if necessary.

[0038] Step S4.5: When the deflection direction of the flying electric power inspection robot is a combination of the above three directions, the deflection angles are solved in the order of priority, which are pitch angle, roll angle, and yaw angle;

[0039] Step S4.6: The main control board (401) maps the angle to the control signal range of the magnetic field generator (405) according to the pitch angle θ, roll angle Φ, and yaw angle ψ information through the deflection angle conversion function, that is, the linear mapping function from the deflection angle to the magnetic field strength and direction. The control signal is calculated by the following formula:

[0040]

[0041] Among them, A θ , A Φ， A ψ is the linear gain coefficient for each deflection angle, used to initially amplify the deflection angle difference;

[0042] B θ , B φ , B ψ is the nonlinear gain coefficient for each deflection angle, which is used to nonlinearly amplify the deflection angle difference and enhance the control of larger deflection angles; C θ , C φ , C ψ : is the square term coefficient of each deflection angle, used to adjust the quadratic effect of the deflection angle difference; D θ , D φ , D ψ is the cubic coefficient for each deflection angle, used to adjust the cubic effect of the deflection angle difference;

[0043] Step S4.7: According to the priority direction and the required magnetic field direction and the current intensity of the online posture adjustment device (207) monitored by the current sensor (403), the current value is adjusted according to the above control signal to control the working state of the magnetic field generator (405); through the magnetic field synthesis technology, that is, adjusting the working state of each magnetic field source in the magnetic field generator (405), the magnetic field generator (405) then generates a corresponding synthetic magnetic field;

[0044] Step S4.8: If it is a single deflection, after the rotor (203) is retracted within a certain range, it is determined whether the deflection of the flying electric robot has improved and continued to weaken. If so, directly execute step S4.11, otherwise execute step S4.9;

[0045] Step S4.9: The main control board (401) directly controls the rotation state of the rotor (203) through the synthetic magnetic field of the current state. The rotor enters the target position under the action of the synthetic magnetic field, and the rotor blades face the direction of wind disturbance, and the posture is gradually adjusted by the wind disturbance. In this process, the force generated by the interaction between the rotor blades and the wind gradually corrects the posture deviation of the robot;

[0046] Step S4.10: The magnetically controlled balancing balls corresponding to each direction are affected by the synthetic magnetic field generated by the magnetic field generator (405) and rotate to the target position α or β, at which time the deflection angle difference is re-judged;

[0047] Step S4.11: If the deflection angle is greater than 10 degrees, execute step S5; if the deflection angle is greater than 0 degrees and less than 10 degrees, execute step S4; if the deflection angle is 0 degrees, execute S7;

[0048] Step S5: the main control panel (401) selects an enhanced control mode, which includes steps S5.1 to S5.10;

[0049] Step S5.1: the main control board (401) calculates the real-time control output of the flying power inspection robot according to the deflection angle difference between the current state posture and the previous state posture, and in combination with the deflection angle error range of ±5 degrees;

[0050] If the difference of a single deflection angle is greater than 10 degrees and does not exceed the error range of ±5 degrees, it is a single deflection; if the difference of two or three deflection angles is greater than 10 degrees and exceeds the error range of ±5 degrees, it is a mixed deflection;

[0051] Step S5.2: When the pitch angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field, and adjusts the magnetically controlled balance ball in the X'-axis direction to rotate clockwise or counterclockwise around the Y'-axis, driving the corresponding pair of rotors (203) to move to the specified position. After the rotor (203) reaches the specified position, the center of gravity of the robot will change, thereby gradually correcting the posture by adjusting the center of gravity. In this process, the system gradually restores the robot to a balanced state by fine-tuning the center of gravity. If the deflection angle is large, the rotor (203) continues to be regulated by the magnetic field at the new specified position, and changes its posture through the adjustment of the center of gravity and the effect of wind disturbance on the rotor blades. At this time, one of the rotor blades in the pair of rotors is facing the direction of wind disturbance to increase the force area. Through the continuous rotation of the rotor (203), the pitch angle is gradually restored to the set range, and the robot returns to a stable state;

[0052] When a roll angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field to adjust the rotation of the magnetically controlled balancing balls on the -Y' axis or both sides of the Y axis, driving the corresponding rotor (203) to move to a specified position, and changing the posture by adjusting the center of gravity or the wind disturbance of the rotor blades to reduce the roll angle deviation and return the robot to a stable state;

[0053] When a yaw angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field, and a pair of online posture adjustment devices (207) that are closest to each other along the X-axis direction will be activated, and the magnetically controlled balancing balls in the devices will rotate around the axis of the rotor (203), driving the corresponding pair of rotors (203) to move to a specified position, so that one of the rotor blades faces the direction of wind disturbance, increasing the force-bearing area, and changing the posture by adjusting the center of gravity or the wind disturbance of the rotor blades, thereby reducing the yaw angle deviation and returning the robot to a stable state;

[0054] Step S5.3: When the deflection direction of the flying electric inspection robot is a combination of any two of the above three directions, that is, mixed deflection, the online posture adjustment device (207) needs to obtain two adjustment magnetic field directions in sequence, that is, the online posture adjustment device (207) needs to preferentially solve the deflection problem in a certain direction of the robot's current deflection, and then solve the deflection problem in another direction; since the coupling degree between the pitch angle and the roll angle is relatively high, processing the pitch angle first can reduce the influence on the roll angle adjustment, and then adjusting the roll angle can be performed under a more stable premise, and the adjustment of the yaw angle has less influence on the pitch angle and the roll angle, so it is processed last;

[0055] Step S5.4: When processing mixed deflection, after each adjustment, the system will detect the current deflection angle difference in real time to ensure that the adjusted angle difference is within the allowable error range. The adjustment of the yaw angle will be processed after the pitch angle and roll angle are adjusted. It is determined in turn whether the deflection in each direction has been corrected, and further adjustments are made if necessary.

[0056] Step S5.5: When the deflection direction of the flying electric inspection robot is a combination of the above three directions, the deflection angles are solved in the order of priority, which are pitch angle, roll angle, and yaw angle;

[0057] Step S5.6: When the difference between the current state posture and the previous state posture is greater than 10 degrees, the main control board (401) uses the model predictive control MPC to predict the state trajectory based on the current state posture, and optimizes the control sequence U0, U1, ..., U on the predicted state trajectory according to the maximum efficiency. T-1 , obtain the first control instruction information U0 in the sequence to execute the current control, that is, the pitch angle θ, roll angle Φ, and yaw angle ψ information of the next state posture in the future; calculate the future state control output of the flying power inspection robot through the information;

[0058] The state trajectory prediction model is as follows:

[0059] X t+1 =AX t +BU t +ω t

[0060] Among them, X t is the current state, U t is the control input, ω t is the process noise;

[0061] Optimize control input U t To minimize the cost function is as follows:

[0062]

[0063] Among them, Q, R, P are weight matrices;

[0064] The constraints are as follows:

[0065]

[0066] Step S5.7: According to the current state output information and the future state output information, the angle is predicted in advance and mapped into the control signal range of the magnetic field generator (405) through the deflection conversion function, that is, the linear mapping function from the deflection angle to the magnetic field direction;

[0067] Step S5.8: According to the predicted magnetic field direction and the required current intensity, the working state of each magnetic field source is adjusted by means of magnetic field synthesis technology, and the magnetic field generator (405) then generates a corresponding synthetic magnetic field; the magnetic control balancing balls corresponding to each direction are affected by the synthetic magnetic field generated by the magnetic field generator (405), and are regulated in advance to suppress the three deflection angles of the robot's next state posture;

[0068] Step S5.9: Based on the current state output information and the future state output information, the main control board (401) directly controls the rotation state of the rotor (203) through the predicted synthetic magnetic field. The rotor enters the target position under the action of the synthetic magnetic field, and the rotor blades face the direction of the wind disturbance, and the posture is gradually adjusted through the wind disturbance. In this process, the force generated by the interaction between the rotor blades and the wind gradually corrects the posture deviation of the robot;

[0069] Step S5.10: The magnetically controlled balancing ball rotates to the target position α or β, and the deflection of the flying power inspection robot is suppressed by predictive control, thereby avoiding large deflections on the line; the monitoring unit continues to monitor the motion state of the flying power inspection robot in real time until the angle difference between the posture and the initial posture is less than 10 degrees. If the deflection difference cannot be made less than 10 degrees, S5 is repeatedly executed;

[0070] Step S6: When the difference is less than 10 degrees, switch to the fine-tuning control mode of step S4;

[0071] Step S7: The control of the flying electric inspection robot is completed. If it continues to work, it continues to monitor until the inspection is completed.

[0072] Compared with the prior art, the present invention has the following advantages:

[0073] The robot online posture adjustment device and method and multi-sensor real-time monitoring system are used to obtain and control the posture state of the flying power inspection robot in real time; by instantly responding to the robot's posture changes and adjusting the angle, the robot's stability in complex environments is effectively improved, ensuring its stable walking on the power line;

[0074] A posture control algorithm with a small proportional gain is introduced, including model predictive control, which can perform intelligent control output based on the difference between the robot's current posture and the target posture. This intelligent control can adjust the robot's movements more accurately and improve the robot's response speed and stability.

[0075] A multi-sensor system is used to monitor the robot's posture and motion status in real time, and real-time adjustments are made through feedback control algorithms, allowing the robot to quickly adapt to changes in complex environments. This real-time monitoring and feedback helps to correct posture deviations in a timely manner, improving the robot's online inspection efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0077] Figure 1 This is a schematic diagram of the working condition when walking along the line is disturbed according to an embodiment of the present invention.

[0078] Figure 2 It is a structural schematic diagram of an embodiment of a fly-away electric power inspection robot including an online posture adjustment device according to the present invention.

[0079] Figure 3 This is an exploded view of an online posture adjustment device according to an embodiment of the present invention.

[0080] Figure 4 Schematic diagram of the structure of a magnetic field generator according to an embodiment of the present invention.

[0081] Figure 5 Schematic diagram of the internal structure of a magnetic field generator according to an embodiment of the present invention.

[0082] Figure 6 Schematic diagram of the motion area of ​​the magnetically controlled balancing ball according to an embodiment of the present invention.

[0083] Figure 7 Schematic diagram of magnetic field distribution of a magnetic field generator according to an embodiment of the present invention.

[0084] Figure 8 Schematic diagram of the rotor deflection range according to an embodiment of the present invention.

[0085] Fig. 9 Schematic diagram of a method for coping with single deflection and mixed deflection of a rotor according to an embodiment of the present invention, (a) is a single deflection condition, and (b) is a mixed deflection condition.

[0086] Fig.10 Schematic diagram of signal transmission according to an embodiment of the present invention.

[0087] Fig.11 It is a flow chart of an embodiment of the online posture adjustment method of the present invention.

[0088] Explanation of the numbers in the figure: 201, bracket; 202, middle cabin; 203, rotor; 204, hanging arm; 205, walking wheel; 206, clamping wheel; 207, online posture adjustment device; 301, rotor front arm; 302, rotor rear arm; 303, small ball support; 401, main control board; 402, inertial sensing unit; 403, current sensor; 404, magnetic induction meter; 405, magnetic field generator; 406, magnetic control balance ball 1; 407, magnetic control balance ball 2; 408, magnetic control balance ball 3; 409, magnetic control balance ball 4; 410, magnetic control balance ball 5; 411, magnetic control balance ball 6; 412, rotor motor; 413, magnetic ring coil.

[0089] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0090] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0091] like Figure 1As shown, the present invention provides a working condition of a flying inspection robot when it is disturbed while walking along the line. In this embodiment, it includes: after taking off and landing on the power line, the six rotor motors (412) are ready to be started, the walking motor is started, and the robot walks along the line for inspection. When encountering wind disturbance, the six rotors (203) are controlled by the online posture adjustment device (207), and the robot adjusts its posture. After that, the robot repeats the deflection adjustment steps of the inspection until it receives the inspection end command, and the robot flies away from the power line and lands on the ground;

[0092] like Figure 2 , 3 As shown in , 4, 5, and 6, the present invention provides a flying power inspection robot, which in this embodiment includes: a flight unit, a walking unit, a monitoring unit, a control unit, and a power supply unit. The flight unit includes: six arms, six rotors (203), a rotor motor driver, and a rotor motor (412); the walking unit includes: a bracket (201), a wire hanging arm (204), a walking wheel (205), and a clamping wheel (206); the monitoring unit includes: a main control board (401), a middle cabin (202), an inertial sensing unit (402), a current sensor (403), a magnetometer (404), a photoelectric sensor, an airborne global positioning system (GPS), a data transmitter, an image transmitter, and a temperature sensor; the control unit includes: a main control board (401), a differential unit, six An online posture adjustment device (207); the power supply unit includes: lithium batteries for powering each unit; the inertial sensing unit (402) includes: an accelerometer, a gyroscope, a magnetometer, and an inclination sensor; the six online posture adjustment devices (207) include: a magnetic ring coil (413), a magnetic control balancing ball 1 (406), a magnetic control balancing ball 2 (407), a magnetic control balancing ball 3 (408), a magnetic control balancing ball 4 (409), a magnetic control balancing ball 5 (410), a magnetic control balancing ball 6 (411) and corresponding magnetic field generators (405); the main control board (401) is both a monitoring unit and a control unit;

[0093] The arms of this embodiment are symmetrically arranged with the middle cabin (202) as the center, and each arm is divided into a rotor front arm (301) and a rotor rear arm (302), including an online posture adjustment device (207), and the rotor (203) and the rotor motor (412) are installed at the end;

[0094] The bottom end of the wire hanging arm (204) of this embodiment is installed on the upper surface of the middle engine room (202), the running wheel (205) is installed on the upper end of the wire hanging arm (204), the running wheel (205) is driven by a running motor installed inside the running wheel (205), and the clamping wheel (206) is installed at both ends of the running wheel (205), and the clamping wheel (206) is driven by the running wheel;

[0095] The inertial sensing unit (402), the airborne global positioning system (GPS), the data transmitter, the image transmitter and the temperature sensor of this embodiment are installed on the upper surface of the middle cabin (202);

[0096] The current sensor (403), magnetic induction meter (404), photoelectric sensor and differential unit of this embodiment are installed in the middle cabin (202) and connected to each machine arm;

[0097] The magnetically controlled balancing ball of this embodiment is installed inside the carbon tube of each machine arm and connected to the carbon tube of the rotor motor (412) bracket, and the magnetic field generator (405) is installed on the outer surface of each machine arm and adjacent to the magnetically controlled balancing ball;

[0098] In this embodiment, the magnetic control balancing ball 1 (406), magnetic control balancing ball 2 (407), magnetic control balancing ball 3 (408), magnetic control balancing ball 4 (409), magnetic control balancing ball 5 (410), and magnetic control balancing ball 6 (411) are distributed in such a way that the magnetic control balancing ball 1 (406) and the magnetic control balancing ball 4 (409) are located on the X' axis of the coordinate system of the machine body, and the magnetic control balancing ball 2 (407), magnetic control balancing ball 3 (408), magnetic control balancing ball 5 (410), and magnetic control balancing ball 6 (411) are located on both sides of the Y' axis.

[0099] The magnetic ring coil (413) of this embodiment is installed around each magnetic control balance ball and is located inside the carbon tube of each machine arm;

[0100] In this embodiment, the rotor motor driver, the travel motor driver, and the main control panel (401) are installed in the middle cabin (202), and the temperature sensor is installed on the upper surface of the rotor motor driver and the travel motor driver;

[0101] The main control board (401) of this embodiment is used to send control signals to various subsystems of the flying electric robot, including attitude control, current control, magnetic field control, and to process and make decisions on monitoring data in real time through the monitoring unit, and is also used to control the walking motor driver, the rotor motor driver and other sensors;

[0102] like Fig.10 , 11 As shown, the method for adjusting the online posture of the local magnetically controlled flying inspection robot of this embodiment is as follows: the flying power inspection robot operates normally. When it lands on the power line, the flying power inspection robot adopts a rotor adjustable control method, including two control modes of fine-tuning and enhancement, to process the balance of the robot in the inspection state; afterwards, during the normal walking of the flying power inspection robot along the line, it is necessary to monitor the posture of the robot at all times and adjust the angle control when walking on the line; this embodiment includes the following steps:

[0103] Step S1, the flying inspection robot is in a normal online inspection state. When it lands on the power line and starts walking, the main control board (401) sends a monitoring signal, and the monitoring unit monitors the posture and movement state of the flying power inspection robot in real time and transmits the monitoring data to the main control board (401), wherein the monitoring data includes the current deflection angle, current intensity, magnetic field intensity and direction of the robot;

[0104] Step S2: The main control board (401) obtains the current state posture Current through the monitoring unit, and calculates the deflection angle difference between this state and the previous state Previous posture, including the pitch angle difference θ D 、Roll angle difference Φ D , yaw angle difference ψ D , the calculation formula of the deflection angle in this process is as follows:

[0105]

[0106] ψ=ψ Previous +ω z ·dt

[0107] Among them, A x , A y and A z are the accelerations of the robot on the x, y and z axes respectively; ω z is the angular velocity of the robot about the vertical direction, and dt is a small increment of time;

[0108] θ D＝ θ Current -θ Previous， Φ D＝ Φ Current -Φ Previous， ψ D＝ ψ Current -ψ Previous

[0109] Step S3: Determine the difference between the pitch angle θ, the roll angle Φ, the yaw angle ψ and the angles of the previous state attitude, that is, θ D , Φ D , D Is it less than 10 degrees? If yes, go to step S4; otherwise, go to step S5;

[0110] Step S4, the main control panel (401) selects a fine-tuning control mode, the mode including steps S4.1 to S4.11;

[0111] Step S4.1, the main control board (401) uses the deflection angle difference between the current state posture and the previous state posture, combined with the deflection angle error range of ±5 degrees, to use a smaller proportional gain K pCalculate the real-time control output of the flying power inspection robot:

[0112]

[0113] If a single deflection angle difference exceeds the error range but is less than 10 degrees, it is a single deflection; if two or three deflection angle differences exceed the error range but are less than 10 degrees, it is a mixed deflection;

[0114] Step S4.2: Figure 1 , 8 As shown in 9, when the pitch angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field, and adjusts the magnetically controlled balance ball in the X'-axis direction to rotate clockwise or counterclockwise around the Y'-axis, driving the corresponding pair of rotors (203) to move to the specified position. After the rotor (203) reaches the specified position, the center of gravity of the robot will change, thereby gradually correcting the posture by adjusting the center of gravity. In this process, the system gradually restores the robot to a balanced state by fine-tuning the center of gravity. If the deflection angle is large, the rotor (203) continues to be regulated by the magnetic field at the new specified position, and changes its posture through the adjustment of the center of gravity and the effect of wind disturbance on the rotor blades. At this time, one of the rotor blades in the pair of rotors is facing the direction of wind disturbance to increase the force area. Through the continuous rotation of the rotor (203), the pitch angle is gradually restored to the set range, and the robot returns to a stable state;

[0115] When a roll angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field to adjust the rotation of the magnetically controlled balancing balls on the -Y' axis or both sides of the Y axis, driving the corresponding rotor (203) to move to a specified position, and changing the posture by adjusting the center of gravity or the wind disturbance of the rotor blades to reduce the roll angle deviation and return the robot to a stable state;

[0116] When a yaw angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field, and a pair of online posture adjustment devices (207) that are closest to each other along the X-axis direction will be activated, and the magnetically controlled balancing balls in the devices will rotate around the axis of the rotor (203), driving the corresponding pair of rotors (203) to move to a specified position, so that one of the rotor blades faces the direction of wind disturbance, increasing the force-bearing area, and changing the posture by adjusting the center of gravity or the wind disturbance of the rotor blades, thereby reducing the yaw angle deviation and returning the robot to a stable state;

[0117] Step S4.3, when the deflection direction of the flying electric inspection robot is a combination of any two of the above three directions, the online posture adjustment device (207) needs to obtain two adjustment magnetic field directions in sequence, that is, the online posture adjustment device (207) needs to preferentially solve the deflection problem in a certain direction according to the current deflection direction of the robot, and then solve the deflection problem in the other direction; since the coupling degree between the pitch angle and the roll angle is relatively high, processing the pitch angle first can reduce the influence on the roll angle adjustment, and then adjusting the roll angle can be performed under a more stable premise, and the adjustment of the yaw angle has less influence on the pitch angle and the roll angle, so it is processed last;

[0118] Step S4.4: When processing mixed deflection, after each adjustment, the system will detect the current deflection angle difference in real time to ensure that the adjusted angle difference is within the allowable error range. The adjustment of the yaw angle will be processed after the pitch angle and roll angle are adjusted. It is determined in turn whether the deflection in each direction has been corrected, and further adjustments are made if necessary.

[0119] Step S4.5, when the deflection direction of the flying electric power inspection robot is a combination of the above three directions, the deflection angles are prioritized according to the above order of resolution, namely, pitch angle, roll angle, and yaw angle;

[0120] Step S4.6, the main control board (401) maps the angle to the control signal range of the online posture adjustment device (207) according to the pitch angle θ, roll angle Φ, and yaw angle ψ information through the deflection angle conversion function, that is, the linear mapping function from the deflection angle to the magnetic field strength and direction. The control signal is calculated by the following formula:

[0121]

[0122] Among them, A θ , A Φ， A ψ is the linear gain coefficient for each deflection angle, used to initially amplify the deflection angle difference;

[0123] B θ , B φ , B ψ is the nonlinear gain coefficient for each deflection angle, which is used to nonlinearly amplify the deflection angle difference and enhance the control of larger deflection angles; C θ , C φ , C ψ : is the square term coefficient of each deflection angle, used to adjust the quadratic effect of the deflection angle difference; D θ , D φ , D ψ is the cubic coefficient for each deflection angle, used to adjust the cubic effect of the deflection angle difference;

[0124] Step S4.7: Figure 7As shown, the magnetic coil current in the magnetic field generator and the direction of the magnetic field generated by it are shown. According to the priority direction and the required magnetic field direction and the current intensity of the online posture adjustment device (207) monitored by the current sensor (403), the current value is adjusted according to the above control signal to control the working state of the magnetic field generator (405); through the magnetic field synthesis technology, that is, adjusting the working state of each magnetic field source in the magnetic field generator (405), the magnetic field generator (405) then generates a corresponding synthetic magnetic field;

[0125] Step S4.8: If it is a single deflection, after the rotor (203) is retracted within a certain range, it is determined whether the deflection of the flying electric robot has improved and continued to weaken. If so, directly execute step S4.11, otherwise execute step S4.9;

[0126] Step S4.9, the main control board (401) directly controls the rotation state of the rotor (203) through the synthetic magnetic field of the current state, and the rotor (203) enters the target position under the action of the synthetic magnetic field, and the rotor blades face the direction of wind disturbance, and the posture is gradually adjusted by the wind disturbance. In this process, the force generated by the interaction between the rotor blades and the wind gradually corrects the posture deviation of the robot;

[0127] Step S4.10, the magnetically controlled balancing balls corresponding to each direction are affected by the synthetic magnetic field generated by the magnetic field generator (405) and rotate to the target position α or β, and the deflection angle difference is re-judged at this time;

[0128] Step S4.11: If the deflection angle is greater than 10 degrees, execute step S5; if the deflection angle is greater than 0 degrees and less than 10 degrees, execute step S4; if the deflection angle is 0 degrees, execute S7;

[0129] Step S5: the main control panel (401) selects an enhanced control mode, which includes steps S5.1 to S5.10;

[0130] Step S5.1: the main control board (401) calculates the real-time control output of the flying power inspection robot according to the deflection angle difference between the current state posture and the previous state posture, and in combination with the deflection angle error range of ±5 degrees;

[0131] If the difference of a single deflection angle is greater than 10 degrees and does not exceed the error range of ±5 degrees, it is a single deflection; if the difference of two or three deflection angles is greater than 10 degrees and exceeds the error range of ±5 degrees, it is a mixed deflection;

[0132] Step S5.2: Figure 1 , 8As shown in 9, when the pitch angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field, and adjusts the magnetically controlled balance ball in the X'-axis direction to rotate clockwise or counterclockwise around the Y'-axis, driving the corresponding pair of rotors (203) to move to the specified position. After the rotor (203) reaches the specified position, the center of gravity of the robot will change, thereby gradually correcting the posture by adjusting the center of gravity. In this process, the system gradually restores the robot to a balanced state by fine-tuning the center of gravity. If the deflection angle is large, the rotor (203) continues to be regulated by the magnetic field at the new specified position, and changes its posture through the adjustment of the center of gravity and the effect of wind disturbance on the rotor blades. At this time, one of the rotor blades in the pair of rotors is facing the direction of wind disturbance to increase the force area. Through the continuous rotation of the rotor (203), the pitch angle is gradually restored to the set range, and the robot returns to a stable state;

[0133] When a roll angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field to adjust the rotation of the magnetically controlled balancing balls on the -Y' axis or both sides of the Y axis, driving the corresponding rotor (203) to move to a specified position, and changing the posture by adjusting the center of gravity or the wind disturbance of the rotor blades to reduce the roll angle deviation and return the robot to a stable state;

[0134] When a yaw angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field, and a pair of online posture adjustment devices (207) that are closest to each other along the X-axis direction will be activated, and the magnetically controlled balancing balls in the devices will rotate around the axis of the rotor (203), driving the corresponding pair of rotors (203) to move to a specified position, so that one of the rotor blades faces the direction of wind disturbance, increasing the force-bearing area, and changing the posture by adjusting the center of gravity or the wind disturbance of the rotor blades, thereby reducing the yaw angle deviation and returning the robot to a stable state;

[0135] Step S5.3, when the deflection direction of the flying electric inspection robot is a combination of any two of the above three directions, the online posture adjustment device (207) needs to obtain two adjustment magnetic field directions in sequence, that is, the online posture adjustment device (207) needs to preferentially solve the deflection problem in a certain direction according to the current deflection direction of the robot, and then solve the deflection problem in the other direction; since the coupling degree between the pitch angle and the roll angle is relatively high, processing the pitch angle first can reduce the influence on the roll angle adjustment, and then adjusting the roll angle can be performed under a more stable premise, and the adjustment of the yaw angle has less influence on the pitch angle and the roll angle, so it is processed last;

[0136] Step S5.4: When processing mixed deflection, after each adjustment, the system will detect the current deflection angle difference in real time to ensure that the adjusted angle difference is within the allowable error range. The adjustment of the yaw angle will be processed after the pitch angle and roll angle are adjusted. It is determined in turn whether the deflection in each direction has been corrected, and further adjustments are made if necessary.

[0137] Step S5.5, when the deflection direction of the flying electric power inspection robot is a combination of the above three directions, the deflection angles are prioritized in the order of pitch angle, roll angle, and yaw angle;

[0138] Step S5.6: When the difference between the current state posture and the previous state posture is greater than 10 degrees, the main control board (401) uses the model predictive control MPC to predict the state trajectory based on the current state posture, and optimizes the control sequence U0, U1, ..., U on the predicted state trajectory according to the maximum efficiency. T-1 , obtain the first control instruction information U0 in the sequence to execute the current control, that is, the pitch angle θ, roll angle Φ, and yaw angle ψ information of the next state posture in the future; calculate the future state control output of the flying power inspection robot through the information;

[0139] The state trajectory prediction model is as follows:

[0140] X t+1 =AX t +BU t +ω t

[0141] Among them, X t is the current state, U t is the control input, ω t is the process noise;

[0142] Optimize control input U t To minimize the cost function is as follows:

[0143]

[0144] Among them, Q, R, P are weight matrices;

[0145] The constraints are as follows:

[0146]

[0147] Step S5.7, according to the current state output information and the future state output information, through the deflection conversion function, that is, the linear mapping function from the deflection angle to the magnetic field direction, predict in advance and map the angle into the control signal range of the magnetic field generator (405);

[0148] Step S5.8: Figure 7As shown, according to the predicted magnetic field direction and the required current intensity, the working state of each magnetic field source is adjusted through the magnetic field synthesis technology, and the magnetic field generator (405) then generates a corresponding synthetic magnetic field; the magnetic control balance balls corresponding to each direction are affected by the synthetic magnetic field generated by the magnetic field generator (405), and are regulated in advance to suppress the three deflection angles of the robot's next state posture;

[0149] Step S5.9: Based on the current state output information and the future state output information, the main control board (401) directly controls the rotation state of the rotor (203) through the predicted synthetic magnetic field. The rotor (203) enters the target position under the action of the synthetic magnetic field, and the rotor blades face the direction of the wind disturbance, and the posture is gradually adjusted through the wind disturbance. In this process, the force generated by the interaction between the rotor blades and the wind gradually corrects the posture deviation of the robot;

[0150] Step S5.10, the magnetically controlled balancing ball rotates to the target position α or β, and the deflection of the flying power inspection robot is suppressed by predictive control, thereby avoiding large deflections on the line; the monitoring unit continues to monitor the motion state of the flying power inspection robot in real time until the angle difference between the posture and the initial posture is less than 10 degrees. If the deflection difference cannot be made less than 10 degrees, S5 is repeatedly executed;

[0151] Step S6, when the difference is less than 10 degrees, switch to the fine-tuning control mode of step S4;

[0152] Step S7: The control of the flying electric inspection robot is completed. If it continues to work, it continues to monitor until the inspection is completed.

[0153] The robot online posture adjustment device and method and multi-sensor real-time monitoring system are used to obtain and control the posture state of the flying power inspection robot in real time; by instantly responding to the robot's posture changes and adjusting the angle, the robot's stability in complex environments is effectively improved, ensuring its stable walking on the power line;

[0154] The introduction of a posture control algorithm with a small proportional gain, including model predictive control, can intelligently control the output based on the difference between the robot's current posture and the target posture. This intelligent control can more accurately adjust the robot's movements and improve the robot's response speed and stability;

[0155] A multi-sensor system is used to monitor the robot's posture and motion state in real time, and the feedback control algorithm is used to make real-time adjustments, so that the robot can quickly adapt to changes in complex environments. This real-time monitoring and feedback helps to correct posture deviations in a timely manner, improving the robot's online inspection efficiency and safety;

[0156] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A local magnetically controlled flying inspection robot online posture adjustment device, based on a flying power inspection robot, characterized in that: The invention comprises a flight unit, a walking unit, a monitoring unit, a control unit and a power supply unit; the flight unit comprises: six arms, six rotors (203), a rotor motor driver, and a rotor motor (412); the walking unit comprises: a bracket (201), a wire hanging arm (204), a walking wheel (205), and a clamping wheel (206); the monitoring unit comprises: a main control board (401), a middle cabin (202), an inertial sensing unit (402), a current sensor (403), a magnetometer (404), a photoelectric sensor, an airborne global positioning device (GPS), a data transmitter, an image transmitter and a temperature sensor; the control unit comprises: a main control board ( 401), a differential unit, and six online posture adjustment devices (207); the power supply unit includes: a lithium battery for powering each unit; the inertial sensing unit (402) includes: an accelerometer, a gyroscope, a magnetometer, and an inclination sensor; the six online posture adjustment devices (207) include: a magnetic ring coil (413), a magnetic control balancing ball 1 (406), a magnetic control balancing ball 2 (407), a magnetic control balancing ball 3 (408), a magnetic control balancing ball 4 (409), a magnetic control balancing ball 5 (410), a magnetic control balancing ball 6 (411) and corresponding magnetic field generators (405); the main control board (401) is both a monitoring unit and a control unit.

2. According to claim 1, the device for adjusting the position and posture of a local magnetically controlled flying inspection robot is characterized in that: The arms are symmetrically arranged with the middle cabin (202) as the center, each arm is divided into a rotor front arm (301) and a rotor rear arm (302), includes an online posture adjustment device (207), and the rotor (203) and the rotor motor (412) are installed at the end; the bracket is installed on the lower surface of the middle cabin (202), and the unit power supply lithium battery is installed on the bracket; the bottom end of the hanging wire arm (204) is installed on the upper surface of the middle cabin (202), the walking wheel (205) is installed on the upper end of the hanging wire arm (204), and the walking wheel (205) is installed in the walking wheel (205) The middle cabin (202) is driven by a walking motor, the clamping wheels (206) are mounted at both ends of the walking wheels (205), and the clamping wheels (206) are driven by the walking wheels (205); the inertial sensing unit (402), the airborne global positioning device (GPS), the data transmitter, the image transmitter and the temperature sensor are mounted on the upper surface of the middle cabin (202); the current sensor (403), the magnetic induction meter (404), the photoelectric sensor and the differential unit are mounted in the middle cabin (202) at the place connected to each arm; the magnetically controlled balancing ball is mounted inside the carbon tube of each arm and connected to the carbon tube of the bracket of the rotor motor (412) The magnetic field generator (405) is connected to each other, and is installed on the outer surface of each machine arm and adjacent to the magnetic control balancing ball; the magnetic control balancing ball 1 (406), magnetic control balancing ball 2 (407), magnetic control balancing ball 3 (408), magnetic control balancing ball 4 (409), magnetic control balancing ball 5 (410), and magnetic control balancing ball 6 (411) are distributed in such a way that the magnetic control balancing ball 1 (406) and the magnetic control balancing ball 4 (409) are located on the X' axis of the machine body's own coordinate system, and the magnetic control balancing ball 2 (407), magnetic control balancing ball 3 (408), magnetic control balancing ball 5 (410), and magnetic control balancing ball 6 (411) are located on both sides of the Y' axis; the magnetic The ring coil (413) is installed around each magnetically controlled balancing ball and is located inside the carbon tube of each machine arm; the rotor motor driver, the walking motor driver, and the main control panel (401) are installed in the middle cabin (202), and the temperature sensor is installed on the upper surface of the rotor motor (412) and the walking motor driver; the main control panel (401) is used to send control signals to various subsystems of the flying electric robot, including attitude control, current control, and magnetic field control, and to perform real-time processing and decision-making on monitoring data through a monitoring unit, and is also used to control the walking motor driver, the rotor motor driver, and other sensors.

3. A method for adjusting the posture of a local magnetically controlled flying inspection robot online, characterized in that: The flying power inspection robot operates normally. After landing on the power line, the flying power inspection robot uses the adjustable rotor control method to handle the balance of the robot in the inspection state; afterwards, during the normal walking of the flying power inspection robot along the line, it is necessary to monitor the posture state of the robot at all times and adjust the deflection angle when walking on the line; the online posture adjustment method includes the following contents: Step S1: The flying inspection robot is in a normal online inspection state. When it lands on the power line and starts walking, the main control board (401) sends a monitoring signal. The monitoring unit monitors the posture and movement state of the flying power inspection robot in real time and transmits the monitoring data to the main control board (401), wherein the monitoring data includes the current deflection angle, current intensity, magnetic field intensity and direction of the robot; Step S2: The main control board (401) obtains the current state posture through the monitoring unit, and calculates the deflection angle difference between this state and the previous state posture, including the pitch angle difference θ D 、Roll angle difference Φ D , yaw angle difference ψ D ; Step S3: Determine the difference between the pitch angle θ, the roll angle Φ, the yaw angle ψ and the angles of the previous state attitude, that is, θ D , Φ D , D Is it less than 10 degrees? If yes, go to step S4; otherwise, go to step S5; Step S4: the main control panel (401) selects a fine-tuning control mode, which includes steps S4.1 to S4.11; Step S4.1: The main control board (401) uses the deflection angle difference between the current state posture and the previous state posture, combined with the deflection angle error range of ±5 degrees, to use a smaller proportional gain K p Calculate the real-time control output of the flyaway power inspection robot; If a single deflection angle difference exceeds the error range but is less than 10 degrees, it is a single deflection; if two or three deflection angle differences exceed the error range but are less than 10 degrees, it is a mixed deflection; Step S4.2: When a pitch angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field, adjusts the magnetic control balance ball in the X'-axis direction to rotate around the Y'-axis, drives the rotor (203) to move to the specified position, and gradually corrects the posture through the center of gravity adjustment. If the deflection angle is large, the rotor (203) continues to be controlled by the magnetic field at the new specified position, and changes its posture through the center of gravity adjustment and the wind disturbance of the rotor blades, gradually restores the pitch angle to the set range, and the robot returns to a stable state. When a roll angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field to adjust the rotation of the magnetically controlled balancing balls on the -Y' axis or both sides of the Y axis, driving the rotor (203) to move to a specified position, and changing the posture by adjusting the center of gravity or the wind disturbance of the rotor blades to reduce the roll angle deviation and return the robot to a stable state; When a yaw angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field, and a pair of online posture adjustment devices (207) that are closest to each other along the X-axis direction are activated, and the corresponding pair of rotors (203) are moved to a specified position, with one rotor blade facing the direction of wind disturbance to increase the force receiving area, and the posture is changed by adjusting the center of gravity or the rotor blades being affected by wind disturbance, thereby reducing the yaw angle deviation and returning the robot to a stable state; Step S4.3: When the deflection direction of the flying electric inspection robot is a combination of any two of the above three directions, i.e., mixed deflection, the online posture adjustment device (207) needs to sequentially obtain two adjustment magnetic field directions, i.e., the online posture adjustment device (207) needs to prioritize solving the deflection problem in a certain direction of the robot's current deflection, and then solve the deflection problem in another direction; prioritizing the pitch angle can reduce the impact on the roll angle adjustment, and the subsequent adjustment of the roll angle can be performed under a more stable premise, and the adjustment of the yaw angle has less impact on the pitch angle and the roll angle; Step S4.4: When processing mixed deflection, after each adjustment, the system will detect the current deflection angle difference in real time to ensure that the adjusted angle difference is within the allowable error range. The adjustment of the yaw angle will be processed after the pitch angle and roll angle are adjusted. It is determined in turn whether the deflection in each direction has been corrected, and further adjustments are made if necessary. Step S4.5: When the deflection direction of the flying electric power inspection robot is a combination of the above three directions, the deflection angles are solved in the order of priority, which are pitch angle, roll angle, and yaw angle; Step S4.6: the main control board (401) maps the angle into the control signal range of the magnetic field generator (405) according to the pitch angle θ, the roll angle Φ, and the yaw angle ψ information through the deflection angle conversion function, that is, the linear mapping function from the deflection angle to the magnetic field strength and direction; Step S4.7: According to the priority direction and the required magnetic field direction and the current intensity of the online posture adjustment device (207) monitored by the current sensor (403), the current value is adjusted according to the above control signal to control the working state of the magnetic field generator (405); through the magnetic field synthesis technology, that is, adjusting the working state of each magnetic field source in the magnetic field generator (405), the magnetic field generator (405) then generates a corresponding synthetic magnetic field; Step S4.8: If it is a single deflection, after the rotor (203) is retracted within a certain range, it is determined whether the deflection of the flying electric robot has improved and continued to weaken. If so, directly execute step S4.11, otherwise execute step S4.9; Step S4.9: the main control board (401) directly controls the rotation state of the rotor (203) through the synthetic magnetic field of the current state. The rotor (203) enters the target position under the action of the synthetic magnetic field. The rotor blades face the direction of wind disturbance and gradually adjust the posture through the action of wind disturbance. In this process, the force generated by the interaction between the rotor blades and the wind gradually corrects the posture deviation of the robot. Step S4.10: The magnetically controlled balancing balls corresponding to each direction are affected by the synthetic magnetic field generated by the magnetic field generator (405) and rotate to the target position α or β, at which time the deflection angle difference is re-judged; Step S4.11: If the deflection angle is greater than 10 degrees, execute step S5; if the deflection angle is greater than 0 degrees and less than 10 degrees, execute step S4; if the deflection angle is 0 degrees, execute S7; Step S5: the main control panel (401) selects an enhanced control mode, which includes steps S5.1 to S5.10; Step S5.1: the main control board (401) calculates the real-time control output of the flying power inspection robot according to the deflection angle difference between the current state posture and the previous state posture, and in combination with the deflection angle error range of ±5 degrees; If the difference of a single deflection angle is greater than 10 degrees and does not exceed the error range of ±5 degrees, it is a single deflection; if the difference of two or three deflection angles is greater than 10 degrees and exceeds the error range of ±5 degrees, it is a mixed deflection; Step S5.2: When a pitch angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field, adjusts the magnetic control balance ball in the X'-axis direction to rotate around the Y'-axis, drives the rotor (203) to move to the specified position, and gradually corrects the posture through the center of gravity adjustment. If the deflection angle is large, the rotor (203) continues to be controlled by the magnetic field at the new specified position, and changes its posture through the center of gravity adjustment and the wind disturbance of the rotor blades, gradually restores the pitch angle to the set range, and the robot returns to a stable state. When a roll angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field to adjust the rotation of the magnetically controlled balancing balls on the -Y' axis or both sides of the Y axis, driving the rotor (203) to move to a specified position, and changing the posture by adjusting the center of gravity or the wind disturbance of the rotor blades to reduce the roll angle deviation and return the robot to a stable state; When a yaw angle deflection is detected, the online posture adjustment device (207) generates a synthetic magnetic field, and a pair of online posture adjustment devices (207) that are closest to each other along the X-axis direction are activated, and the corresponding pair of rotors (203) are moved to a specified position, with one rotor blade facing the direction of wind disturbance to increase the force receiving area, and the posture is changed by adjusting the center of gravity or the rotor blades being affected by wind disturbance, thereby reducing the yaw angle deviation and returning the robot to a stable state; Step S5.3: When the deflection direction of the flying electric inspection robot is a combination of any two of the above three directions, i.e., mixed deflection, the online posture adjustment device (207) needs to sequentially obtain two adjustment magnetic field directions, i.e., the online posture adjustment device (207) needs to preferentially solve the deflection problem in a certain direction of the robot's current deflection, and then solve the deflection problem in another direction; prioritizing the pitch angle can reduce the impact on the roll angle adjustment, and the subsequent adjustment of the roll angle can be performed under a more stable premise, and the adjustment of the yaw angle has less impact on the pitch angle and the roll angle; Step S5.4: When processing mixed deflection, the system will detect the current deflection angle difference in real time to ensure that the adjusted angle difference is within the allowable error range. The adjustment of the yaw angle will be processed after the pitch angle and roll angle are adjusted. It will be determined in turn whether the deflection in each direction has been corrected, and re-determined and further adjusted if necessary; Step S5.5: When the deflection direction of the flying electric inspection robot is a combination of the above three directions, the deflection angles are solved in the order of priority, which are pitch angle, roll angle, and yaw angle; Step S5.6: When the difference between the current state posture and the previous state posture is greater than 10 degrees, the main control board (401) uses the model predictive control MPC to predict the state trajectory based on the current state posture, that is, to obtain the pitch angle θ, roll angle Φ, and yaw angle ψ information of the next state posture in the future; Step S5.7: According to the current state output information and the future state output information, the angle is predicted in advance and mapped into the control signal range of the magnetic field generator (405) through the deflection angle conversion function, that is, the linear mapping function from the deflection angle to the magnetic field direction; Step S5.8: According to the predicted magnetic field direction and the required current intensity, the working state of each magnetic field source is adjusted by means of magnetic field synthesis technology, and the magnetic field generator (405) then generates a corresponding synthetic magnetic field; the magnetic control balancing balls corresponding to each direction are affected by the synthetic magnetic field and are regulated in advance to suppress the three deflection angles of the robot's next state posture; Step S5.9: Based on the current state output information and the future state output information, the main control board (401) directly controls the rotation state of the rotor (203) through the predicted synthetic magnetic field. The rotor (203) enters the target position under the action of the synthetic magnetic field, and the rotor blades face the direction of the wind disturbance. The posture is gradually adjusted by the wind disturbance. In this process, the force generated by the interaction between the rotor blades and the wind gradually corrects the posture deviation of the robot. Step S5.10: The magnetically controlled balancing ball rotates to the target position α or β, and the deflection of the flying power inspection robot is suppressed by predictive control, thereby avoiding large deflections on the line; the monitoring unit continues to monitor the motion state of the flying power inspection robot in real time until the angle difference between the posture and the initial posture is less than 10 degrees. If the deflection difference cannot be made less than 10 degrees, S5 is repeatedly executed; Step S6: When the difference is less than 10 degrees, switch to the fine-tuning control mode of step S4; Step S7: The control of the flying electric inspection robot is completed. If it continues to work, it continues to monitor until the inspection is completed.

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