Mobile chassis adaptive to quasi-cylindrical curved surface, robot and control method

Abstract

The invention discloses a movable chassis adapting to a quasi-cylindrical curved surface, a robot and a control method, and relates to the field of robots. In order to better meet the requirements of a robot on the cylinder-like curved surface for operation, especially for the conditions that the curved surface curvature is small, the position is high and obstacles exist around, the invention aims to provide the cylinder-like curved surface robot which is simple and compact in structure, good in adaptability to the wall surface of the cylinder-like curved surface and high in adaptability to the wall surface of the cylinder-like curved surface. The mobile chassis can flexibly and stably move and stay on the wall surface of the similar cylindrical curved surface, and the robot is based on the mobile chassis. According to the technical scheme, the movable chassis suitable for the quasi-cylindrical curved surface comprises a movable wheel set and a chassis rack; the number of the moving wheel sets is four, the chassis rack is used for fixing the four moving wheel sets, moving wheels of the four moving wheel sets face the same side of the chassis rack, and the moving wheels of each moving wheel set can be independently driven and independently steered.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a curved mobile chassis and a robot. Background Art

[0002] Nowadays, in some infrastructure such as tunnels, bridges, railways or wind power towers, as well as in the mining sites of oil and minerals, or in the storage and transportation systems in the chemical and nuclear industries, as well as in the fields of power systems, manufacturing, fire protection, construction and transportation, there are often cylindrical entities or tubular objects, such as certain buildings, facilities or equipment. For different industries and different operation scenarios, there are often corresponding operation types and working conditions. When the operation target is located on the above-mentioned cylindrical entity or tubular object, which is difficult for operators to reach, or there are many obstacles, and the operation is difficult, the risk factor is high, the process and time are long, and the workload is large, the manual operation method often has the disadvantages and risks of low efficiency, long construction period, and endangering the health or life safety of operators. With the increasing development and maturity of robot technology, robots are now more and more widely used in various fields. One of the significant advantages of robot application is that it can replace manual work to perform difficult tasks. Traditional robots have poor adaptability on cylindrical or tubular objects, especially when the curvature is small, the surface is high, and there are obstacles near the surface. Common robot mobile chassis are often only suitable for flat surfaces or surfaces with large curvature. In response to the above realities and prominent problems, robots need to move flexibly on the surfaces of cylindrical or tubular objects with small curvature and high positions, adapt to cylindrical surfaces in different postures, and climb all-round on the curved surface, thereby broadening the application scenarios of robots and carrying corresponding actuators for efficient, stable, high-precision and high-accuracy operations.

[0003] Currently, some robot designs focus on motion on flat surfaces or surfaces with large curvature, such as robots that move on the ground or walls. These robots usually use wheels, tracks or leg structures to move on flat surfaces, and stay attached to vertical surfaces through techniques such as adhesion or adsorption. However, for cylindrical surfaces with small curvature, these traditional robot designs may not be able to adapt to effectively perform full-range motion and climbing due to their inherent geometry and limitations.

[0004] In the current technological development, there is no robot that can fully adapt to the surface of a solid or tubular object with a small curvature and a high position like a cylinder for flexible movement and omnidirectional climbing. Although there are many robots with excellent movement capabilities, their movement capabilities on specific surfaces may be limited. Summary of the invention

[0005] In order to better meet the needs of robots working on cylindrical surfaces, especially when the surface curvature is small, the position is high, and there are obstacles around, the purpose of the present invention is to provide a mobile chassis with a simple and compact structure, good adaptability to the wall of cylindrical surfaces, and the ability to flexibly and stably move and stay on the wall of cylindrical surfaces, as well as a robot based on the mobile chassis. The technical solutions provided are as follows:

[0006] A mobile chassis adapted to a cylindrical surface, comprising:

[0007] Mobile wheel set and chassis frame;

[0008] The number of the moving wheel groups is 4, and the chassis frame is used to fix the 4 moving wheel groups. The moving wheels of the 4 moving wheel groups are all oriented to the same side of the chassis frame, and the moving wheel of each moving wheel group can be driven and steered independently.

[0009] Furthermore, a preferred embodiment is provided, wherein the four movable wheel groups are installed on both sides of the chassis frame, with two movable wheel groups on the same side, the two movable wheel groups are installed in the same direction, and the movable wheel groups on both sides are axially symmetrically arranged.

[0010] Furthermore, a preferred embodiment is provided, in each of the moving wheel groups, the moving wheel steering axis intersects with the moving wheel rotation axis and are perpendicular to each other, and the moving wheel steering axis is located on the moving wheel along a symmetry plane perpendicular to the rotation axis.

[0011] Furthermore, a preferred embodiment is provided, when a symmetry plane perpendicular to the rotation axis of the moving wheel on each moving wheel assembly is parallel to the axis of the quasi-cylindrical surface, the axis of the quasi-cylindrical surface is within the symmetry plane.

[0012] Furthermore, a preferred embodiment is provided in which the steering axis of the moving wheel of each moving wheel assembly intersects with the axis of the cylindrical surface and is perpendicular to each other.

[0013] Based on the same inventive concept, the present invention also provides a robot adaptable to cylindrical-like surfaces, including a mobile chassis adaptable to cylindrical-like surfaces and a surface adsorption component; the surface adsorption component is arranged on the chassis to provide the robot with the required pressing force on the cylindrical-like surface.

[0014] Furthermore, a preferred embodiment is provided, wherein the curved surface adsorption component adopts vacuum adsorption, negative pressure adsorption or magnetic adsorption.

[0015] Further, a preferred embodiment is provided, wherein the robot further comprises:

[0016] A sensing and detection component, used to obtain information about the robot's surrounding environment, information about the interaction between the surface and the robot, and information about the robot itself;

[0017] A control component is used to perform task planning and decision-making of the robot according to various information obtained by the sensing and detecting component, control the curved surface adsorption component to provide appropriate adsorption force, and control the moving wheel groups so that the moving wheels of each moving wheel group rotate to a specified direction and at a specified speed;

[0018] A communication module, used to realize data communication between the components inside the robot and between the robot and the mobile chassis, and also includes communication between the robot and other devices;

[0019] The power module is used to supply power to various components and modules, and perform voltage and current detection, low power warning, and temporary power failure protection.

[0020] Based on the same inventive concept, the present invention also provides a robot control method adapted to cylindrical surfaces, the control method is embedded in the central control system of the robot, and the method comprises:

[0021] The steps of collecting perception signals, collecting communication signals, and issuing control signals according to the perception signals and communication signals.

[0022] Based on the same inventive concept, the present invention also provides a computer storage medium for storing a computer program. When the program is read by a computer, the computer executes the method described.

[0023] Compared with the prior art, the technical solution provided by the present invention is beneficial in that:

[0024] The present invention provides a mobile chassis adapted to a cylindrical surface, which improves the flexibility and adjustability of movement by using a mobile wheel set that can be driven and steered independently.

[0025] The present invention provides a mobile chassis that adapts to a cylindrical-like surface. The mobile wheel group is arranged on the chassis frame in a suitable manner so that the rotating axis of the mobile wheel group, the steering axis of the mobile wheel group, and the central symmetry plane of the mobile wheel perpendicular to the rotating axis of the mobile wheel have a special geometric relationship with the central axis of the cylindrical-like surface. According to the maintenance and arrangement of the geometric relationship, the mobile wheel and the cylindrical-like surface maintain a large range of contact, and each mobile wheel can be flexibly turned on the cylindrical-like surface; in addition, the convex surface or concave surface of the cylindrical surface can satisfy the above-mentioned geometric relationship, so that the mobile chassis can adapt to the convex surface or concave surface of the cylindrical-like surface.

[0026] The present invention provides a mobile chassis adaptable to a quasi-cylindrical surface, which has three motion modes, namely an axial motion mode, a circumferential motion mode and a spiral motion mode, so that the mobile chassis can realize omnidirectional motion on the quasi-cylindrical surface and can flexibly avoid obstacles.

[0027] The robot adapted to cylindrical surfaces provided by the present invention has a compact structure, is simple and easy to operate, and has a modular design. It is small in size and can adapt to a narrow space, and has good stability and reliable movement.

[0028] The present invention provides a robot that adapts to cylindrical-like surfaces, which adopts the above-mentioned mobile chassis and also has three motion modes on the cylindrical-like surfaces: axial motion mode, circumferential motion mode and spiral motion mode. It can perform flexible omnidirectional motion on the wall surface of the cylindrical-like surface and can adapt to the convex and concave surfaces of the cylindrical-like surface.

[0029] The present invention provides a robot adapted to cylindrical surfaces, which adopts a modular and componentized design, has a compact overall structure, is small in size and weight, and can adapt to narrow spaces.

[0030] The present invention provides a robot that adapts to cylindrical surfaces. The robot is equipped with a curved surface adsorption component to improve the adsorption force and the clamping force between the robot and the cylindrical surface, so that the robot can adapt to cylindrical surfaces of various heights and various inclination angles, and can stably move, climb and stay on the cylindrical surfaces in all directions, thereby expanding the application scenarios and application range of the robot, and improving the load-to-weight ratio of the robot, thereby improving the load capacity of the robot.

[0031] The present invention provides a robot that is adaptable to cylindrical surfaces and can be easily equipped with various types of working tools, modules or components to achieve various expected functions and working requirements, thereby expanding the functionality and working range of the robot.

[0032] The invention is suitable for designing robots that can adapt to cylindrical surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of placing a mobile chassis adapted to a quasi-cylindrical surface on a quasi-cylindrical surface mentioned in the first embodiment;

[0034] Figure 2 It is a schematic diagram of the states of each moving wheel set when the moving chassis adapted to a cylindrical surface mentioned in the first embodiment is in an axial motion mode;

[0035] Figure 3 A bottom view of a mobile chassis adapted to a cylindrical surface mentioned in the first embodiment when in an axial motion mode;

[0036] Figure 4 It is a schematic diagram of the states of each moving wheel set when the moving chassis adapted to a cylindrical-like surface mentioned in the first embodiment is in a circumferential motion mode;

[0037] Figure 5 A bottom view of a mobile chassis adapted to a cylindrical surface mentioned in the first embodiment when in a circumferential motion mode;

[0038] Figure 6 It is a schematic diagram of the states of each moving wheel set when the moving chassis adapted to a cylindrical-like surface mentioned in the first embodiment is in a spiral motion mode;

[0039] Figure 7 A bottom view of a mobile chassis adapted to a cylindrical-like surface mentioned in the first embodiment when in a spiral motion mode;

[0040] Figure 8 This is a schematic diagram of the structure of the mobile wheel group mentioned in the first embodiment;

[0041] Fig. 9 This is a schematic diagram of the three-dimensional structure of a robot adapted to a cylindrical surface mentioned in the first embodiment;

[0042] Fig.10 for Fig. 9 Side view of

[0043] Fig.11 for Fig. 9 Bottom view of

[0044] Fig.12 A schematic diagram of placing a mobile chassis adapted to a quasi-cylindrical surface on a quasi-cylindrical surface mentioned in the second embodiment;

[0045] Fig.13 This is a schematic diagram of a state of a mobile chassis adapted to a cylindrical surface mentioned in the second embodiment when it is in an axial motion mode;

[0046] Fig.14 This is a schematic diagram of a state where a part of the moving wheel set of the chassis frame is removed when the moving chassis adapted to a cylindrical surface mentioned in the second embodiment is in an axial motion mode;

[0047] Fig.15 This is a schematic diagram of a state of a mobile chassis adapted to a cylindrical surface mentioned in the second embodiment when it is in a circumferential motion mode;

[0048] Fig.16 This is a schematic diagram of a state where a part of the moving wheel set of the chassis frame is removed when the moving chassis adapted to a cylindrical surface mentioned in the second embodiment is in a circumferential motion mode;

[0049] Fig.17This is a schematic diagram of a state of a mobile chassis adapted to a cylindrical surface mentioned in the second embodiment when it is in a spiral motion mode;

[0050] Fig.18 This is a schematic diagram of a state where a part of the moving wheel set of the chassis frame is removed when the moving chassis adapted to a cylindrical surface mentioned in the second embodiment is in a spiral motion mode;

[0051] Fig.19 This is a schematic diagram of the structure of the moving wheel group mentioned in the second implementation mode;

[0052] Fig. 20 A schematic diagram of a robot adapted to a quasi-cylindrical surface on a quasi-cylindrical surface as mentioned in the second embodiment;

[0053] Fig.21 for Fig. 20 Schematic diagram of the robot after removing the outer shell;

[0054] Fig. 22 for Fig. 20 Bottom view of the robot in the figure;

[0055] Fig.23 for Fig. 22 Schematic diagram of the robot after removing the negative pressure suction cup;

[0056] Fig.24 A schematic diagram of placing a mobile chassis adapted to a quasi-cylindrical surface on a quasi-cylindrical surface as mentioned in Implementation Method 3;

[0057] Fig.25 This is a schematic diagram of a state of a mobile chassis adapted to a cylindrical surface mentioned in the third embodiment when it is in an axial motion mode;

[0058] Fig.26 This is a schematic diagram of a state of a mobile chassis adapted to a cylindrical surface mentioned in the third embodiment when it is in a circumferential motion mode;

[0059] Fig. 27 This is a schematic diagram of a state of a mobile chassis adapted to a cylindrical surface mentioned in the third embodiment when it is in a spiral motion mode;

[0060] Fig.28 for Fig. 27 A partial enlarged schematic diagram of

[0061] Fig.29 This is a schematic diagram of the structure of the mobile wheel group mentioned in the third implementation mode;

[0062] Fig.30 A schematic diagram of a robot adapted to a quasi-cylindrical surface on a quasi-cylindrical surface as mentioned in Implementation Method 3;

[0063] Fig.31A three-dimensional schematic diagram of a robot adapted to a cylindrical surface as mentioned in the third embodiment;

[0064] Fig.32 for Fig.31 Schematic diagram after removing some components. DETAILED DESCRIPTION

[0065] In order to make the advantages and benefits of the technical solution provided by the present invention more clearly reflected, the technical solution provided by the present invention is now further described in detail with reference to the accompanying drawings, specifically:

[0066] In order to facilitate those skilled in the art to understand and implement the present invention, the present invention is further described clearly and completely below in conjunction with the accompanying drawings and embodiments. Obviously, the embodiments described below are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the embodiments of the present invention.

[0067] In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. They are relative concepts and may vary accordingly depending on the specific method, and therefore are not to be construed as limiting the scope of protection claimed in the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

[0068] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a replaceable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, it can be indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0069] Implementation method 1: Figures 1 to 7 As shown, this embodiment provides a mobile chassis A1 that adapts to cylindrical surfaces, and the mobile chassis A1 includes: a mobile wheel group A11; a chassis frame A12; the number of the mobile wheel groups is 4; and each mobile wheel A111 of the mobile wheel group A11 can be independently driven and independently steered.

[0070] Further, if Figure 1 , Figure 3 , Figure 5 and Figure 7 As shown, the moving wheel groups A11 are installed on both sides of the chassis frame A12, the moving wheel groups on the same side are installed in the same manner and orientation, and the moving wheel groups on both sides are arranged in an axisymmetric manner.

[0071] Further, if Figures 1 to 7 As shown, in each of the moving wheel groups A11, the moving wheel steering axis Aα is located in the moving wheel central symmetry plane As on the moving wheel A111 which is perpendicular to the moving wheel rotation axis Aβ; and the moving wheel steering axis Aα intersects with the moving wheel rotation axis Aβ and are perpendicular to each other.

[0072] Furthermore, each of the moving wheel groups A11 has a specific installation orientation. When the moving wheel central symmetry plane As on the moving wheel A111 of each of the moving wheel groups A11 and which is perpendicular to the moving wheel rotation axis Aβ is parallel to the central axis Aφ of the quasi-cylindrical surface, the central axis Aφ of the quasi-cylindrical surface is within the moving wheel central symmetry plane As on the moving wheel A111 and which is perpendicular to the moving wheel rotation axis Aβ.

[0073] Furthermore, each of the mobile wheel groups A11 has a specific installation orientation, so that the steering axis Aα of the mobile wheel of each mobile wheel group A11 intersects with the central axis Aφ of the cylindrical surface and is perpendicular to each other; in summary, when the mobile wheel A111 of the mobile wheel group A11 turns, it will not bring about changes in the height of the mobile chassis A1 or the contact center with the cylindrical surface, thereby achieving impact-free steering of the mobile wheel.

[0074] Furthermore, the movable chassis A1 can adapt to the convex surface or concave surface of the cylindrical-like surface. According to specific circumstances, in this embodiment, the movable chassis A1 is adapted to the concave surface of the cylindrical-like surface.

[0075] Furthermore, the mobile chassis A2 has three movement modes, namely, an axial movement mode, a circumferential movement mode and a spiral movement mode. The above three modes enable the mobile chassis A1 to move in all directions on a cylindrical surface.

[0076] Specifically, Figure 1 , Figure 2 and Figure 3 As shown, when the moving wheels A111 of each moving wheel group A11 rotate until the rotation axis Aβ of each moving wheel is perpendicular to the central axis Aφ of the quasi-cylindrical surface, the moving chassis A1 is in an axial motion mode, and the motion direction is parallel to the central axis Aφ of the quasi-cylindrical surface.

[0077] Specifically, Figure 1 , Figure 4 and Figure 5As shown, when the moving wheel A111 of each moving wheel group A11 rotates until the rotation axis Aβ of each moving wheel is parallel to the central axis Aφ of the quasi-cylindrical surface, the moving chassis A1 is in a circumferential motion mode, and the real-time motion direction is perpendicular to the central axis Aφ of the quasi-cylindrical surface.

[0078] Specifically, Figure 1 , Figure 6 and Figure 7 As shown, when the moving wheels A111 of each moving wheel group A11 rotate to the point where the angles between the rotating axes Aβ of each moving wheel and the parallel lines Aσ at which the central axis Aφ of the quasi-cylindrical surface intersects with the rotating axes Aβ of each moving wheel are the same, the moving chassis A1 is in a spiral motion mode, and its motion trajectory is a cylindrical spiral line. The angle between the real-time motion direction and the central axis Aφ of the quasi-cylindrical surface is equal to the angle between the rotating axes Aβ of each moving wheel and the parallel lines Aσ at which the central axis Aφ of the quasi-cylindrical surface intersects with the rotating axes Aβ of each moving wheel, and is also the spiral angle of the cylindrical spiral line.

[0079] Specifically, the moving wheel set A11 can have various structural forms, such as Figures 1 to 8 As shown, the structural method adopted in this embodiment does not constitute a limitation on the scope of protection requested by this application. In this embodiment, the moving wheel group A11 includes a moving wheel A111, a moving wheel steering motor A112, a moving wheel driving motor A113, a connecting bracket A114, and a transmission mechanism A115; the moving wheel A111 and the moving wheel driving motor A113 are installed on the connecting bracket A114, the moving wheel A111 and the output end of the moving wheel driving motor A113 are connected, and the moving wheel driving motor A113 drives the moving wheel A111 to rotate; the connecting bracket A114 is connected to the connecting bracket A114, and the connecting bracket A114 is connected to the connecting bracket A114. The bracket A114 is connected to the moving wheel steering motor A112 through the transmission mechanism A115, and the moving wheel steering motor A112 drives the connecting bracket A114 to rotate through the transmission mechanism A115, thereby controlling the direction of the moving wheel A111; in the present embodiment, the transmission mechanism A115 adopts belt drive, and may also adopt gear drive, worm gear drive, cycloidal pinwheel drive, crank connecting rod drive, etc., which are not limited here. Each moving wheel A111 includes a hub and a tire, and may also be other forms of moving wheels, which are also not limited here.

[0080] Furthermore, in the present embodiment, the moving wheel group A11 also includes a shock absorbing module A116, which can effectively reduce the vibration caused by the movement when the moving wheel A111 moves, so that the movement of the mobile chassis is more stable. The shock absorbing module A116 can be in various forms, for example, it can be a hydraulic shock absorbing module A116, a spring shock absorbing module A116, an inflatable shock absorbing module A116, a resistance-adjustable shock absorbing module A116, etc., and it is specifically set according to actual needs and is not limited here.

[0081] The mobile chassis A1 of this embodiment has the ability to perform axial movement, circumferential movement and spiral movement on a cylindrical surface. When the moving wheels A111 of each moving wheel group A11 rotate until the rotation axis Aβ of each moving wheel is perpendicular to the central axis Aφ of the cylindrical surface, the mobile chassis A1 is in an axial movement mode, and the movement direction is parallel to the central axis Aφ of the cylindrical surface. The four moving wheels A111 rotate at the same speed and direction, and the mobile chassis A1 can move forward or backward along the axial direction of the cylindrical surface. The specific movement direction depends on the rotation direction of the four moving wheels; when the moving wheels A111 of each of the moving wheel groups A11 rotate until the rotation axis Aβ of each moving wheel is parallel to the central axis Aφ of the quasi-cylindrical surface, the moving chassis A1 is in a circumferential motion mode, and the real-time motion direction is perpendicular to the central axis Aφ of the quasi-cylindrical surface. The four moving wheels A111 rotate at the same speed and rotation direction, and the moving chassis A1 can move clockwise or counterclockwise along the circumference of the quasi-cylindrical surface. The specific movement direction depends on the rotation direction of the four moving wheels. Rotation direction: When the moving wheels A111 of each of the moving wheel groups A11 rotate to the point where the angles Aσ1 and Aσ2 between the parallel lines Aβ and Aφ of the moving wheel rotation axis Aβ and the center axis Aφ of the quasi-cylindrical surface are the same, the moving chassis A1 is in a spiral motion mode, and its motion trajectory is a cylindrical spiral line. The angle value is Aθ, and the angle between the real-time motion direction and the parallel line of the quasi-cylindrical surface center axis Aφ is equal to the angle between the above-mentioned moving wheel rotation axis Aβ and the center axis Aφ of the quasi-cylindrical surface and the moving wheel rotation axis Aβ The angle Aθ between the intersecting parallel lines Aσ1 and Aσ2 is the helix angle of the cylindrical helix. The four moving wheels A111 rotate at the same speed and direction. The motion trajectory can be a left-hand helix or a right-hand helix. It can move forward or backward. The advance and retreat and spiral direction of the spiral motion depend on the angle Aθ between the parallel lines Aσ1 and Aσ2 intersecting the rotation axis Aβ of each moving wheel and the central axis Aφ of the cylindrical surface and the rotation axis Aβ of each moving wheel, as well as the rotation direction of the four moving wheels.

[0082] The mobile chassis of this embodiment can better adapt to cylindrical surfaces. The combination of multiple movement modes can enable the mobile chassis to have the ability to move omnidirectionally on the cylindrical surface, effectively avoid obstacles near the cylindrical surface, and reach all positions that are theoretically reachable.

[0083] This embodiment also provides a robot adapted to cylindrical surfaces, such as Figures 9 to 11 As shown, the robot includes the mobile chassis A1, the curved surface adsorption component A2, the operation component A3, the sensing and detection component A4, the control component A5, the communication module A6 and the power module A7 mentioned above in this embodiment.

[0084] Specifically, the structure of the curved surface adsorption component A2 can have a variety of structural styles. The curved surface adsorption component A2 in this embodiment can include a centrifugal fan A21, a fan drive motor A22, a negative pressure chamber A23, a sealing structure A24 and a fan protection cover A25; the centrifugal fan A21 is connected to the output shaft of the fan drive motor A22, and the fan drive motor A22 is installed in the center of the negative pressure chamber A23 through connecting parts; the negative pressure chamber A23 and the above-mentioned chassis frame A12 are an integrated structure, and can also be other forms of structures, which are not limited here; the sealing structure A24 plays a sealing role between the negative pressure chamber A23 and the cylindrical surface; the fan protection cover A21 protects the centrifugal fan A21 to prevent the centrifugal fan A21 from rubbing and colliding with other objects, objects and obstacles.

[0085] There are many ways to connect the centrifugal fan A21 and the fan drive motor A22. They can be directly detachably connected or connected through a coupling. The specific settings are based on actual needs and are not specifically limited here.

[0086] The specific form of the sealing structure A24 can be various, which is not limited here. In the present embodiment, the sealing structure A24 includes a sealing material A241, a sealing material skeleton A242 and a sealing structure mounting frame A243; the sealing material A241 can be an airbag material A241, a silver-plated cloth material A241, a bristle material A241, a polytetrafluoroethylene chemical material A241, etc.; the sealing material skeleton A242 can be a circular skeleton A242, a corrugated skeleton A242, a square skeleton A242, etc.; the contact form between the sealing structure A24 and the cylindrical surface can be a full contact form, a dynamic contact form or a non-contact form; the above is specifically configured according to actual needs and is not specifically limited here.

[0087] In this embodiment, when the robot is on a cylindrical surface, the fan drive motor A22 drives the centrifugal fan A21 to rotate, and the air inside the negative pressure cavity A23 is extracted to the outside of the cavity. At the same time, the sealing structure A24 restricts the external gas from flowing into the negative pressure cavity A23, so that the air pressure inside the negative pressure cavity A23 is lower than the external air pressure, thereby generating an adsorption force to press the robot against the cylindrical surface; the curved surface adsorption component A2 provides a suitable adsorption force, which can improve the traction driving force of the robot's movement, as well as the clamping force between the robot and the cylindrical surface when the robot is in various motion states on the cylindrical surface, so that the robot can perform omnidirectional movement, climbing and staying on cylindrical surfaces of various heights and inclination angles.

[0088] Specifically, the working component A3 can have multiple forms. In the present embodiment, the working component A3 includes a multi-degree-of-freedom robotic arm A31 and a working tool A32. The multi-degree-of-freedom robotic arm A31 is installed on a chassis frame A12, and is used to respond to the control signal of the control component A5 to complete a specified action; the working tool A32 is arranged at the other end of the multi-degree-of-freedom robotic arm A31. In the present embodiment, the working tool A32 is an inspection gimbal, which is equipped with an inspection camera and a supplementary light source, and can inspect the surrounding environment of cylindrical surfaces, components, and visually detectable defects.

[0089] Furthermore, the operating tool A32 can be in various forms, for example, it can be a visual inspection tool A32, a chemical gas concentration detection tool A32, a wiping operating tool A32, a repair operating tool A32, a non-destructive testing tool A32, etc. The specific selection is made according to the operating task to be performed and is not limited here.

[0090] Specifically, the perception detection component A4 in this embodiment includes an environmental perception module A41, a surface and robot interaction information perception module A42, a robot self-information perception module A43, and a perception auxiliary module A44; the environmental perception module A41 obtains the environmental information and target information required for the robot to move and operate on a cylindrical surface; the surface and robot interaction information perception module A42 obtains the posture information of the robot on the cylindrical surface, the relative posture information between the robot and the obstacle, and the force information between the robot and the surface; the robot self-information perception module A43 obtains the operating status of each component, the rotation angle and rotation speed of each motor, the internal pressure information of the negative pressure cavity A23 and information related to the operating component, etc. The perception auxiliary module A44 performs coordinated assistance in the acquisition of various perception information, so that the information acquisition range is larger, the accuracy is higher, and the information acquisition is easier.

[0091] Furthermore, in this embodiment, the environmental perception module A41 includes a binocular camera, a depth camera and a lidar, and may also be one or more other types of sensors and perception modules, which can obtain video information, image information, point cloud information, etc., which is not limited here.

[0092] Furthermore, in this embodiment, the surface and robot interaction information perception module A42 includes an inertial measurement unit, a wheel odometer and a force sensor, and may also be one or more other types of sensors and perception modules, which are not limited here.

[0093] Furthermore, in this embodiment, the robot's own information perception module A43 includes a motor encoder and an air pressure sensor, and may also be one or more other types of sensors and perception modules, which are not limited here.

[0094] Furthermore, in this embodiment, the perception auxiliary module A44 includes an auxiliary light source, and may also be one or more other types of auxiliary modules, which is not limited here.

[0095] Specifically, the communication module A6 is responsible for data communication between components inside the robot and between the robot and the mobile chassis, as well as communication between the robot and other devices.

[0096] Specifically, the power module A7 is responsible for the power supply of each component and module, voltage and current detection, low power warning and temporary power failure protection.

[0097] Specifically, when the mobile chassis A1 is in the axial motion mode, the circumferential motion mode or the spiral motion mode, the robot is also in the corresponding motion mode, that is, the axial motion mode, the circumferential motion mode or the spiral motion mode.

[0098] Specifically, the control component A5 performs task planning and decision-making of the robot according to various information obtained by the perception and detection component A4, controls the curved surface adsorption component A2 to provide appropriate adsorption force, controls the moving wheel group A11 of the mobile chassis A1, so that the moving wheels A111 of each moving wheel group A11 rotate to a specified direction and rotate at a specified speed, so that the robot is in a specified axial motion mode, circumferential motion mode or spiral motion mode, controls the operating component A3 to complete a specified operating task, and plans the robot's return according to the low power warning of the power module A7.

[0099] When using the robot adapted to cylindrical surfaces provided in this embodiment, the robot is placed on the target surface, and the control component A5 controls the surface adsorption component A2 to provide appropriate adsorption force according to the information obtained by the sensing detection component A4; according to the task that the robot needs to complete, the control component A5 makes plans and decisions, and then controls the mobile chassis A1 to move. By selecting and switching the movement mode, the robot can move omnidirectionally on the cylindrical surface, effectively avoid obstacles and reach the end position or area of ​​the task target, and then the control component A5 controls the operation component A3 to complete the specified operation. When the robot in this embodiment is used to perform operations on cylindrical surfaces, the operation coverage, accuracy and efficiency can be improved, and the robot can move flexibly on the cylindrical surface to reach the position that is difficult for the operator to reach for operation, which can solve the problems that the existing manual operation method endangers the safety of the operator and has low operation coverage, low accuracy and low efficiency.

[0100] Implementation method 2: Figures 12 to 18As shown, this embodiment provides a mobile chassis B1 that adapts to cylindrical surfaces, and the mobile chassis B1 includes: a mobile wheel group B11; a chassis frame B12; the number of the mobile wheel groups is 4; and each mobile wheel B111 of the mobile wheel group B11 can be independently driven and independently steered.

[0101] Furthermore, the moving wheel groups B11 are installed on both sides of the chassis frame B12, the moving wheel groups on the same side are installed in the same manner and orientation, and the moving wheel groups on both sides are arranged in an axisymmetric manner.

[0102] Furthermore, in each of the moving wheel groups B11, the moving wheel steering axis Bα is located in the moving wheel central symmetry plane Bs on the moving wheel B111 which is perpendicular to the moving wheel rotation axis Bβ; and the moving wheel steering axis Bα intersects with the moving wheel rotation axis Bβ and are perpendicular to each other.

[0103] Furthermore, each of the moving wheel groups B11 has a specific installation orientation. When the moving wheel central symmetry plane Bs on the moving wheel B111 of each of the moving wheel groups B11 and which is perpendicular to the moving wheel rotation axis Bβ is parallel to the central axis Bφ of the quasi-cylindrical surface, the central axis Bφ of the quasi-cylindrical surface is within the moving wheel central symmetry plane Bs on the moving wheel B111 and which is perpendicular to the moving wheel rotation axis Bβ.

[0104] Furthermore, each of the moving wheel groups B11 has a specific installation orientation, so that the moving wheel steering axis Bα of each of the moving wheel groups B11 intersects with the central axis Bφ of the cylindrical surface and is perpendicular to each other; in summary, when the moving wheel B111 of the moving wheel group B11 turns, it will not bring about changes in the height of the moving chassis B1 or the contact center with the cylindrical surface, thereby achieving impact-free moving wheel steering.

[0105] Furthermore, the movable chassis B1 can adapt to the convex surface or concave surface of the cylindrical-like surface. According to specific circumstances, in this embodiment, the movable chassis B1 is adapted to the concave surface of the cylindrical-like surface.

[0106] Furthermore, the mobile chassis B2 has three movement modes, namely, an axial movement mode, a circumferential movement mode and a spiral movement mode. The above three modes enable the mobile chassis B1 to move in all directions on a cylindrical surface.

[0107] Specifically, Fig.12 , Fig.13 and Fig.14 As shown, when the moving wheel B111 of each moving wheel group B11 rotates until the rotation axis Bβ of each moving wheel is perpendicular to the central axis Bφ of the quasi-cylindrical surface, the moving chassis B1 is in an axial motion mode, and the motion direction is parallel to the central axis Bφ of the quasi-cylindrical surface.

[0108] Specifically, Fig.12 , Fig.15 and Fig.16 As shown, when the moving wheel B111 of each moving wheel group B11 rotates until the rotation axis Bβ of each moving wheel is parallel to the central axis Bφ of the quasi-cylindrical surface, the moving chassis B1 is in a circumferential motion mode, and the real-time motion direction is perpendicular to the central axis Bφ of the quasi-cylindrical surface.

[0109] Specifically, Fig.12 , Fig.17 and Fig.18 As shown, when the moving wheels B111 of each moving wheel group B11 rotate to the point where the angles between the rotating axes Bβ of each moving wheel and the parallel lines Bσ at which the central axis Bφ of the quasi-cylindrical surface intersects with the rotating axes Bβ of each moving wheel are the same, the moving chassis B1 is in a spiral motion mode, and its motion trajectory is a cylindrical spiral line. The angle between the real-time motion direction and the central axis Bφ of the quasi-cylindrical surface is equal to the angle between the rotating axes Bβ of each moving wheel and the parallel lines Bσ at which the central axis Bφ of the quasi-cylindrical surface intersects with the rotating axes Bβ of each moving wheel, and is also the spiral angle of the cylindrical spiral line.

[0110] Specifically, the moving wheel set B11 can have various structural forms, such as Figures 12 to 19 As shown, the structural method adopted in this embodiment does not constitute a limitation on the scope of protection requested by this application. In this embodiment, the moving wheel group B11 includes a moving wheel B111, a moving wheel steering motor B112, a moving wheel driving motor B113, a connecting bracket B114, a transmission mechanism B115, and a mounting bracket B116; the moving wheel B111 and the moving wheel driving motor B113 are installed on the connecting bracket B114, the moving wheel B111 and the output end of the moving wheel driving motor B113 are connected, and the moving wheel driving motor B113 drives the moving wheel B111 to rotate; the connecting bracket B114 is connected to the moving wheel steering motor through the transmission mechanism B115. The moving wheel steering motor B112 is connected to the mounting bracket B116, and the moving wheel steering motor B112 drives the connecting bracket B114 to rotate through the transmission mechanism B115, thereby controlling the direction of the moving wheel B111; in the present embodiment, the transmission mechanism B115 adopts gear transmission, and may also adopt belt transmission, worm gear transmission, cycloidal pinwheel transmission, crank connecting rod transmission, etc., which are not limited here; the moving wheel steering motor B112 is installed on the mounting bracket B116, and the upper part of the connecting bracket B114 and the mounting bracket B116 jointly form a rotating shaft system; each moving wheel B111 includes a hub and a tire, and may also be other forms of moving wheels, which are also not limited here.

[0111] The mobile chassis B1 of this embodiment has the ability to perform axial movement, circumferential movement and spiral movement on the cylindrical surface. When the moving wheels B111 of each moving wheel group B11 rotate until the rotation axis Bβ of each moving wheel is perpendicular to the central axis Bφ of the cylindrical surface, the mobile chassis B1 is in the axial movement mode, and the movement direction is parallel to the central axis Bφ of the cylindrical surface. The four moving wheels B111 rotate at the same speed and direction, and the mobile chassis B1 can move forward or backward along the axial direction of the cylindrical surface. The specific movement direction depends on the rotation direction of the four moving wheels; when the moving wheels B111 of each of the moving wheel groups B11 rotate until the rotation axis Bβ of each moving wheel is parallel to the central axis Bφ of the quasi-cylindrical surface, the moving chassis B1 is in a circumferential motion mode, and the real-time motion direction is perpendicular to the central axis Bφ of the quasi-cylindrical surface. The four moving wheels B111 rotate at the same speed and rotation direction, and the moving chassis B1 can move clockwise or counterclockwise along the circumference of the quasi-cylindrical surface. The specific movement direction depends on the rotation direction of the four moving wheels. Rotation direction; when the moving wheels B111 of each of the moving wheel groups B11 rotate to the point where the angles between the parallel lines Bσ1 and Bσ2 intersecting the rotation axes Bβ of each moving wheel and the central axis Bφ of the quasi-cylindrical surface and the rotation axes Bβ of each moving wheel are the same, the moving chassis B1 is in a spiral motion mode, and its motion trajectory is a cylindrical spiral line. The angle value is Bθ, and the angle between the real-time motion direction and the parallel line of the central axis Bφ of the quasi-cylindrical surface is equal to the angle between the rotation axes Bβ of each moving wheel and the central axis Bφ of the quasi-cylindrical surface and the rotation axes Bβ of each moving wheel The angle Bθ between the intersecting parallel lines Bσ1 and Bσ2 is the helix angle of the cylindrical helix. The four moving wheels B111 rotate at the same speed and direction. The motion trajectory can be a left-hand helix or a right-hand helix. It can move forward or backward. The advance and retreat and spiral direction of the spiral motion depend on the angle Bθ between the parallel lines Bσ1 and Bσ2 intersecting the rotation axis Bβ of each moving wheel and the central axis Bφ of the cylindrical surface and the rotation axis Bβ of each moving wheel, as well as the rotation direction of the four moving wheels.

[0112] The mobile chassis of this embodiment can better adapt to cylindrical surfaces. The combination of multiple movement modes can enable the mobile chassis to have the ability to move omnidirectionally on the cylindrical surface, effectively avoid obstacles near the cylindrical surface, and reach all positions that are theoretically reachable.

[0113] This embodiment also provides a robot adapted to cylindrical surfaces, such as Figure 20 to Figure 23 As shown, the robot includes the mobile chassis B1, the curved surface adsorption component B2, the operation component B3, the sensing and detection component B4, the control component B5, the communication module B6, the power module B7 and the robot shell B8 mentioned above in this embodiment.

[0114] Specifically, the structure of the curved surface adsorption component B2 can have a variety of structural styles. The curved surface adsorption component B2 in this embodiment may include a ducted fan B21, a fan drive motor B22, a negative pressure suction cup B23, a sealing structure B24 and a duct B25; the ducted fan B21 is connected to the output shaft of the fan drive motor B22, and the fan drive motor B22 is installed in the center of the duct B25 through connecting parts; the negative pressure suction cup B23 is connected to the duct B25, and can also be other forms of structures, which are not limited here; the sealing structure B24 plays a sealing role between the negative pressure suction cup B23 and the cylindrical surface; the duct B21 is installed in the center of the mobile chassis B1 through connecting parts, and a mounting hole for the duct B21 is reserved in the center of the mobile chassis B1.

[0115] There are many ways to connect the ducted fan B21 and the fan drive motor B22. They can be directly detachably connected or connected through a coupling. The specific settings are based on actual needs and are not specifically limited here.

[0116] In this embodiment, when the robot is on a quasi-cylindrical surface, the fan drive motor B22 drives the duct fan B21 to rotate, and the air inside the negative pressure suction cup B23 is sucked to the outside of the suction cup. At the same time, the sealing structure B24 restricts the flow of external gas into the negative pressure suction cup B23, so that the internal air pressure of the negative pressure suction cup B23 is lower than the external air pressure, thereby generating an adsorption force to press the robot against the quasi-cylindrical surface. The duct can improve the efficiency of sucking air inside the negative pressure suction cup B23, and also has the effect of reducing noise; the curved surface adsorption component B2 provides a suitable adsorption force, which can improve the traction driving force of the robot's movement, as well as the clamping force between the robot and the quasi-cylindrical surface when the robot is in various motion states on the quasi-cylindrical surface, so that the robot can perform omnidirectional movement, climbing and staying on cylindrical surfaces of various heights and inclination angles. Specifically, the operating component B3 can have various forms. In the present embodiment, the operating component B3 is a cleaning operating part installed below the sealing structure B24, which can be a sponge, a brush, a cleaning cloth, etc. It is configured according to actual needs and is not specifically limited here.

[0117] Specifically, the perception detection component B4 in this embodiment includes an environmental perception module B41, a surface and robot interaction information perception module B42, a robot self-information perception module B43, and a perception auxiliary module B44; the environmental perception module B41 obtains the environmental information and target information required for the robot to move and operate on a cylindrical surface; the surface and robot interaction information perception module B42 obtains the posture information of the robot on the cylindrical surface, the relative posture information between the robot and the obstacle, and the force information between the robot and the surface; the robot self-information perception module B43 obtains the operating status of each component, the rotation angle and rotation speed of each motor, the internal pressure information of the negative pressure suction cup B23 and information related to the working component, etc. The perception auxiliary module B44 performs coordinated assistance in the acquisition of various perception information, so that the information acquisition range is larger, the accuracy is higher, and the information acquisition is easier.

[0118] Furthermore, in this embodiment, the environmental perception module B41 includes a binocular camera and a depth camera, and may also be one or more other types of sensors and perception modules, which can obtain video information, image information, point cloud information, etc., which is not limited here.

[0119] Furthermore, in this embodiment, the surface and robot interaction information perception module B42 includes an inertial measurement unit, a wheel odometer and a force sensor, and may also be one or more other types of sensors and perception modules, which are not limited here.

[0120] Furthermore, in this embodiment, the robot's own information perception module B43 includes a motor encoder and an air pressure sensor, and may also be one or more other types of sensors and perception modules, which are not limited here.

[0121] Furthermore, in this embodiment, the perception auxiliary module B44 includes an auxiliary light source, and may also be one or more other types of auxiliary modules, which is not limited here.

[0122] Specifically, the communication module B6 is responsible for data communication between the components inside the robot and between the robot and the mobile chassis, as well as communication between the robot and other devices. The communication module B6 and the control component B5 are on the same circuit board. Specifically, the power module B7 is responsible for power supply of various components and modules, voltage and current detection, insufficient power warning and temporary power failure protection.

[0123] Specifically, when the mobile chassis B1 is in the axial motion mode, the circumferential motion mode or the spiral motion mode, the robot is also in the corresponding motion mode, that is, the axial motion mode, the circumferential motion mode or the spiral motion mode.

[0124] Specifically, the control component B5 performs task planning and decision-making for the robot based on various information obtained by the perception and detection component B4, controls the curved surface adsorption component B2 to provide appropriate adsorption force, controls the moving wheel group B11 of the mobile chassis B1, so that the moving wheels B111 of each moving wheel group B11 rotate to a specified direction and rotate at a specified speed, so that the robot is in a specified axial motion mode, circumferential motion mode or spiral motion mode, controls the operating component B3 to complete a specified operating task, and plans the robot's return based on the low power warning of the power module B7.

[0125] The robot adapted to cylindrical surfaces provided in this embodiment is used to perform operations on cylindrical surfaces. The robot is placed on the surface, and then the control component B5 controls the surface adsorption component B2 to provide appropriate adsorption force according to the information obtained by the sensing and detection component B4; then, according to the task that the robot needs to complete, the control component B5 makes plans and decisions, and controls the movement of the mobile chassis B1. By selecting and switching the movement mode, the robot can perform omnidirectional movement on the cylindrical surface and can effectively avoid obstacles. The robot shell B8 protects the whole and further reduces noise. The robot in this embodiment can improve the coverage, accuracy and efficiency of operations on cylindrical surfaces, can adapt to walls of various materials, and solve the problems existing in the existing manual operation methods.

[0126] Implementation method three: Figure 24 to Figure 28 As shown, this embodiment provides a mobile chassis C1 that adapts to cylindrical surfaces, and the mobile chassis C1 includes: a mobile wheel group C11; a chassis frame C12; the number of the mobile wheel groups is 4; and each mobile wheel C111 of the mobile wheel group C11 can be independently driven and independently steered.

[0127] Furthermore, the moving wheel groups C11 are installed on both sides of the chassis frame C12, the moving wheel groups on the same side are installed in the same manner and orientation, and the moving wheel groups on both sides are arranged in an axisymmetric manner.

[0128] Furthermore, in each of the moving wheel groups C11, the moving wheel steering axis Cα is located in the moving wheel central symmetry plane Cs on the moving wheel C111 which is perpendicular to the moving wheel rotation axis Cβ; and the moving wheel steering axis Cα intersects with the moving wheel rotation axis Cβ and are perpendicular to each other.

[0129] Furthermore, each of the moving wheel groups C11 has a specific installation orientation. When the moving wheel central symmetry plane Cs perpendicular to the moving wheel rotation axis Cβ on the moving wheel C111 of each of the moving wheel groups C11 is parallel to the central axis Cφ of the quasi-cylindrical surface, the central axis Cφ of the quasi-cylindrical surface is within the moving wheel central symmetry plane Cs perpendicular to the moving wheel rotation axis Cβ on the moving wheel C111.

[0130] Furthermore, each of the mobile wheel groups C11 has a specific installation orientation, so that the steering axis Cα of the mobile wheel of each mobile wheel group C11 intersects with the central axis Cφ of the cylindrical surface and is perpendicular to each other; in summary, when the mobile wheel C111 of the mobile wheel group C11 turns, it will not bring about changes in the height of the mobile chassis C1 or the contact center with the cylindrical surface, thereby realizing impact-free steering of the mobile wheel.

[0131] Furthermore, the movable chassis C1 can adapt to the convex surface or concave surface of the cylindrical-like surface. According to specific circumstances, in this embodiment, the movable chassis C1 is adapted to the convex surface of the cylindrical-like surface.

[0132] Furthermore, the mobile chassis C2 has three movement modes, namely, an axial movement mode, a circumferential movement mode and a spiral movement mode. The above three modes enable the mobile chassis C1 to move in all directions on a cylindrical surface.

[0133] Specifically, Fig.24 and Fig.25 As shown, when the moving wheel C111 of each moving wheel group C11 rotates until the rotation axis Cβ of each moving wheel is perpendicular to the central axis Cφ of the quasi-cylindrical surface, the moving chassis C1 is in an axial motion mode, and the motion direction is parallel to the central axis Cφ of the quasi-cylindrical surface.

[0134] Specifically, Fig.24 and Fig.26 As shown, when the moving wheel C111 of each moving wheel group C11 rotates until the rotation axis Cβ of each moving wheel is parallel to the central axis Cφ of the quasi-cylindrical surface, the moving chassis C1 is in a circumferential motion mode, and the real-time motion direction is perpendicular to the central axis Cφ of the quasi-cylindrical surface.

[0135] Specifically, Fig.24 , Fig. 27 and Fig.28 As shown, when the moving wheels C111 of each moving wheel group C11 rotate to the point where the angles between the rotating axes Cβ of each moving wheel and the parallel lines Cσ at which the central axis Cφ of the quasi-cylindrical surface intersects with the rotating axes Cβ of each moving wheel are the same, the moving chassis C1 is in a spiral motion mode, and its motion trajectory is a cylindrical spiral line. The angle between the real-time motion direction and the central axis Cφ of the quasi-cylindrical surface is equal to the angle between the rotating axes Cβ of each moving wheel and the parallel lines Cσ at which the central axis Cφ of the quasi-cylindrical surface intersects with the rotating axes Cβ of each moving wheel, and is also the spiral angle of the cylindrical spiral line.

[0136] Specifically, the moving wheel set C11 can have various structural forms, such as Figure 24 to Figure 29As shown, the structural method adopted in this embodiment does not constitute a limitation on the scope of protection requested by this application. In this embodiment, the moving wheel group C11 includes a moving wheel C111, a moving wheel steering motor C112, a moving wheel driving motor C113, a connecting bracket C114, a transmission mechanism C115, and a mounting bracket C116; the moving wheel C111 and the moving wheel driving motor C113 are installed on the connecting bracket C114, the moving wheel C111 is connected to the output end of the moving wheel driving motor C113, and the moving wheel driving motor C113 drives the moving wheel C111 to rotate; the connecting bracket C114 is connected to the moving wheel steering motor C112 through the transmission mechanism C115. The moving wheel steering motor C112 is connected to the mounting bracket C116, and the moving wheel steering motor C112 drives the connecting bracket C114 to rotate through the transmission mechanism C115, so as to control the direction of the moving wheel C111; in the present embodiment, the transmission mechanism C115 adopts gear transmission, and may also adopt belt transmission, worm gear transmission, cycloidal pinwheel transmission, crank connecting rod transmission, etc., which are not limited here; the moving wheel steering motor C112 is installed on the mounting bracket C116, and the upper part of the connecting bracket C114 and the mounting bracket C116 jointly form a rotating shaft system; each moving wheel C111 includes a hub and a tire, and may also be a moving wheel in other forms, which are also not limited here.

[0137] The mobile chassis C1 of this embodiment has the ability to perform axial movement, circumferential movement and spiral movement on the cylindrical surface. When the moving wheels C111 of each moving wheel group C11 rotate until the rotation axis Cβ of each moving wheel is perpendicular to the central axis Cφ of the cylindrical surface, the mobile chassis C1 is in the axial movement mode, and the movement direction is parallel to the central axis Cφ of the cylindrical surface. The four moving wheels C111 rotate at the same speed and direction, and the mobile chassis C1 can move forward or backward along the axial direction of the cylindrical surface. The specific movement direction depends on the rotation direction of the four moving wheels; when the moving wheels C111 of each of the moving wheel groups C11 rotate until the rotation axis Cβ of each moving wheel is parallel to the central axis Cφ of the quasi-cylindrical surface, the moving chassis C1 is in a circumferential motion mode, and the real-time motion direction is perpendicular to the central axis Cφ of the quasi-cylindrical surface. The four moving wheels C111 rotate at the same speed and rotation direction, and the moving chassis C1 can move clockwise or counterclockwise along the circumference of the quasi-cylindrical surface. The specific movement direction depends on the rotation direction of the four moving wheels. Rotation direction; when the moving wheels C111 of each of the moving wheel groups C11 rotate to the same angle between the parallel lines Cσ1 and Cσ2 at which the rotation axis Cβ of each moving wheel intersects with the central axis Cφ of the quasi-cylindrical surface and the rotation axis Cβ of each moving wheel, the moving chassis C1 is in a spiral motion mode, and its motion trajectory is a cylindrical spiral line. The angle value is Cθ, and the angle between the real-time motion direction and the parallel line of the central axis Cφ of the quasi-cylindrical surface is equal to the angle between the rotation axis Cβ of each moving wheel and the central axis Cφ of the quasi-cylindrical surface and the rotation axis Cβ of each moving wheel The angle Cθ between the intersecting parallel lines Cσ1 and Cσ2 is the helix angle of the cylindrical helix. The four moving wheels C111 rotate at the same speed and direction. The motion trajectory can be a left-hand helix or a right-hand helix. It can move forward or backward. The advance and retreat and spiral direction of the spiral motion depend on the angle Cθ between the parallel lines Cσ1 and Cσ2 intersecting the rotation axis Cβ of each moving wheel and the central axis Cφ of the cylindrical surface and the rotation axis Cβ of each moving wheel, as well as the rotation direction of the four moving wheels.

[0138] The mobile chassis of this embodiment can better adapt to cylindrical surfaces. The combination of multiple movement modes can enable the mobile chassis to have the ability to move omnidirectionally on the cylindrical surface, effectively avoid obstacles near the cylindrical surface, and reach all positions that are theoretically reachable.

[0139] This embodiment also provides a robot adapted to cylindrical surfaces, such as Figure 30 to Figure 32 As shown, the robot includes the mobile chassis C1 mentioned above in this embodiment, a curved surface adsorption component C2, an operation component C3, a sensing and detection component C4, a control component C5, a communication module C6, and a power module C7.

[0140] Specifically, the structure of the curved surface adsorption component C2 can have a variety of structural styles. The curved surface adsorption component C2 in this embodiment can include a side permanent magnet adsorption array C21, a middle permanent magnet adsorption array C22, a side mounting bracket C23 and a middle mounting bracket C24; the curved surface adsorption component C2 in this embodiment can adapt to the magnetic wall surface, wherein the side permanent magnet adsorption array C21 and the middle permanent magnet adsorption array C22 can include a yoke and a permanent magnet, and the permanent magnet can be made of permanent magnet materials such as NdFeB, etc., which are not limited here; the curved surface adsorption component C2 can provide a larger adsorption force on the magnetic wall surface to meet the functional requirements of the robot, and can improve the traction driving force of the robot movement, as well as the clamping force between the robot and the cylindrical surface when the robot is in various motion states on the cylindrical surface, so that the robot can perform omnidirectional movement, climbing and staying on the cylindrical surface of various heights and inclination angles.

[0141] Specifically, the operation component C3 can have various forms. In the present embodiment, the operation component C3 mainly realizes the function of the surface detection operation. The component is also the environment perception module C41 in the perception detection component C4.

[0142] Specifically, the perception detection component C4 in this embodiment includes an environment perception module C41, a surface and robot interaction information perception module C42, a robot self-information perception module C43, and a perception auxiliary module C44; the environment perception module C41 obtains the environment information and target information required for the robot to move and operate on a cylindrical surface; the surface and robot interaction information perception module C42 obtains the posture information of the robot on the cylindrical surface, the relative posture information between the robot and the obstacle, and the force information between the robot and the surface; the robot self-information perception module C43 obtains the operating status of each component, the rotation angle and rotation speed of each motor, the internal pressure information of the negative pressure suction cup C23 and information related to the working component, etc. The perception auxiliary module C44 performs coordinated assistance in the acquisition of various perception information, so that the information acquisition range is larger, the accuracy is higher, and the information acquisition is easier.

[0143] Furthermore, in this embodiment, the environmental perception module C41 includes a binocular camera and a depth camera, and may also be one or more other types of sensors and perception modules, which can obtain video information, image information, point cloud information, etc., which is not limited here.

[0144] Furthermore, in this embodiment, the surface and robot interaction information perception module C42 includes an inertial measurement unit, a wheel odometer, and a force sensor, and may also be one or more other types of sensors and perception modules, which are not limited here.

[0145] Furthermore, in this embodiment, the robot's own information perception module C43 includes a motor encoder and a force sensor, and may also be one or more other types of sensors and perception modules, which are not limited here.

[0146] Furthermore, in this embodiment, the perception auxiliary module C44 includes an auxiliary light source, and may also be one or more other types of auxiliary modules, which is not limited here.

[0147] Specifically, the communication module C6 is responsible for data communication between the components inside the robot and between the robot and the mobile chassis, as well as communication between the robot and other devices. The communication module C6 and the control component C5 are on the same circuit board.

[0148] Specifically, the power module C7 is responsible for the power supply of each component and module, voltage and current detection, low power warning and temporary power failure protection.

[0149] Specifically, when the mobile chassis C1 is in the axial motion mode, the circumferential motion mode or the spiral motion mode, the robot is also in the corresponding motion mode, that is, the axial motion mode, the circumferential motion mode or the spiral motion mode.

[0150] Specifically, the control component C5 performs task planning and decision-making of the robot according to various information obtained by the perception and detection component C4, controls the curved surface adsorption component C2 to provide appropriate adsorption force, controls the moving wheel group C11 of the mobile chassis C1, so that the moving wheels C111 of each moving wheel group C11 rotate to a specified direction and rotate at a specified speed, so that the robot is in a specified axial motion mode, circumferential motion mode or spiral motion mode, controls the operating component C3 to complete a specified operating task, and plans the robot's return according to the low power warning of the power module C7.

[0151] The robot adapted to cylindrical surfaces provided in this embodiment can be used for operations on magnetic cylindrical surfaces. The robot is placed on the surface, and the surface adsorption component C2 provides appropriate adsorption force. Then, according to the task that the robot needs to complete, the control component C5 makes plans and decisions, controls the mobile chassis C1 to move in all directions, and can effectively avoid obstacles by switching and selecting motion modes. The robot in this embodiment can improve the coverage, accuracy and efficiency of operations on magnetic surfaces, and solve the problems of the existing manual operation method, which is difficult, dangerous, and has low coverage, accuracy and efficiency.

[0152] The technical solution provided by the present invention is further described in detail above through several specific implementation modes in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the several specific implementation modes described above are only used to explain and describe the technical solution provided by the present invention, and are not used as a limitation to the present invention. Any reasonable modification and improvement of the technical solution provided by the present invention, reasonable combination of implementation modes and equivalent substitution, etc. based on the spirit and principle of the present invention, shall be included in the protection scope of the present invention.

Claims

1. A mobile chassis adapted to a cylindrical surface, characterized in that: include: Mobile wheel set and chassis frame; The number of the moving wheel groups is 4, and the chassis frame is used to fix the 4 moving wheel groups. The moving wheels of the 4 moving wheel groups are all oriented to the same side of the chassis frame, and the moving wheel of each moving wheel group can be driven and steered independently.

2. The mobile chassis adapted to a cylindrical surface according to claim 1, characterized in that: The four moving wheel groups are installed on both sides of the chassis frame, with two moving wheel groups on the same side. The two moving wheel groups are installed in the same direction, and the moving wheel groups on both sides are arranged axially symmetrically.

3. The mobile chassis adapted to a cylindrical surface according to claim 1, characterized in that: In each of the moving wheel groups, the moving wheel steering axis intersects with the moving wheel rotation axis and is perpendicular to each other, and the moving wheel steering axis is located on the moving wheel along a symmetry plane perpendicular to the rotation axis.

4. The mobile chassis adapted to a cylindrical surface according to claim 1, characterized in that: When the symmetry plane on the moving wheel of each of the moving wheel groups, which is perpendicular to the rotating axis of the moving wheel, is parallel to the axis of the quasi-cylindrical surface, the axis of the quasi-cylindrical surface is within the symmetry plane.

5. The mobile chassis adapted to a cylindrical surface according to claim 1, characterized in that: The steering axis of the moving wheel of each moving wheel group intersects with the axis of the cylindrical surface and is perpendicular to each other.

6. A robot adapted to cylindrical surfaces, characterized in that: It comprises a mobile chassis adaptable to cylindrical-like surfaces and a curved surface adsorption component according to any one of claims 1 to 5; the curved surface adsorption component is arranged on the chassis to provide the clamping force between the robot and the cylindrical-like surface required on the cylindrical-like surface.

7. The robot adapted to cylindrical surfaces according to claim 6, characterized in that: The curved surface adsorption component adopts vacuum adsorption, negative pressure adsorption or magnetic adsorption.

8. The robot adapted to cylindrical surfaces according to claim 6, characterized in that: The robot also includes: A sensing and detection component, used to obtain information about the robot's surrounding environment, information about the interaction between the surface and the robot, and information about the robot itself; A control component is used to perform task planning and decision-making of the robot according to various information obtained by the sensing and detecting component, control the curved surface adsorption component to provide appropriate adsorption force, and control the moving wheel groups so that the moving wheels of each moving wheel group rotate to a specified direction and at a specified speed; A communication module, used to realize data communication between the components inside the robot and between the robot and the mobile chassis, and also includes communication between the robot and other devices; The power module is used to supply power to various components and modules, and perform voltage and current detection, low power warning, and temporary power failure protection.

9. A robot control method adapted to cylindrical surfaces, characterized in that: The control method is embedded in the central control system of the robot according to claim 8, and the method comprises: The steps of collecting perception signals, collecting communication signals, and issuing control signals according to the perception signals and communication signals.

10. A computer storage medium for storing a computer program, characterized in that: When the program is read by a computer, the computer executes the method according to claim 9.

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