Electromagnetic adsorption type multi-configuration switching wall-climbing robot and inspection control system

Abstract

The invention provides an electromagnetic adsorption type multi-configuration switching wall-climbing robot and an inspection control system. The electromagnetic adsorption type multi-configuration switching wall-climbing robot comprises a cross beam part, a supporting leg part and a magnetic attraction assembly; the supporting leg parts are installed at the two ends of the cross beam part, the supporting leg part at one end comprises at least two mechanical leg mechanisms installed on the cross beam part, and each mechanical leg mechanism is provided with at least one joint driving piece which drives the corresponding mechanical leg mechanism to rotate by a pitching angle relative to the cross beam part. Through cooperation of the cross beam part, the supporting leg part and the magnetic attraction assembly, under cooperation of the pitching angles of the multiple mechanical leg mechanisms, various walking postures and wall attaching modes are formed, when wall face switching needs to be conducted, according to adjustment of the included angles between the multiple mechanical leg mechanisms, different mechanical legs are attached to the two wall faces correspondingly and attracted in a magnetic attraction mode, and the wall face switching efficiency is improved. And under the driving of the walking end, the multi-face wall body walking device can walk along any wall face selectively, so that the purpose of wall face conversion among multiple wall bodies is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to an electromagnetic adsorption-type multi-configuration switching wall-climbing robot and an inspection control system. Background Art

[0002] With the development of inspection robots, intelligent inspection robots have gradually begun to replace some aspects of the inspection work, freeing humans from dangerous and harmful environments, reducing harm to the human body, and allowing humans to remotely understand the use and maintenance of port machinery and equipment. At the same time, inspection robots are not restricted by factors such as weather and personnel fatigue, and can complete tasks sustainably and efficiently, which effectively reduces equipment maintenance costs and the number of inspection personnel, achieving the goal of reducing costs and increasing efficiency.

[0003] For example, Chinese patent 202322185872.7 discloses a magnetic inspection robot and a robot inspection system, including a mounting frame, a body, a crawler walking mechanism, an image acquisition device and a rotating assembly. The body is placed on the top of the mounting frame, the rotating assembly is arranged inside the body, the image acquisition device is placed on the top of the body and connected to the rotating assembly, crawler walking mechanisms are symmetrically arranged on both outer sides of the mounting frame, the crawler walking mechanism includes a crawler, a first tensioning wheel and a motor, a plurality of magnets are arranged on the crawler at intervals, two first tensioning wheels are arranged, and the two first tensioning wheels are symmetrically arranged on the inner side of the crawler and are transmission-connected to the crawler, and the motor is arranged on the inner side of the mounting frame and connected to the first tensioning wheel.

[0004] Regarding the above-mentioned existing technologies, current inspection robots are mainly limited to crawling on a single plane, and the crawling inspection function across planes has not yet been realized. It is difficult to form wall transitions between multiple walls, which shows a great limitation in the field of intelligent inspection. Therefore, an electromagnetic adsorption type multi-configuration switching wall-climbing robot is proposed to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose an electromagnetic adsorption type multi-configuration switching wall-climbing robot and patrol control system to solve the technical problems in the prior art that the current patrol robots are mainly limited to crawling on a single plane, have not yet realized the crawling and patrol function across planes, and are difficult to form wall conversions between multiple walls.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: In a first aspect, the present invention provides an electromagnetic adsorption type multi-configuration switching wall-climbing robot, comprising: beam section; A leg portion, wherein the leg portion is mounted at both ends of the cross beam portion, the leg portion at one end comprises at least two mechanical leg mechanisms mounted on the cross beam portion, the mechanical leg mechanism has at least one joint driving component, driving it to rotate at a pitch angle relative to the cross beam portion, and the mechanical leg mechanism has a walking end, driving the mechanical leg mechanism to walk; and The magnetic attraction component is installed on the mechanical leg mechanism and follows the pitch and roll of the mechanical leg mechanism, so that the mechanical leg mechanism has a non-adsorption state with adjustable magnetic force, a wall-attached adsorption state, and a non-adsorption state detached from the wall.

[0007] In some embodiments, the mechanical leg mechanism includes a first leg section and a second leg section, the first leg section is rotatably connected to the end of the beam portion, so that the mechanical leg mechanism can pitch and rotate relative to the beam portion, the second leg section is rotatably connected to an end of the first leg section away from the beam portion, so that the first leg section and the second leg section can rotate and bend relative to each other, and the walking end is arranged at the bottom end of the second leg section.

[0008] In some embodiments, joint driving components are installed between the first leg section and the cross beam portion, and between the second leg section and the first leg section, respectively driving the first leg section to rotate relative to the cross beam portion, and driving the second leg section to rotate relative to the first leg section.

[0009] In some embodiments, the walking end includes a driving wheel and a rolling driving member, wherein the rolling driving member is mounted on the mechanical leg mechanism and has a rotating driving end connected to the driving wheel.

[0010] In some embodiments, the driving wheel is tangent to the wall when the magnetic attraction component is in a non-adsorption state or a wall-adsorption state.

[0011] In some embodiments, the driving wheel is an electromagnetic wheel.

[0012] In some embodiments, the magnetic attraction component includes an electromagnet, and at least one of the electromagnets is installed on the front side or the rear side of the mechanical leg mechanism.

[0013] In some embodiments, the electromagnets on the two mechanical leg mechanisms on the same side are arranged on the front and rear sides thereof along the walking direction.

[0014] In some embodiments, a binocular camera is provided on the crossbeam portion for capturing image information of the surrounding environment.

[0015] In the second aspect, the present invention also provides a patrol control system for controlling the electromagnetic adsorption multi-configuration switching wall-climbing robot described in any one of the above items to climb a wall, comprising a visual recognition module, a host computer and a slave computer; the visual recognition module is electrically connected to the host computer by signals, the visual recognition module is used to photograph and pre-process the surrounding environment, and transmit the acquired data to the host computer; the host computer is electrically connected to the slave computer by signals, the host computer is used to process data and transmit control signals to the slave computer, and the slave computer is used to control the angle and posture adjustment of each mechanical leg mechanism of the leg part.

[0016] Compared with the prior art, the electromagnetic adsorption type multi-configuration switching wall-climbing robot provided by the present invention, through the cooperation of the crossbeam part, the support leg part and the magnetic suction component, can form a variety of walking postures and wall-sticking modes under the cooperation of the pitch angles of multiple mechanical leg mechanisms. When the wall needs to be switched, the angle between the multiple mechanical leg mechanisms can be adjusted to make different mechanical legs respectively adhere to two walls and be magnetically adsorbed. Under the drive of the walking end, it can choose to walk along any wall, thereby achieving the purpose of wall conversion between multiple walls and realizing the cross-plane inspection walking function. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural diagram of an electromagnetic adsorption type multi-configuration switching wall-climbing robot provided by an embodiment of the present invention; Figure 2 Schematic diagram of an upright configuration of an electromagnetic adsorption type multi-configuration switching wall-climbing robot provided by an embodiment of the present invention; Figure 3 Schematic diagram of a bipedal configuration of an electromagnetic adsorption multi-configuration switching wall-climbing robot provided by an embodiment of the present invention; Figure 4 Schematic diagram of a leaping configuration of an electromagnetic adsorption multi-configuration switching wall-climbing robot provided by an embodiment of the present invention; Figure 5 Schematic diagram of a crawling configuration of an electromagnetic adsorption type multi-configuration switching wall-climbing robot provided in an embodiment of the present invention; Figure 6 Schematic diagram of the wall-climbing configuration of the electromagnetic adsorption type multi-configuration switching wall-climbing robot provided by an embodiment of the present invention; Figure 7 Schematic diagram of the inner folding configuration of the electromagnetic adsorption type multi-configuration switching wall-climbing robot provided by an embodiment of the present invention; Figure 8 Schematic diagram of an external folding configuration of an electromagnetic adsorption type multi-configuration switching wall-climbing robot provided by an embodiment of the present invention; Fig. 9 It is an overall control flow chart of the inspection control system of the electromagnetic adsorption type multi-configuration switching wall-climbing robot provided in an embodiment of the present invention.

[0018] Description of reference numerals: 1. Beam part; 101. Binocular camera; 2. Leg part; 21. Mechanical leg mechanism; 211. First leg section; 212. Second leg section; 213. Joint driving part; 22. Walking end; 221. Driving wheel; 222. Rolling driving part; 3. Magnetic suction component; 31. Electromagnet. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0020] In order to solve the technical problems that current inspection robots are mainly limited to crawling on a single plane, have not yet realized the crawling inspection function across planes, and are difficult to form wall conversions between multiple walls, the present invention provides an electromagnetic adsorption-type multi-configuration switching wall-climbing robot, which can enable the robot to have the autonomous ability to switch between multiple walls during wall climbing operations, adapt to different walls, and complete wall conversion.

[0021] It should be noted that the electromagnetic adsorption type multi-configuration switching wall-climbing robot described in the present invention is used for but not limited to places such as substation frames, ports, and logistics centers where inspection and maintenance are required on the surface of metal structures. For the sake of convenience of explanation, in the present invention, only the electromagnetic adsorption type multi-configuration switching wall-climbing robot is used in substation frames, ports, and logistics centers where inspection and maintenance are required on the surface of metal structures. The principle of applying the electromagnetic adsorption type multi-configuration switching wall-climbing robot to other places is essentially the same as the principle of applying it to substation frames, ports, and logistics centers where inspection and maintenance are required on the surface of metal structures, and they will not be elaborated here.

[0022] See also Figure 1 , Figure 1The schematic diagram of the structure of an electromagnetic adsorption type multi-configuration switching wall-climbing robot in one embodiment of the present invention is as follows. The electromagnetic adsorption type multi-configuration switching wall-climbing robot comprises a crossbeam portion 1, a leg portion 2 and a magnetic attraction assembly 3. The crossbeam portion 1 provides an intermediate connecting body of the leg portion 2 and provides an intermediate frame of the overall robot. The leg portion 2 is installed at both ends of the crossbeam portion 1, that is, both ends of the crossbeam portion 1 have a leg portion 2 to provide support, walking and posture change, wherein the leg portion 2 at one end comprises at least two mechanical leg mechanisms 21 installed on the crossbeam portion 1, and the mechanical leg mechanism 21 has at least one joint driving component to drive it to pitch relative to the crossbeam portion 1. The mechanical leg mechanism 21 can be rotated 360° at a pitch angle to form an upright configuration, a bipedal configuration, a crawling configuration, a wall-climbing configuration and a folding configuration; the mechanical leg mechanism 21 has a walking end 22, which drives the mechanical leg mechanism 21 to walk and provides power for wall-climbing; the magnetic suction component 3 is installed on the mechanical leg mechanism 21, and follows the pitch rotation of the mechanical leg mechanism 21, so that it has a non-adsorption state and a wall-attached adsorption state with adjustable magnetic force, as well as a non-adsorption state detached from the wall, providing wall-attaching stability for climbing the ladder during adsorption, and correspondingly adjusting the size of the magnetic suction force, so that the robot can be adsorbed on the wall while being driven by the walking end to move on the wall.

[0023] Specifically, the upright configuration is that four mechanical leg mechanisms are arranged in parallel for rapid movement in a plane; the bipedal configuration is that four mechanical leg mechanisms 21 are staggered in pairs to form an inverted V-shaped support. In the bipedal configuration, a suspended mechanical leg mechanism 21 can be provided, which can perform a crossing action and can be equipped with an end effector, such as a handling device, to expand the function; the crawling configuration is based on the bipedal configuration, further expanding the V-shaped angle, lowering the posture of the entire robot, and crawling over high obstacles; the wall-climbing configuration is that the mechanical leg mechanisms 21 are unfolded in pairs on a plane away from each other, and are magnetically attracted to the wall, and driven by the walking end to climb the wall; the folding configuration is that any two mechanical leg mechanisms 21 are rotated to fit the walls on both sides of the wall that need to be changed, thereby achieving the purpose of wall switching.

[0024] It can be understood that by controlling the pitch angles of the mechanical leg mechanisms 21 on both sides, postures such as upright configuration, bipedal configuration, crawling configuration, wall-climbing configuration and folding configuration can be formed, and the robot can be adsorbed on the relatively smooth surface of port machinery and equipment through the magnetic suction component 3, which greatly enhances the adaptability of the wall-climbing robot to metal structure environmental inspections.

[0025] In this embodiment, the crossbeam portion 1 is composed of a machine cover made of acrylic material and is hollow inside, and can accommodate a battery module, a host computer module, and a visual recognition module, wherein the visual recognition module is a binocular camera 101 provided on the crossbeam portion 1, which is used to capture image information of the surrounding environment.

[0026] In one embodiment, see Figure 1 In order to further improve the robot's obstacle-crossing capability, the mechanical leg mechanism 21 includes a first leg segment 211 and a second leg segment 212. The first leg segment 211 is rotatably connected to the end of the cross beam 1, so that the mechanical leg mechanism 21 can pitch and rotate relative to the cross beam 1. The second leg segment 212 is rotatably connected to the end of the first leg segment 211 away from the cross beam 1, so that the first leg segment 211 and the second leg segment 212 can rotate and bend relative to each other. The walking end 22 is arranged at the bottom of the second leg segment 212, that is, a bending action can be formed between the first leg segment 211 and the second leg segment 212, so that the leaping configuration can be realized more conveniently. Through the bending angle between the first leg segment 211 and the second leg segment 212, a single mechanical leg is first successfully climbed onto the steps. After ensuring the stability of the center of gravity, this process is repeated to allow the other three mechanical legs to climb onto the steps in turn. In this process, at least three mechanical legs are always kept in contact with the ground to ensure the continuous stability of the center of gravity, so as to achieve the purpose of climbing the steps stably.

[0027] In one embodiment, see Figure 1 In order to drive the first joint and the second joint to rotate, a joint driving component 213 is installed between the first leg segment 211 and the cross beam portion 1, and between the second leg segment 212 and the first leg segment 211, which respectively drives the first leg segment 211 to rotate relative to the cross beam portion 1, and drives the second leg segment 212 to rotate relative to the first leg segment 211.

[0028] It can be understood that, specifically, each leg includes two joints, namely, the connection between the first leg segment 211 and the cross beam 1 is the first joint, and the connection between the first leg segment 211 and the second leg segment 212 is the second joint, wherein one motor is connected to the cross beam 1 to control the pitching movement of the first leg segment 211, and the other motor is connected to the first leg segment 211 to control the pitching movement of the calf. The motor fixing part is made of PLA degradable material, that is, the joint driving part 213 is made of a motor, and the motor can specifically be a CyberGear micromotor.

[0029] It should be noted that any joint of the robot's wheel legs can achieve any angle of rotation, thereby effectively compensating for the height difference of the pothole road surface by controlling the bending angle of the wheel legs on the left and right sides, ensuring the stability of the fuselage. In addition, the device has a leg-arm switching function, which can realize the combination transformation from a four-legged inspection robot to a two-legged maintenance robot, a four-legged maintenance robot, a two-legged transport robot, and other forms.

[0030] In one embodiment, see Figure 1In order to make the mechanical leg mechanism 21 walk, the walking end 22 includes a driving wheel 221 and a rolling driving member 222. The rolling driving member 222 is installed on the mechanical leg mechanism 21 and has a rotating driving end connected to the driving wheel 221.

[0031] It can be understood that the rolling drive member 222 can use the M2006 motor to drive the driving wheel 221. By accurately controlling the M2006 motor, the four wheels can be locked, thereby completing the transformation from the wheeled configuration to the legged configuration.

[0032] Furthermore, when the magnetic attraction component 3 is in the non-adsorption state or the wall-adsorption state, the driving wheel 221 is tangent to the wall to form wall-adsorption and walking drive.

[0033] Furthermore, the driving wheel 221 is an electromagnetic wheel, which can provide a magnetic attraction function at the walking end to improve the stability of wall climbing.

[0034] In another embodiment, the walking end 22 may also be driven by a crawler structure.

[0035] In one embodiment, see Figure 1 In order to crawl against the wall, the magnetic attraction component 3 includes an electromagnet 31, and at least one electromagnet 31 is installed on the front side or the rear side of the mechanical leg mechanism 21 to provide magnetic attraction to the wall.

[0036] Furthermore, the electromagnets 31 on the two mechanical leg mechanisms 21 on the same side are arranged on the front and rear sides thereof along the walking direction, respectively, and cooperate with the posture configuration to perform multi-wall adsorption.

[0037] Furthermore, the first leg segment 211 and the second leg segment 212 are respectively encapsulated with two electromagnets, and every two electromagnets are encapsulated on the front or rear side of each leg segment. The magnitude of the magnetic attraction force can be changed by controlling the on-off number and on-off position of the electromagnets and controlling the voltage of the electromagnet adsorption device, thereby ensuring the high efficiency and stability of the wheel-leg wall-climbing robot when climbing walls and realizing configuration switching.

[0038] It should be noted that the joint drive member 213 and the rolling drive member 222 can both use motors to directly connect to the components that need to be driven for rotation, or use motors in conjunction with transmission components for transmission structural arrangements. The above drive structures and transmission structures are existing mature technologies and are not the only limitations here.

[0039] In order to better understand the present invention, the following Figures 1 to 8 The technical solution of the present invention is described in detail: In the upright configuration state, please refer to Figure 2By controlling the rotation of the motors of the four first joints, the angles of the inner and outer legs of the robot are reset to zero, and then the motors of the second joints are controlled so that the thigh and calf of the same mechanical leg of the robot are in a collinear state, thereby giving the robot the ability to move quickly in a plane and improving the efficiency of inspection operations; In the bipedal configuration, see Figure 3 , by controlling the two joint motors hidden in the crossbeam 1, the mechanical leg mechanism 21 is placed in a suspended state. At the same time, by adjusting the rotation of other joint motors and wheels, the overall stability of the robot is maintained. In this mode, the robot releases two wheel legs, which can be equipped with end effectors, such as handling devices, to achieve the functional conversion from a four-legged wheel-leg robot to a bipedal handling robot, thereby expanding the application scope of the robot; When implementing a leapfrog configuration transition, refer to Figure 4 , by precisely controlling the M2006 motor, the four wheels are locked, thus completing the transition from wheeled configuration to legged configuration. By finely adjusting the bending angle of the knee joint motor, a single mechanical leg is first successfully climbed onto the steps. After ensuring the stability of the center of gravity, this process is repeated to allow the other three mechanical legs to climb onto the steps in turn. During this process, at least three mechanical legs are always kept in contact with the ground to ensure the continuous stability of the center of gravity; When in prostrate configuration, refer to Figure 5 When encountering an obstacle, the robot can lower its center of gravity by controlling the relative angle between the thighs of the two mechanical legs on the same side, thus achieving rapid obstacle crossing. For example, this obstacle crossing method is more efficient when passing through obstacles such as railings in port areas. In the wall climbing configuration, see Figure 6 By controlling the relative angle between the legs on the same side to remain at 180°, it is ensured that the electromagnets on the four mechanical legs can be firmly adsorbed on the surface of the metal structure. This mechanism provides the necessary friction for the robot to move on the surface of the metal structure. At the same time, by controlling the rotation of the leg wheels, the robot is driven to move on the surface of the metal structure, so that the robot can move stably and quickly on the surface of the metal structure. In the fold-in configuration, see Figure 7When the robot needs to move from the vertical plane to the horizontal plane of the metal structure, when the robot approaches the angle between the two planes, the first joint can be controlled to make the relative angle of the mechanical leg mechanism 21 on the same side equal to the angle between the two planes, so that the corresponding mechanical leg mechanism 21 is suspended. At this time, the four electromagnets on the mechanical leg mechanism 21 on the vertical plane and the wheels on the two mechanical legs are tightly fitted with the vertical plane to ensure the movement stability of the robot on the vertical plane. When the robot beam approaches the angle between the two planes, the suspended mechanical leg mechanism 21 and the electromagnets on the two mechanical leg mechanisms 21 are made to contact and adsorb with the other plane to maintain the stability of the fuselage and enable the robot to move on the other plane. By adjusting the suction force of the electromagnets on the vertical plane, the rotation of the first joint and the movement of the wheels, the mechanical legs of the robot on the vertical plane are gradually transferred to the other plane, realizing the cross-plane movement of the inner side of the metal structure. Similarly, in the external folding configuration, please refer to Figure 8 When the robot switches from horizontal motion to vertical motion, when the robot beam approaches the angle between the two planes, the first joint motors of the four mechanical leg mechanisms 21 of the robot are controlled to rotate, and the relative angle between the two mechanical leg mechanisms 21 on the same side is controlled to be equal to the angle between the two planes, so that the mechanical leg mechanism 21 and the electromagnets and wheels on the mechanical leg mechanism 21 are attached to and adsorbed on another plane, so that the robot has the ability to move on another plane; Since the four joint motors on the robotic legs can all achieve 360° rotation, the robotic legs can be controlled to reach any relative angle. Combined with the external folding configuration and the internal folding configuration, the robot can realize the function of changing surfaces and crawling on any plane of the metal structure.

[0040] The present invention also provides a patrol inspection control system, please refer to Fig. 9 , controlling any one of the above-mentioned electromagnetic adsorption multi-configuration switching wall-climbing robots to climb walls, including a visual recognition module, a host computer and a slave computer; the visual recognition module is electrically connected to the host computer by signals, the visual recognition module is used to shoot and pre-process the surrounding environment, and transmit the acquired data to the host computer; the host computer is electrically connected to the slave computer by signals, the host computer is used to process data and transmit control signals to the slave computer, and the slave computer is used to control the angle and posture adjustment of each mechanical leg mechanism 21 of the leg part 2.

[0041] Furthermore, the visual recognition module is equipped with a machine vision camera, i.e., a binocular camera.

[0042] Among them, for the control of each joint, the posture of each joint module is adjusted, that is, the driving motor of each joint controls its rotation angle to achieve the switching and combination of leg-type configuration movement, wheel-leg configuration transformation and wheel-type configuration movement. That is, the corresponding configurations of upright configuration, bipedal configuration, leaping configuration, crawling configuration, wall climbing configuration, inner folding configuration, and outer folding configuration can cope with any working scene of straight walking, climbing stairs, crossing obstacles, climbing walls, and changing surfaces.

[0043] Understandably, the inspection control system uses deep vision technology that combines SLAM with deep learning. The surrounding environment is photographed and preprocessed using a binocular camera, and the data acquired multiple times is sent to the host computer in JPEG format. The host computer processes the sensor data, transmits back its own spatial information through repeatedly observed environmental features, and builds an incremental map based on the surrounding environment to meet the needs of positioning and environmental composition, thereby realizing the navigation function.

[0044] Furthermore, visual algorithms can be used to image key and vulnerable parts such as port machinery pulleys, and data collection and model training based on convolutional neural networks are carried out. The fault potential data obtained from inspections are screened and sent to the PC.

[0045] Furthermore, the binocular camera obtains data and sends it to the upper control system, combining SLAM composition with deep learning, and the ROS system realizes communication, autonomously plans the route, and realizes autonomous cruising and autonomous observation operations in complex environments. The SLAM algorithm is combined with the CPG algorithm to process the real-time position information to adjust the movement posture and wall-climbing posture.

[0046] In this embodiment, when the robot needs to switch configuration, the host computer issues a command to control the wheel-legged robot to stop running and enter the switching posture. The host computer obtains the parameters such as the joint rotation angle of each joint and the center of gravity position coordinates of the body part of the wheel-legged robot by calculation when the wheel-legged robot is in the wheeled configuration. Subsequently, the first joint and the second joint rotate a specific angle through pitching motion to switch the configuration of the wheel-legged robot. The deformation of the configuration is reversible, and the configuration can be switched at any time according to the center of gravity position coordinates and posture of the torso part of the wheel-legged robot. The robot can switch to the corresponding configuration of upright configuration, bipedal configuration, leapfrogging configuration, crawling configuration, wall climbing configuration, inner folding configuration, and outer folding configuration according to any working scene of straight walking, climbing stairs, crossing obstacles, climbing walls, and changing faces. When the wheel-legged wall-climbing robot encounters a flat road surface, it can be switched from other ground configurations to an upright configuration. When the wheel-legged wall-climbing robot encounters a scene where it needs to go up and down stairs, it can be switched from other ground configurations to a bipedal configuration. When encountering the first type of solid obstacles, the wheel-legged wall-climbing robot can switch from other ground configurations to a leaping configuration. When encountering the second type of hollow obstacles, the wheel-legged wall-climbing robot can switch from other ground configurations to a crawling configuration. When the wheel-legged wall-climbing robot encounters a scene that requires wall climbing, it can switch from other ground configurations to a wall-climbing configuration. When it is necessary to switch to a concave climbing wall surface, the wheel-legged wall-climbing robot can switch from a wall-climbing configuration to an inner folding configuration. When it is necessary to switch to an outer convex climbing wall surface, the wheel-legged wall-climbing robot can switch from a wall-climbing configuration to an outer folding configuration.

[0047] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An electromagnetic adsorption multi-configuration switching wall-climbing robot, characterized in that: include: beam section; A leg portion, wherein the leg portion is mounted at both ends of the cross beam portion, the leg portion at one end comprises at least two mechanical leg mechanisms mounted on the cross beam portion, the mechanical leg mechanism has at least one joint driving component, driving it to rotate at a pitch angle relative to the cross beam portion, and the mechanical leg mechanism has a walking end, driving the mechanical leg mechanism to walk; and The magnetic attraction component is installed on the mechanical leg mechanism and follows the pitch and roll of the mechanical leg mechanism, so that the mechanical leg mechanism has a non-adsorption state with adjustable magnetic force, a wall-attached adsorption state, and a non-adsorption state detached from the wall.

2. The electromagnetic adsorption multi-configuration switching wall-climbing robot according to claim 1, characterized in that: The mechanical leg mechanism includes a first leg section and a second leg section. The first leg section is rotatably connected to the end of the beam portion so that the mechanical leg mechanism can perform pitch and roll rotation relative to the beam portion. The second leg section is rotatably connected to an end of the first leg section away from the beam portion so that the first leg section and the second leg section can rotate and bend relative to each other. The walking end is arranged at the bottom end of the second leg section.

3. The electromagnetic adsorption multi-configuration switching wall-climbing robot according to claim 2, characterized in that: A joint driving component is installed between the first leg section and the cross beam, and between the second leg section and the first leg section, respectively driving the first leg section to rotate relative to the cross beam, and driving the second leg section to rotate relative to the first leg section.

4. The electromagnetic adsorption multi-configuration switching wall-climbing robot according to claim 1, characterized in that: The walking end includes a driving wheel and a rolling driving member. The rolling driving member is installed on the mechanical leg mechanism and has a rotating driving end connected to the driving wheel.

5. The electromagnetic adsorption multi-configuration switching wall-climbing robot according to claim 4, characterized in that: When the magnetic attraction component is in a non-adsorption state or a wall-attached adsorption state, the driving wheel is tangent to the wall.

6. The electromagnetic adsorption multi-configuration switching wall-climbing robot according to claim 4, characterized in that: The driving wheel is an electromagnetic wheel.

7. The electromagnetic adsorption multi-configuration switching wall-climbing robot according to claim 1, characterized in that: The magnetic attraction component includes an electromagnet, and at least one of the electromagnets is installed on the front side or the rear side of the mechanical leg mechanism.

8. The electromagnetic adsorption multi-configuration switching wall-climbing robot according to claim 7, characterized in that: The electromagnets on the two mechanical leg mechanisms on the same side are arranged at the front and rear sides thereof respectively along the walking direction.

9. The electromagnetic adsorption multi-configuration switching wall-climbing robot according to claim 1, characterized in that: A binocular camera is provided on the crossbeam portion for capturing image information of the surrounding environment.

10. A patrol inspection control system, characterized in that: Controlling the electromagnetic adsorption type multi-configuration switching wall-climbing robot as described in any one of claims 1 to 9 to climb a wall, comprising a visual recognition module, a host computer and a slave computer; the visual recognition module is electrically connected to the host computer by signals, the visual recognition module is used to photograph and pre-process the surrounding environment, and transmit the acquired data to the host computer; the host computer is electrically connected to the slave computer by signals, the host computer is used to process data and transmit control signals to the slave computer, and the slave computer is used to control the angle and posture adjustment of each mechanical leg mechanism of the leg part.

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