Crawler-type obstacle crossing robot for steel box girder inspection and obstacle crossing method

Abstract

The invention discloses a crawler-type obstacle crossing robot for steel box girder inspection and an obstacle crossing method. The crawler-type obstacle crossing robot comprises an upper computer control terminal, a crawler walking mechanism, a crawler obstacle crossing mechanism, a vehicle body mechanism, an image acquisition and recognition device and a motion control system. The crawler walking mechanisms are arranged on the left side and the right side in the advancing direction of the vehicle body mechanism, connected through transmission shafts and connected with the vehicle body mechanism through crawler supports. The crawler obstacle crossing mechanism is arranged on one side of the advancing direction of the vehicle body mechanism, is a single-swing-arm crawler, is connected to a transmission shaft at the front end of the crawler walking mechanism and is connected with the vehicle body mechanism through a swing arm connecting rod device. Through driving of the crawler motor, the crawler walking mechanism can push the robot to move forwards; through driving of the swing arm motor, the crawler belt obstacle crossing mechanism can climb over the obstacle steel plate through the swing arm. Therefore, the inspection robot relieves the problem that an existing steel box girder inspection robot is poor in obstacle crossing ability and has high adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of fatigue damage detection of steel bridges, and in particular to a crawler-type obstacle-crossing robot and an obstacle-crossing method for steel box girder inspection. Background Art

[0002] As the world's largest bridge country, China has built the world's largest group of bridges in service with the most diverse materials and structures, the heaviest traffic tasks, and the largest number of bridges in service with defects. In order to support the development of my country from a bridge country to a bridge power, China is currently in a transition period from "mainly construction" to "equal emphasis on construction and maintenance". As the main component of large bridges in service, the fatigue cracking problem of steel bridge structures has become increasingly prominent with the changes in vehicle loads and the increase in operating service time. To a certain extent, it has seriously threatened the safe operation of bridges and has become the main problem faced in the current development and transformation period. At present, due to the complex internal structure of steel bridges, the large number of cracks, rapid growth, strong initial concealment, and high randomness, the detection of fatigue cracks in steel bridge structures at home and abroad mainly relies on regular visual inspections by inspectors, which is simple but time-consuming. For those that cannot be distinguished by the naked eye, there are mainly magnetic particle detection, eddy current detection, acoustic emission detection, and ultrasonic detection; for the repair of fatigue cracks in steel bridges, there are mainly drilling crack arrest methods, TIG remelting methods, repair welding, reinforcement reinforcement methods, and pneumatic impact methods. These methods are all manual operations, which have certain safety hazards and problems such as low maintenance efficiency, inaccurate results, irregular processes, low maintenance coverage, and difficulty in digital analysis of results. Therefore, there is an urgent need for an intelligent method to replace manual inspections and promote the transformation and development of bridge maintenance work.

[0003] With the cross-integration of robotics engineering, computer science and technology, bridge engineering and other disciplines, inspection robots have gradually been applied to the inspection of steel bridge structures, which has greatly promoted the development of steel bridge structure inspection technology. However, the inspection robots currently used in steel bridge structures all have certain defects. First, there are few research and inventions on inspection robots used inside steel box girders. Second, most existing inspection robots have insufficient obstacle crossing capabilities and are often limited to a single box room, making it impossible to efficiently and fully automate the inspection of steel bridge structures. Summary of the invention

[0004] The purpose of the present invention is to provide a crawler obstacle-crossing robot and an obstacle-crossing method for steel box girder inspection, wherein the main crawler walking mechanism, the crawler obstacle-crossing mechanism, the vehicle body mechanism, the image acquisition and recognition device, and the motion control system work together to realize the walking, climbing, and obstacle-crossing of the vehicle; at the same time, the device has strong obstacle-crossing ability, good walking stability, and strong adaptability, which reduces manpower loss and improves the efficiency of steel box girder maintenance.

[0005] In order to achieve the above technical objectives, the present invention will adopt the following technical solutions:

[0006] A crawler obstacle-crossing robot for steel box girder inspection comprises a host computer control terminal, a main crawler walking mechanism, a crawler obstacle-crossing mechanism, a vehicle body mechanism, an image acquisition and recognition device, and a motion control system; wherein:

[0007] The vehicle body structure includes a base plate and a main control cabinet installed on the base plate; the motion control system is installed in the main control cabinet;

[0008] The bottom plate is supported by the main crawler walking mechanism, which includes a front transmission shaft and left and right crawler walking mechanisms; the left and right crawler walking mechanisms are symmetrically arranged on the left and right sides of the forward direction of the vehicle body mechanism, and the front ends of the left and right crawler walking mechanisms are linked and connected through the front transmission shaft;

[0009] The track obstacle-crossing mechanism is a single swing arm track walking structure, which is arranged at the front end of the vehicle body mechanism in the forward direction and includes an obstacle-crossing track walking mechanism and a swing arm connecting rod device;

[0010] The rear end of the obstacle-overcoming crawler walking mechanism is connected to the front end transmission shaft of the main crawler walking mechanism and is located between the left and right crawler walking mechanisms, and the front end is connected to the power output end of the swing arm motor installed on the bottom plate through the swing arm connecting rod device; under the power actuation of the swing arm motor, the swing arm connecting rod device can drive the obstacle-overcoming crawler walking mechanism to swing with an inclination angle between 0-α relative to the front end transmission shaft of the main crawler walking mechanism 1, so as to achieve obstacle overcoming with the cooperation of the main crawler walking mechanism;

[0011] The image acquisition and recognition device is connected to the base plate through bolts at the bottom of the camera mechanical arm.

[0012] Preferably, the swing arm connecting rod device comprises an active connecting rod and a driven connecting rod; wherein:

[0013] The power output end of the swing arm motor is connected to one end of the active connecting rod, and the other end of the active connecting rod is connected to the crawler obstacle crossing mechanism through the driven connecting rod.

[0014] Preferably, the structures of the left and right crawler walking mechanisms are consistent, and both include a first chain drive crawler assembly, a first sprocket support, a crawler bracket and a crawler motor;

[0015] The first chain drive crawler assembly includes a first driving sprocket, a first driven sprocket, a first chain, and a permanent magnetic adsorption module;

[0016] The first driving sprocket and the first driven sprocket are both double-row sprockets, the first chain is two single-side bent plate chains, and the teeth of the first driving sprocket and the first driven sprocket are respectively engaged with the first chain;

[0017] The two ends of the front transmission shaft are respectively supported and positioned by the first sprockets of the left and right crawler traveling mechanisms, and one end of the front transmission shaft is connected to the first driven sprocket of the left crawler traveling mechanism, and the other end is connected to the first driven sprocket of the right crawler traveling mechanism;

[0018] The permanent magnetic adsorption module includes a track shoe, a permanent magnet, and a track mounting plate; the permanent magnet is arranged in the track shoe, and the track shoe and the track mounting plate are fixedly connected to the bent plate of the first chain by bolts;

[0019] There are two crawler brackets, which are marked as the front crawler bracket and the rear crawler bracket, which are installed on the front and rear sides of the main crawler walking mechanism in a one-to-one correspondence; the first driven sprocket bearing and the first driving sprocket bearing are symmetrically arranged on the inner sides of the front and rear crawler brackets, and the first driving sprocket bearing is aligned with the center of the semicircular flat plate of the rear crawler bracket, and the first driven sprocket bearing is aligned with the center of the semicircular flat plate of the front crawler bracket;

[0020] The first driving sprocket axle is positioned and supported by the first driving sprocket bearing, the first driven sprocket axle is positioned and supported by the first driven sprocket bearing, and the right axle of the first driving sprocket is connected to the output shaft of the crawler motor.

[0021] Preferably, the obstacle-crossing crawler walking mechanism comprises a second chain-type transmission crawler assembly and a second sprocket support;

[0022] The second chain drive crawler assembly includes a second driven sprocket, a third driven sprocket, a second chain and a permanent magnetic adsorption module;

[0023] The second driven sprocket and the third driven sprocket are both double-row sprockets, the second chain is two single-side bent plate chains, and the gear teeth of the second driven sprocket and the gear teeth of the third driven sprocket are respectively engaged with the second chain;

[0024] The second sprocket support comprises a sprocket support body, a second driven sprocket bearing and a third driven sprocket bearing; the second driven sprocket bearing and the third driven sprocket bearing are symmetrically arranged on the outer side of the sprocket support body, the second driven sprocket bearing is aligned with the center of the semicircular arc on the rear side of the sprocket support, and the third driven sprocket bearing is aligned with the center of the semicircular arc on the front side of the sprocket support body; the second driven sprocket has the same transmission shaft as the first driven sprocket, and the third driven sprocket axle is installed at the third driven sprocket bearing;

[0025] In the swing arm connecting rod device, the left side of the driven connecting rod is connected to the obstacle-crossing crawler walking mechanism through the third driven sprocket bearing.

[0026] Preferably, the image acquisition and recognition device includes a high-definition camera, a camera arm, a communication module, and an image processing device;

[0027] The camera mechanical arm comprises a first motor, a first rotating link, a second motor, a second rotating link and a third motor; the fixed part of the first motor is mounted on the bottom plate, and its power output end is connected to the lower end of the first rotating link; the upper end of the first rotating link is connected to the fixed part of the second motor; the power output end of the second motor is connected to the lower end of the second rotating link; the upper end of the second rotating link is connected to the fixed part of the third motor; the power output end of the third motor is connected to the high-definition camera;

[0028] The communication module includes a wireless serial port and a wifi network card, wherein the wireless serial port is connected to the main control module; and the wifi network card is connected to the image processing device;

[0029] The communication module and the image processing device are installed in the main control cabinet.

[0030] Preferably, the motion control system comprises a main control module and a motor control module; the main control module is connected to the host computer control terminal signal, and the motor control module is connected to the main control module signal; the motor control module is respectively connected to the crawler motor and the swing arm motor;

[0031] The main control module and the motor control module are both installed in the main control cabinet.

[0032] Preferably, each track motor and swing arm motor is controlled separately by a motor control module; each track motor and swing arm motor is equipped with a Hall encoder.

[0033] Another technical object of the present invention is to provide an obstacle surmounting method of a crawler obstacle surmounting robot for steel box girder inspection, which is implemented based on the above-mentioned crawler obstacle surmounting robot for steel box girder inspection and includes the following steps:

[0034] Step 1: The main crawler walking mechanism operates, and the vehicle body moves along the U-rib plane toward the obstacle steel plate until the distance between the front end of the vehicle body mechanism and the obstacle steel plate reaches the distance value designed by the program;

[0035] Step 2: The track obstacle crossing mechanism operates, and the track obstacle crossing mechanism at the front end of the vehicle body mechanism is raised to the programmed angle; the main track walking mechanism operates, and the front end of the track obstacle crossing mechanism is automatically adsorbed to the end of the obstacle steel plate;

[0036] Step 3: The track obstacle-crossing mechanism operates, and the reaction force provided by the front end of the track obstacle-crossing mechanism is used to separate the middle of the vehicle body from the adsorption; at the same time, the main track walking mechanism operates, and the vehicle body moves forward;

[0037] Step 4: The main crawler walking mechanism operates, and the vehicle body moves forward; at the same time, the crawler obstacle crossing mechanism operates, and the main crawler walking mechanism gradually separates from the U-rib plane and is adsorbed to the obstacle steel plate; at the same time, under the continued pushing action of the main crawler walking mechanism and the action of the crawler obstacle crossing mechanism, the crawler obstacle crossing mechanism separates from the obstacle steel plate and is adsorbed to the U-rib plane on the other side;

[0038] Step 5: The track obstacle crossing mechanism operates, the center of gravity of the vehicle body gradually moves downward, and gradually adsorbs to the U-rib plane on the other side; the track obstacle crossing mechanism continues to operate, and the track obstacle crossing mechanism completely detaches from the adsorbed obstacle steel plate;

[0039] Step 6: The main crawler walking mechanism operates, and the vehicle body moves forward; the crawler obstacle crossing mechanism operates, the main crawler walking mechanism is adsorbed to the U-rib plane, and the vehicle body completes the obstacle crossing process.

[0040] Preferably, a laser ranging probe is installed at the front end of the vehicle body mechanism; the laser ranging probe is used to detect the distance between the vehicle body mechanism and the obstacle steel plate, and then adjust the walking posture of the vehicle body mechanism to match the distance designed in step one.

[0041] Based on the above technical objectives, the present invention has the following advantages over the prior art:

[0042] (1) The crawler-type obstacle-crossing robot and obstacle-crossing method for steel box girder inspection described in the present invention improve the walking stability of the robot through the crawler walking mechanism. At the same time, the introduction of the crawler type makes the device more adaptable to the complex structure inside the steel box girder.

[0043] (2) The tracked obstacle-crossing robot and obstacle-crossing method for steel box girder inspection of the present invention, by adding a single swing arm track on one side of the tracked robot, can realize the function of the robot climbing over T-shaped, vertical, convex and other obstacle steel plates inside the steel box girder. The robot's obstacle-crossing ability is improved, manpower loss is reduced, and the efficiency of steel box girder maintenance is improved.

[0044] (3) The crawler obstacle-crossing robot and obstacle-crossing method for steel box girder inspection described in the present invention install a permanent magnetic adsorption module in the crawler walking mechanism and the crawler obstacle-crossing mechanism, and utilize the adsorption capacity of the permanent magnet to complete the transmission of the crawler steel box girder inspection robot's motion and improve the robot's safety when walking on the steel plate inside the steel box girder. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a schematic diagram of the overall structure of the tracked obstacle-crossing robot of the present invention;

[0046] Figure 2 Schematic diagram of the crawler walking mechanism of the crawler obstacle surmounting robot of the present invention;

[0047] Figure 3 It is a schematic diagram of the crawler walking mechanism and the permanent magnetic adsorption module in the crawler obstacle surmounting mechanism of the crawler obstacle surmounting robot of the present invention;

[0048] Figure 4 is a schematic diagram of a track obstacle surmounting mechanism of the tracked obstacle surmounting robot of the present invention;

[0049] Figure 5 is a schematic diagram of the body structure of the tracked obstacle-crossing robot of the present invention;

[0050] Figure 6 Schematic diagram of the camera mechanical arm of the crawler obstacle-crossing robot of the present invention;

[0051] Figure 7 It is a flow chart of an obstacle-crossing method of a tracked obstacle-crossing robot used for steel box girder inspection;

[0052] In the figure: 1- crawler walking mechanism; 2- crawler obstacle crossing mechanism; 3- vehicle body mechanism; 4- image acquisition and recognition device; 5- main control cabinet; 6- bottom plate; 7- first chain drive crawler assembly; 8- first sprocket support; 9- crawler bracket; 10- crawler motor; 15- crawler plate; 16- permanent magnet; 17- permanent crawler mounting plate; 22- second chain drive crawler assembly; 23- second sprocket support; 32- driving connecting rod; 33- driven connecting rod; 34- swing arm motor; 35- high-definition camera; 36- camera mechanical arm; 37- first motor; 38- first rotating connecting rod; 39- second motor; 40- second rotating connecting rod; 41- third motor. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means any limitation to the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Unless otherwise specified, the relative arrangement, expressions and numerical values ​​of the components and steps described in these embodiments do not limit the scope of the present invention. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but in appropriate cases, the techniques, methods and equipment should be regarded as part of the specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0054] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The component can also be positioned in other different ways (rotated 90 degrees or in other orientations).

[0055] In the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention patent can be understood according to the specific circumstances.

[0056] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the patent of this invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0057] like Figures 1 to 6 As shown, the crawler obstacle-crossing robot for steel box girder inspection of the present invention comprises a host computer control terminal, a main crawler walking mechanism 1, a crawler obstacle-crossing mechanism 2, a vehicle body mechanism 3, an image acquisition and recognition device 4, a motion control system, and a laser ranging probe, wherein:

[0058] The main crawler walking mechanism 1 is arranged on the left and right sides of the forward direction of the vehicle body mechanism 3, and is connected to the base plate 6 through a crawler bracket 9, including a front end transmission shaft and left and right crawler walking mechanisms; the left and right crawler walking mechanisms are symmetrically arranged on the left and right sides of the forward direction of the vehicle body mechanism 3, and the front ends of the left and right crawler walking mechanisms are linked and connected through the front end transmission shaft, and the rear ends are linked and connected through the rear end transmission shaft.

[0059] The track obstacle crossing mechanism 2 is a single swing arm track walking structure, which is arranged at the front end of the vehicle body mechanism 3 in the forward direction, and includes an obstacle crossing track walking mechanism and a swing arm connecting rod device; the rear end of the obstacle crossing track walking mechanism is connected to the front end transmission shaft of the main crawler walking mechanism 1 and is located between the left and right crawler walking mechanisms, and the front end is connected to the power output end of the swing arm motor 34 installed on the bottom plate 6 through the swing arm connecting rod device; under the power actuation of the swing arm motor 34, the swing arm connecting rod device can drive the obstacle crossing track walking mechanism to swing with an inclination angle between 0-α relative to the front end transmission shaft of the main crawler walking mechanism 1, so as to achieve obstacle crossing with the cooperation of the main crawler walking mechanism 1.

[0060] It includes a base plate 6 and a main control cabinet 5 installed on the base plate 6 ; the image acquisition and recognition device 4 is connected to the base plate 6 through the bottom bolts of the camera mechanical arm; and the motion control system is installed in the main control cabinet 5 .

[0061] The main crawler walking mechanism 1 is used to execute the forward, backward, turn and other motion instructions sent by the motion control system. The structures of the left and right crawler walking mechanisms are the same, both of which include a first chain drive crawler assembly 7, a first sprocket support 8, a crawler bracket 9 and a crawler motor 10. Figure 2 As shown. The first chain drive crawler assembly 7 includes a first driving sprocket, a first driven sprocket, a first chain, and a permanent magnetic adsorption module; the first driving sprocket and the first driven sprocket are both double-row sprockets, the first chain is two single-sided curved plate chains, and the teeth of the first driving sprocket and the first driven sprocket are respectively engaged with the first chain; the two ends of the front end transmission shaft are respectively positioned and supported by the first sprocket supports 8 of the left and right crawler walking mechanisms, and one end of the front end transmission shaft is connected to the first driven sprocket of the left crawler walking mechanism, and the other end is connected to the first driven sprocket of the right crawler walking mechanism.

[0062] The permanent magnetic adsorption module, such as Figure 3 As shown, it includes a track shoe 15, a permanent magnet 16, and a track mounting plate 17; the permanent magnet 16 is arranged in the track shoe 15, and the track shoe 15 and the track mounting plate 17 are fixedly connected to the bent plate of the first chain by bolts. The track bracket 9 is installed on the front and rear sides of the first sprocket support 8, and there are two on one side (left or right), which are recorded as the front and rear track brackets, which are used to connect the first sprocket support 8 to the bottom plate; the first driven sprocket bearing and the first driving sprocket bearing are symmetrically arranged on the inner side of the two track brackets, and the first driving sprocket bearing is aligned with the center of the semicircular flat plate of the rear track bracket, and the first driven sprocket bearing is aligned with the center of the semicircular flat plate of the front track bracket; the first driving sprocket axle is installed at the first driving sprocket bearing, and the first driven sprocket axle is installed at the first driven sprocket bearing, and the right axle of the first driving sprocket is connected to the output shaft of the track motor.

[0063] The obstacle-crossing crawler walking mechanism is as follows: Figure 4 As shown, it includes a second chain drive crawler assembly 22 and a second sprocket support 23; the second chain drive crawler assembly 22 includes a second driven sprocket, a third driven sprocket, a second chain and a permanent magnetic adsorption module; the second driven sprocket and the third driven sprocket are both double-row sprockets, the second chain is two single-sided bent plate chains, and the teeth of the second driven sprocket and the teeth of the third driven sprocket are respectively engaged with the second chain; the second sprocket support includes a sprocket support body, a second driven sprocket bearing and a third driven sprocket bearing , the second driven sprocket bearing and the third driven sprocket bearing are symmetrically arranged on the outside of the sprocket support body, the second driven sprocket bearing is aligned with the center of the semicircular arc of the rear side of the sprocket support, and the third driven sprocket bearing is aligned with the center of the semicircular arc of the front side of the sprocket support body; the second driven sprocket is the same as the first driven sprocket transmission shaft, and the third driven sprocket shaft is installed at the third driven sprocket bearing; in the swing arm connecting rod device, the left side of the driven connecting rod 33 is connected to the obstacle crawler walking mechanism through the third driven sprocket bearing. The swing arm connecting rod device is used to execute the rotation control command sent by the motion control system, thereby realizing the functional role of the obstacle crawler walking mechanism climbing over the steel plate.

[0064] The permanent magnetic adsorption module in the main crawler walking mechanism 1 and the crawler obstacle crossing mechanism 2 is as follows: Figure 3 As shown, it is used for the robot body to adsorb the steel box beam to improve the stability of the device. The permanent magnetic adsorption module includes a track shoe 15, a permanent magnet 16, and a track mounting plate 17; the permanent magnet 16 is arranged in the track shoe 15, and the track shoe 15 and the track mounting plate 17 are fixedly connected to the bent plate of the first chain or the second chain 27 by bolts.

[0065] The image acquisition and recognition device 4 is used to obtain surface image data of the inspected steel box girder structure, and includes a high-definition camera 35, a camera arm, a communication module, and an image processing device.

[0066] The camera mechanical arm, such as Figure 6 As shown, it is used to adjust the camera posture to face the surface of the steel box girder structure to obtain clear and accurate structural surface data, including a first motor 37, a first rotating link 38, a second motor 39, a second rotating link 40 and a third motor 41; the fixed part of the first motor 37 is installed on the base plate 6, and its power output end is connected to the lower end of the first rotating link 38; the upper end of the first rotating link 38 is connected to the fixed part of the second motor 39; the power output end of the second motor 39 is connected to the lower end of the second rotating link 40; the upper end of the second rotating link 40 is connected to the fixed part of the third motor 41; the power output end of the third motor 41 is connected to the high-definition camera 35.

[0067] The communication module includes a wireless serial port and a wifi network card. The wireless serial port is connected to the main control module, and is used for the main control module to receive control instructions issued by the host computer control terminal; the wifi network card is connected to the image processing device, and is used to transmit data processed by the image processing device to the host computer control terminal; the image processing device is used to receive and process image data acquired by the high-definition camera 35; the communication module and the image processing device are both installed in the main control cabinet 5.

[0068] The motion control system includes a main control module and a motor control module, both of which are installed in the main control cabinet 5; the main control module is used to receive the host computer control terminal signal and send control instructions to the motor control module; the motor control module is used to receive instructions from the main control module, and then drive the crawler motor 10 and the swing arm motor 34 to rotate according to the instructions.

[0069] The track motor 10 and the swing arm motor 34 are both 24V DC motors, and each track motor 10 is controlled separately by a motor control module. The 24V DC motor described in the present invention is a specific motor for driving the main track walking mechanism 1 and the track swing arm mechanism. In fact, the present invention can select other types of existing motors as the track motor 10 and the swing arm motor 34 according to needs; the Hall encoder installed on each track motor 10 and the swing arm motor 34 is used to record the number of rotations of each sprocket, and calculate the walking distance of the robot and the rotation angle of the swing arm connecting rod device 24 according to the reduction ratio of the 24V DC motor and the circumference of the sprocket.

[0070] The vehicle body structure 3 includes a main control cabinet 5 and a bottom plate 6. Figure 5 As shown, the base plate 6 is used to carry and install all the execution devices, including the main crawler walking mechanism 1, the crawler obstacle crossing mechanism 2, and the image acquisition and recognition device 4; the main control cabinet 5 is used to carry all the upper systems, including the communication module, the image processing device, the main control module, and the motor control module.

[0071] Based on the above-mentioned crawler obstacle-crossing robot for steel box girder inspection, the present invention provides an obstacle-crossing method of the crawler obstacle-crossing robot for steel box girder inspection, comprising the following steps:

[0072] Step 1: Figure 7 As shown in (a), the main crawler walking mechanism 1 operates, and the robot body moves along the U-rib plane toward the obstacle steel plate until the distance between the front end of the robot body and the obstacle steel plate reaches the distance value designed by the program;

[0073] Step 2: The track obstacle crossing mechanism 2 operates, and the single swing arm track at the front end of the robot body is lifted to the programmed angle; the main track walking mechanism 1 operates, and the front end of the track obstacle crossing mechanism 2 is automatically adsorbed to the end of the obstacle steel plate. At this time, the robot body structure is as follows: Figure 7 as shown in (b);

[0074] Step 3: The track obstacle crossing mechanism 2 operates. Using the reaction force provided by the front end of the track obstacle crossing mechanism 2, the middle of the robot body is freed from adsorption. At this time, the structural form of the robot body can refer to Figure 7 (c); while the main crawler walking mechanism 1 operates, the vehicle body moves forward, and the structure of the robot body is as follows Figure 7 As shown in (d);

[0075] Step 4: The main crawler walking mechanism 1 operates, and the vehicle body moves forward; at the same time, the crawler obstacle crossing mechanism 2 operates, and the main crawler walking mechanism 1 gradually detaches from the U-rib plane and is adsorbed to the obstacle steel plate; at the same time, under the continued pushing effect of the main crawler walking mechanism 1 and the crawler obstacle crossing mechanism 2, the crawler obstacle crossing mechanism 2 detaches from the obstacle steel plate and is adsorbed to the U-rib plane on the other side. At this time, the structural form of the robot body can be referred to Figure 7 (e);

[0076] Step 5: The track obstacle crossing mechanism 2 operates, and the center of gravity of the robot body gradually moves downward and gradually adsorbs to the U-rib plane on the other side. Figure 7 The robot body structure shown in (f); Figure 7 In the robot body structure shown in (g), the track obstacle crossing mechanism 2 continues to operate, and the track obstacle crossing mechanism 2 is completely separated from the adsorption obstacle steel plate;

[0077] Step 6: The main crawler walking mechanism 1 operates, and the robot body moves forward; the crawler obstacle crossing mechanism 2 operates, and the main crawler walking mechanism 1 is adsorbed to the U-rib plane, and the robot body completes the obstacle crossing process. The final robot body structure is as follows: Figure 7 As shown in (h).

[0078] At the same time, during the obstacle surmounting process, the laser ranging probe installed at the front end of the tracked obstacle surmounting robot body is used to detect the distance between the robot body and the obstacle steel plate, and then adjust the robot's walking posture to match the distance designed in step one.

[0079] The above is only a preferred specific implementation method of the patent of the present invention, but the protection scope of the patent of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme of the patent and the invention concept of the patent within the technical scope disclosed by the patent of the present invention, which should be covered by the protection scope of the patent of the present invention.

Claims

1. A crawler obstacle-crossing robot for steel box girder inspection, characterized in that: It includes a host computer control terminal, a main crawler walking mechanism, a crawler obstacle crossing mechanism, a vehicle body mechanism, an image acquisition and recognition device, and a motion control system; wherein: The vehicle body mechanism includes a bottom plate and a main control cabinet installed on the bottom plate; the motion control system is installed in the main control cabinet; the bottom plate is supported by the main crawler walking mechanism, and the main crawler walking mechanism includes a front transmission shaft and left and right crawler walking mechanisms; the left and right crawler walking mechanisms are symmetrically arranged on the left and right sides of the vehicle body mechanism in the forward direction, and the front ends of the left and right crawler walking mechanisms are linked and connected through the front transmission shaft; The crawler obstacle-crossing mechanism is a single swing arm crawler walking structure, which is arranged at the front end of the vehicle body mechanism in the forward direction and includes an obstacle-crossing crawler walking mechanism and a swing arm connecting rod device; The rear end of the obstacle-overcoming crawler walking mechanism is connected to the front end transmission shaft of the main crawler walking mechanism and is located between the left and right crawler walking mechanisms, and the front end is connected to the power output end of the swing arm motor installed on the bottom plate through the swing arm connecting rod device; under the power actuation of the swing arm motor, the swing arm connecting rod device can drive the obstacle-overcoming crawler walking mechanism to swing with an inclination angle between 0-α relative to the front end transmission shaft of the main crawler walking mechanism 1, so as to achieve obstacle overcoming with the cooperation of the main crawler walking mechanism; The image acquisition and recognition device is connected to the base plate through bolts at the bottom of the camera mechanical arm.

2. The crawler obstacle-crossing robot for steel box girder inspection according to claim 1, characterized in that: The swing arm connecting rod device comprises an active connecting rod and a driven connecting rod; wherein: The power output end of the swing arm motor is connected to one end of the active connecting rod, and the other end of the active connecting rod is connected to the crawler obstacle crossing mechanism through the driven connecting rod.

3. The tracked obstacle-crossing robot for steel box girder inspection according to claim 2 is characterized in that: The structures of the left and right crawler walking mechanisms are consistent, both of which include a first chain drive crawler assembly, a first sprocket support, a crawler bracket and a crawler motor; The first chain drive crawler assembly includes a first driving sprocket, a first driven sprocket, a first chain, and a permanent magnetic adsorption module; The first driving sprocket and the first driven sprocket are both double-row sprockets, the first chain is two single-side bent plate chains, and the teeth of the first driving sprocket and the first driven sprocket are respectively engaged with the first chain; The two ends of the front transmission shaft are respectively supported and positioned by the first sprockets of the left and right crawler traveling mechanisms, and one end of the front transmission shaft is connected to the first driven sprocket of the left crawler traveling mechanism, and the other end is connected to the first driven sprocket of the right crawler traveling mechanism; The permanent magnetic adsorption module includes a track shoe, a permanent magnet, and a track mounting plate; the permanent magnet is arranged in the track shoe, and the track shoe and the track mounting plate are fixedly connected to the bent plate of the first chain by bolts; There are two crawler brackets, which are marked as the front crawler bracket and the rear crawler bracket, which are installed on the front and rear sides of the main crawler walking mechanism in a one-to-one correspondence; the first driven sprocket bearing and the first driving sprocket bearing are symmetrically arranged on the inner sides of the front and rear crawler brackets, and the first driving sprocket bearing is aligned with the center of the semicircular flat plate of the rear crawler bracket, and the first driven sprocket bearing is aligned with the center of the semicircular flat plate of the front crawler bracket; The first driving sprocket axle is positioned and supported by the first driving sprocket bearing, the first driven sprocket axle is positioned and supported by the first driven sprocket bearing, and the right axle of the first driving sprocket is connected to the output shaft of the crawler motor.

4. The tracked obstacle-crossing robot for steel box girder inspection according to claim 3 is characterized in that: The obstacle-crossing crawler walking mechanism comprises a second chain-type transmission crawler assembly and a second sprocket support; The second chain drive crawler assembly includes a second driven sprocket, a third driven sprocket, a second chain and a permanent magnetic adsorption module; The second driven sprocket and the third driven sprocket are both double-row sprockets, the second chain is two single-side bent plate chains, and the gear teeth of the second driven sprocket and the gear teeth of the third driven sprocket are respectively engaged with the second chain; The second sprocket support comprises a sprocket support body, a second driven sprocket bearing and a third driven sprocket bearing; the second driven sprocket bearing and the third driven sprocket bearing are symmetrically arranged on the outer side of the sprocket support body, the second driven sprocket bearing is aligned with the center of the semicircular arc on the rear side of the sprocket support, and the third driven sprocket bearing is aligned with the center of the semicircular arc on the front side of the sprocket support body; the second driven sprocket has the same transmission shaft as the first driven sprocket, and the third driven sprocket axle is installed at the third driven sprocket bearing; In the swing arm connecting rod device, the left side of the driven connecting rod is connected to the obstacle-crossing crawler walking mechanism through the third driven sprocket bearing.

5. The tracked obstacle-crossing robot for steel box girder inspection according to claim 4, characterized in that: The image acquisition and recognition device includes a high-definition camera, a camera mechanical arm, a communication module, and an image processing device; The camera mechanical arm comprises a first motor, a first rotating link, a second motor, a second rotating link and a third motor; the fixed part of the first motor is mounted on the bottom plate, and its power output end is connected to the lower end of the first rotating link; the upper end of the first rotating link is connected to the fixed part of the second motor; the power output end of the second motor is connected to the lower end of the second rotating link; the upper end of the second rotating link is connected to the fixed part of the third motor; the power output end of the third motor is connected to the high-definition camera; The communication module includes a wireless serial port and a wifi network card, wherein the wireless serial port is connected to the main control module; and the wifi network card is connected to the image processing device; The communication module and the image processing device are installed in the main control cabinet.

6. The tracked obstacle-crossing robot for steel box girder inspection according to claim 5, characterized in that: The motion control system includes a main control module and a motor control module; the main control module is connected to the host computer control terminal signal, and the motor control module is connected to the main control module signal; the motor control module is respectively connected to the crawler motor and the swing arm motor; The main control module and the motor control module are both installed in the main control cabinet.

7. The tracked obstacle-crossing robot for steel box girder inspection according to claim 6, characterized in that: Each track motor and swing arm motor is controlled separately by a motor control module; each track motor and swing arm motor is equipped with a Hall encoder.

8. An obstacle surmounting method for a tracked obstacle surmounting robot for steel box girder inspection, implemented based on the tracked obstacle surmounting robot for steel box girder inspection according to claim 1, characterized in that: The steps include: Step 1: The main crawler walking mechanism operates, and the vehicle body moves along the U-rib plane toward the obstacle steel plate until the distance between the front end of the vehicle body mechanism and the obstacle steel plate reaches the distance value designed by the program; Step 2: The track obstacle crossing mechanism operates, and the track obstacle crossing mechanism at the front end of the vehicle body mechanism is raised to the programmed angle; the main track walking mechanism operates, and the front end of the track obstacle crossing mechanism is automatically adsorbed to the end of the obstacle steel plate; Step 3: The track obstacle-crossing mechanism operates, and the reaction force provided by the front end of the track obstacle-crossing mechanism is used to separate the middle of the vehicle body from the adsorption; at the same time, the main track walking mechanism operates, and the vehicle body moves forward; Step 4: The main crawler walking mechanism operates, and the vehicle body moves forward; at the same time, the crawler obstacle crossing mechanism operates, and the main crawler walking mechanism gradually separates from the U-rib plane and is adsorbed to the obstacle steel plate; at the same time, under the continued pushing action of the main crawler walking mechanism and the action of the crawler obstacle crossing mechanism, the crawler obstacle crossing mechanism separates from the obstacle steel plate and is adsorbed to the U-rib plane on the other side; Step 5: The track obstacle crossing mechanism operates, the center of gravity of the vehicle body gradually moves downward, and gradually adsorbs to the U-rib plane on the other side; the track obstacle crossing mechanism continues to operate, and the track obstacle crossing mechanism completely detaches from the adsorbed obstacle steel plate; Step 6: The main crawler walking mechanism operates, and the vehicle body moves forward; the crawler obstacle crossing mechanism operates, the main crawler walking mechanism is adsorbed to the U-rib plane, and the vehicle body completes the obstacle crossing process.

9. The obstacle surmounting method of the tracked obstacle surmounting robot for steel box girder inspection according to claim 8, characterized in that: A laser ranging probe is installed at the front end of the vehicle body mechanism; the laser ranging probe is used to detect the distance between the vehicle body mechanism and the obstacle steel plate, and then adjust the walking posture of the vehicle body mechanism to match the distance designed in step one.

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