An electromagnetic adsorption multi-configuration switching wall-climbing robot and inspection control system

Abstract

The present 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 includes a crossbeam portion, a leg portion, and a magnetic attraction component; the leg portion is mounted at both ends of the crossbeam portion, and the leg portion at one end includes at least two mechanical leg mechanisms mounted on the crossbeam portion, and the mechanical leg mechanism has at least one joint driving component that drives it to rotate at a pitch angle relative to the crossbeam portion. The present invention provides a plurality of walking postures and wall-adhering modes formed by coordinating the crossbeam portion, the leg portion, and the magnetic attraction component with the pitch angles of the plurality of mechanical leg mechanisms. When it is necessary to switch the wall, the angles between the plurality of mechanical leg mechanisms can be adjusted so that different mechanical legs can adhere to two walls and be magnetically adsorbed. Driven by the walking end, the robot can choose to walk along any wall, thereby achieving the purpose of wall switching between multiple walls.

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 a patrol control system. Background Art

[0002] With the development of inspection robots, intelligent inspection robots are gradually replacing some aspects of inspection work, freeing humans from dangerous and hazardous environments, reducing harm to the human body, and enabling remote monitoring of the operation and maintenance of port machinery and equipment. Furthermore, inspection robots are not restricted by factors such as weather and fatigue, and can complete their tasks sustainably and efficiently. This 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, which include 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, and crawler walking mechanisms are symmetrically provided on both outer sides of the mounting frame. The crawler walking mechanism includes a crawler, a first tensioning wheel and a motor. Several magnets are arranged at intervals on the crawler. There are two first tensioning wheels, and the two first tensioning wheels are symmetrically arranged on the inner side of the crawler and are transmission-connected to the crawler. 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 cross-plane crawling inspection function has not yet been realized. It is difficult to form wall surface conversion 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 current patrol robots are mainly limited to crawling on a single plane, have not yet realized the cross-plane crawling and patrol function, 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:

[0007] In a first aspect, the present invention provides an electromagnetic adsorption multi-configuration switching wall-climbing robot, comprising:

[0008] beam section;

[0009] A leg portion, wherein the leg portion is mounted at both ends of the cross beam portion, the leg portion at one end includes at least two mechanical leg mechanisms mounted on the cross beam portion, the mechanical leg mechanism having at least one joint driving component for driving the mechanical leg mechanism to rotate at a pitch angle relative to the cross beam portion, and the mechanical leg mechanism having a walking end for driving the mechanical leg mechanism to walk; and

[0010] The magnetic attraction component is installed on the mechanical leg mechanism and follows the pitch rotation 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.

[0011] In some embodiments, the mechanical leg mechanism includes a first leg segment and a second leg segment. The first leg segment is rotatably connected to the end of the beam portion, so that the mechanical leg mechanism can pitch and roll relative to the beam portion. The second leg segment is rotatably connected to an end of the first leg segment away from the beam portion, so that the first leg segment and the second leg segment can rotate and bend relative to each other. The walking end is arranged at the bottom end of the second leg segment.

[0012] In some embodiments, joint driving components are installed between the first leg segment and the cross beam portion, and between the second leg segment and the first leg segment, respectively driving the first leg segment to rotate relative to the cross beam portion, and driving the second leg segment to rotate relative to the first leg segment.

[0013] In some embodiments, the walking end includes a driving wheel and a rolling driving member, and the rolling driving member is installed on the mechanical leg mechanism and has a rotating driving end connected to the driving wheel.

[0014] In some embodiments, the driving wheel is tangent to the wall when the magnetic assembly is in a non-adsorption state or a wall-adsorption state.

[0015] In some embodiments, the driving wheel is an electromagnetic wheel.

[0016] 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.

[0017] In some embodiments, the electromagnets on the two mechanical leg mechanisms on the same side are respectively arranged on the front and rear sides thereof along the walking direction.

[0018] In some embodiments, a binocular camera is provided on the beam portion for capturing image information of the surrounding environment.

[0019] 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 walls, 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, and 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, and 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 support leg part.

[0020] Compared with the existing technology, the electromagnetic adsorption multi-configuration switching wall-climbing robot provided by the present invention forms a variety of walking postures and wall-sticking modes through the cooperation of the crossbeam part, the support leg part and the magnetic attraction component, with the coordination of the pitch angles of multiple mechanical leg mechanisms. When the wall needs to be switched, the angles between the multiple mechanical leg mechanisms are adjusted to make different mechanical legs adhere to two walls respectively and be magnetically adsorbed. Driven by 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

[0021] Figure 1 This is a three-dimensional diagram of the structure of the electromagnetic adsorption multi-configuration switching wall-climbing robot provided by an embodiment of the present invention;

[0022] Figure 2 Schematic diagram of an upright configuration of an electromagnetic adsorption multi-configuration switching wall-climbing robot provided by an embodiment of the present invention;

[0023] 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;

[0024] 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;

[0025] Figure 5 Schematic diagram of the crawling configuration of the electromagnetic adsorption multi-configuration switching wall-climbing robot provided in an embodiment of the present invention;

[0026] Figure 6 Schematic diagram of the wall-climbing configuration of the electromagnetic adsorption multi-configuration switching wall-climbing robot provided by an embodiment of the present invention;

[0027] Figure 7 Schematic diagram of the inward folding configuration of the electromagnetic adsorption multi-configuration switching wall-climbing robot provided by an embodiment of the present invention;

[0028] Figure 8Schematic diagram of the outward folding configuration of the electromagnetic adsorption multi-configuration switching wall-climbing robot provided by an embodiment of the present invention;

[0029] Figure 9 This is an overall control flow chart of the inspection control system of the electromagnetic adsorption multi-configuration switching wall-climbing robot provided by an embodiment of the present invention.

[0030] Description of reference numerals:

[0031] 1. Beam; 101. Binocular camera; 2. Leg; 21. Mechanical leg mechanism; 211. First leg segment; 212. Second leg segment; 213. Joint drive; 22. Walking end; 221. Drive wheel; 222. Rolling drive; 3. Magnetic assembly; 31. Electromagnet. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to 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.

[0033] 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 surface conversion 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 wall surfaces, and complete wall surface conversion.

[0034] 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 structures, ports, logistics centers, etc. where inspection and maintenance are required on the surface of metal structures. For the sake of convenience, in the present invention, only the electromagnetic adsorption type multi-configuration switching wall-climbing robot is used in places such as substation structures, ports, logistics centers, etc. where inspection and maintenance are required on the surface of metal structures is used as an example for explanation. 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 places such as substation structures, ports, logistics centers, etc. where inspection and maintenance are required on the surface of metal structures, and they will not be elaborated here.

[0035] See also Figure 1 , Figure 1This is a structural diagram of an electromagnetic adsorption type multi-configuration switching wall-climbing robot in one embodiment of the present invention. The electromagnetic adsorption type multi-configuration switching wall-climbing robot includes a beam portion 1, a leg portion 2 and a magnetic attraction component 3. The beam 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 beam portion 1, that is, both ends of the beam portion 1 have a leg portion 2, providing support and walking as well as posture change, wherein the leg portion 2 at one end includes at least two mechanical leg mechanisms 21 installed on the beam portion 1, and the mechanical leg mechanism 21 has at least one joint driving component to drive it to pitch angle relative to the beam portion 1. The mechanical leg mechanism 21 can be rotated 360 degrees 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 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-adsorption state with adjustable magnetic force, as well as a non-adsorption state detached from the wall, providing wall-climbing stability when adsorbed, and correspondingly adjusting the size of the magnetic attraction, so that the robot can be adsorbed on the wall while being driven by the walking end to move on the wall.

[0036] Specifically, the upright configuration is that four mechanical leg mechanisms are arranged in parallel for rapid movement within 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 in 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 that need to be changed, thereby achieving the purpose of wall switching.

[0037] 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 component 3, which greatly enhances the adaptability of the wall-climbing robot to metal structure environment inspections.

[0038] In this embodiment, the crossbeam portion 1 is composed of a machine cover made of acrylic material, which is hollow inside and can accommodate a battery module, a host computer module and a visual recognition module. 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.

[0039] In one embodiment, see Figure 1 To further enhance the robot's obstacle-crossing capabilities, the robotic 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 crossbeam 1, allowing the robotic leg mechanism 21 to pitch and rotate relative to the crossbeam 1. The second leg segment 212 is rotatably connected to the end of the first leg segment 211 away from the crossbeam 1, allowing the first and second leg segments 211, 212 to rotate and bend relative to each other. The walking end 22 is located at the bottom end of the second leg segment 212, allowing a bending motion to be formed between the first and second leg segments 211, thereby more conveniently achieving a leaping configuration. By using the bending angle between the first and second leg segments 211, 212, a single robotic leg is first successfully ascended. After ensuring the center of gravity is stable, this process is repeated, allowing the other three robotic legs to ascend the steps in sequence. During this process, at least three robotic legs are always kept in contact with the ground, ensuring the continuous stability of the center of gravity, thereby achieving the goal of stable stair ascent.

[0040] 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, respectively driving the first leg segment 211 to rotate relative to the cross beam portion 1, and driving the second leg segment 212 to rotate relative to the first leg segment 211.

[0041] As will be understood, each leg specifically comprises two joints: the first joint at the connection between the first leg segment 211 and the crossbeam 1, and the second joint at the connection between the first leg segment 211 and the second leg segment 212. One motor, connected to the crossbeam 1, controls the pitch of the first leg segment 211, while another motor, connected to the first leg segment 211, controls the pitch of the lower leg. The motor mounts are made of PLA, a biodegradable material, while the joint drive 213 utilizes a motor, specifically a CyberGear micromotor.

[0042] It's important to note that any joint on the robot's wheel legs can rotate to any angle. By controlling the bending angles of the left and right wheel legs, the robot can effectively compensate for height differences in potholes and ensure stability. Furthermore, the robot features a leg-arm switching function, enabling it to transform from a quadruped inspection robot to a bipedal maintenance robot, a quadruped inspection robot, a bipedal transport robot, and other combinations.

[0043] 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.

[0044] It can be understood that the rolling drive member 222 can use the M2006 motor to drive the driving wheel 221. By precisely controlling the M2006 motor, the four wheels can be locked, thereby completing the transformation from the wheeled configuration to the leg-type configuration.

[0045] 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, forming wall-adsorption and walking drive.

[0046] 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.

[0047] In another embodiment, the walking end 22 may also be driven by a crawler structure.

[0048] 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 or rear side of the mechanical leg mechanism 21 to provide magnetic attraction to the wall.

[0049] Furthermore, the electromagnets 31 on the two mechanical leg mechanisms 21 on the same side are respectively arranged on the front and rear sides thereof along the walking direction, and cooperate with the posture configuration to perform multi-wall adsorption.

[0050] Furthermore, the first leg segment 211 and the second leg segment 212 are respectively encapsulated with two electromagnets, and each 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.

[0051] It should be noted that both the joint drive component 213 and the rolling drive component 222 can use motors to directly connect to the components that need to be driven for rotation, or they can 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 limitation here.

[0052] 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 manipulating the rotation of the motors of the four first joints, the angles of the robot's inner and outer legs 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 collinear, thus giving the robot the ability to move quickly within a plane and improving the efficiency of inspection operations;

[0053] In bipedal configuration, see Figure 3 By manipulating 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 functional conversion from a four-legged wheel-leg robot to a bipedal handling robot, thereby expanding the application range of the robot.

[0054] When implementing a leapfrog configuration transition, refer to Figure 4 By precisely controlling the M2006 motors, the four wheels are locked, completing the transition from a wheeled configuration to a legged configuration. By finely adjusting the bending angle of the knee joint motor, a single robotic leg is first successfully climbed onto the steps. After ensuring the stability of the center of gravity, this process is repeated, allowing the other three robotic legs to ascend the steps in turn. During this process, at least three robotic legs are always kept in contact with the ground to ensure the continued stability of the center of gravity.

[0055] When in prostrate configuration, refer to Figure 5 When encountering an obstacle, the robot lowers its center of gravity by controlling the relative angle between the thighs of the two mechanical legs on the same side, enabling rapid obstacle crossing. For example, this obstacle crossing method is more efficient when passing obstacles such as railings in port areas.

[0056] In the wall climbing configuration, see Figure 6 By controlling the relative angle between the legs on the same side to remain at 180°, the electromagnets on the four mechanical legs can be firmly adsorbed on the metal surface. This mechanism provides the necessary friction for the robot to move on the metal surface. At the same time, by controlling the rotation of the leg wheels, the robot is driven to move on the metal surface, making the robot move stably and quickly on the metal surface.

[0057] 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, it can control the first joint so that the relative angle of the mechanical leg mechanism 21 on the same side is equal to the angle between the two planes when it approaches the angle between the two planes, so that the corresponding mechanical leg mechanism 21 is suspended in the air. At this time, the four electromagnets on the mechanical leg mechanism 21 on the vertical plane and the wheels on these two mechanical legs are tightly fitted with the vertical plane, ensuring 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 these two mechanical leg mechanisms 21 are brought into contact with and adsorbed on the other plane to maintain the stability of the fuselage and enable the robot to move in 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 cross-plane movement of the inner side of the metal structure.

[0058] Similarly, in the external folding configuration, please refer to Figure 8 When the robot switches from horizontal motion to vertical motion, and the robot's crossbeam approaches the angle between the two planes, the rotation of the first joint motors of the robot's four mechanical leg mechanisms 21 is controlled to control the relative angle between the two mechanical leg mechanisms 21 on the same side to be equal to the angle between the two planes, so that the mechanical leg mechanisms 21 and the electromagnets and wheels on the mechanical leg mechanisms 21 are attached to and attracted to the other plane, thus enabling the robot to move on the other plane.

[0059] Since the four joint motors on the robotic legs can all achieve 360° rotation, the legs can be controlled to reach any relative angle. Combined with the external folding configuration and the internal folding configuration, the robot can achieve the function of changing surfaces and crawling on any plane of the metal structure.

[0060] The present invention also provides a patrol inspection control system, please refer to Figure 9 , controlling the electromagnetic adsorption type 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 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 of the mechanical leg mechanisms 21 of the support leg part 2.

[0061] Furthermore, the visual recognition module is equipped with a machine vision camera, namely a binocular camera.

[0062] The control of each joint involves adjusting the posture of each joint module. This involves controlling the rotation angle of each joint's drive motor to achieve switching and combining leg-based motion, wheel-legged motion, and wheeled motion. This includes upright, bipedal, striding, crawling, wall-climbing, inward-folding, and outward-folding configurations, enabling the robot to handle any of the following scenarios: straight-ahead motion, climbing stairs, overcoming obstacles, climbing walls, and changing surfaces.

[0063] As you can understand, the inspection control system utilizes deep vision technology that combines SLAM with deep learning. A binocular camera captures and pre-processes the surrounding environment, sending the captured data in JPEG format to a host computer. The host computer processes the sensor data, transmitting its own spatial information based on repeatedly observed environmental features. It then constructs an incremental map based on the surrounding environment to meet positioning and environmental mapping requirements, thereby enabling navigation.

[0064] 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.

[0065] 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.

[0066] In this embodiment, when the robot needs to switch configurations, the host computer issues a command to control the wheel-legged robot to stop and enter a switching posture. The host computer calculates parameters such as the joint rotation angles of each joint and the coordinates of the center of gravity of the torso when the wheel-legged robot is in the wheeled configuration. Subsequently, the first and second joints rotate to a specific angle through a pitch motion, causing the wheel-legged robot to switch configurations. This configuration change is reversible, allowing the robot to switch configurations at any time based on the coordinates of the center of gravity and the posture of the torso. The robot can switch to an upright configuration, a bipedal configuration, a striding configuration, a crawling configuration, a wall-climbing configuration, an inward-folding configuration, or an outward-folding configuration, depending on any of the following work scenarios: straight-ahead walking, climbing stairs, overcoming obstacles, climbing walls, or changing surfaces. When the wheel-legged wall-climbing robot encounters a flat surface, it can switch from any other ground configuration to an upright configuration. When the wheel-legged wall-climbing robot encounters a scenario requiring climbing stairs, it can switch from any other ground configuration to a bipedal configuration. When encountering the first type of solid obstacle, the wheel-legged wall-climbing robot can switch from other ground configurations to a straddling configuration. When encountering the second type of hollow obstacle, 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 scenario requiring wall climbing, it can switch from other ground configurations to a wall-climbing configuration. When switching to a concave wall surface, the wheel-legged wall-climbing robot can switch from a wall-climbing configuration to an inward folding configuration. When switching to a convex wall surface, the wheel-legged wall-climbing robot can switch from a wall-climbing configuration to an outward folding configuration.

[0067] The specific embodiments of the present invention described above do not limit the scope of protection 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 scope of protection 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, and the leg portion at one end includes at least two mechanical leg mechanisms mounted on the cross beam portion, and the mechanical leg mechanism has at least one joint driving component, which drives it to rotate at a pitch angle relative to the cross beam portion. Under the rotation of the pitch angle, a bipedal configuration of the mechanical leg mechanism can be formed. The bipedal configuration is that four mechanical leg mechanisms are staggered in pairs to form an inverted V-shaped support. The mechanical leg mechanism has a walking end, which drives the mechanical leg mechanism to walk; and The magnetic attraction component is installed on the mechanical leg mechanism and follows the pitch rotation of the mechanical leg mechanism, so that the mechanical leg mechanism has a wall-attached adsorption state with adjustable magnetic force 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 segment and a second leg segment. The first leg segment 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 segment is rotatably connected to the end of the first leg segment away from the beam portion, so that the first leg segment and the second leg segment can rotate and bend relative to each other. The walking end is arranged at the bottom end of the second leg segment.

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 segment and the cross beam, and between the second leg segment and the first leg segment, respectively driving the first leg segment to rotate relative to the cross beam, and driving the second leg segment to rotate relative to the first leg segment.

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 component. The rolling driving component 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 wall-adhering 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 electromagnet 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 respectively arranged on the front and rear sides thereof 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: The electromagnetic adsorption multi-configuration switching wall-climbing robot as described in any one of claims 1 to 9 is controlled 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 support leg part.

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