Bionic crawling robot for dangerous rock monitoring and control method thereof

Abstract

The invention relates to the technical field of dangerous rock monitoring robots, in particular to a bionic crawling robot for dangerous rock monitoring and a control method thereof.The bionic crawling robot comprises a machine body device, a crawling structure, a sensing and monitoring system, a motion control system, a communication system and a remote control device; the robot body device provides installation conditions for the crawling structure, the sensing and monitoring system, the motion control system and the communication system, when the robot needs to work on the steep rock surface, a remote control device is started to be matched with the robot, and the robot is controlled to crawl; the sensing and monitoring system is started to collect video data, crack data and real-time positioning data in real time, a map is generated, the data are transmitted to the remote control device through the communication system, dangerous rocks are observed manually, and after the dangerous rocks are determined, the dangerous rocks are marked and positioned through the remote control device. Therefore, the problem that an existing mobile robot is poor in adsorption stability and difficult to work on the surface of the steep rock mass is solved.

Description

Technical Field

[0001] The invention relates to the technical field of dangerous rock monitoring robots, and in particular to a bionic crawling robot for dangerous rock monitoring and a control method thereof. Background Art

[0002] With the frequent occurrence of geological disasters and the intensification of natural resource development, dangerous rock monitoring has become an important task to ensure the safety of the geological environment. Traditional dangerous rock monitoring methods mainly rely on manual climbing and fixed monitoring equipment. These methods have the problems of low monitoring efficiency, high risk and inability to obtain comprehensive data in real time. In order to improve monitoring efficiency and safety, robotic technology has been introduced into the field of dangerous rock monitoring. However, the movement and adhesion performance of existing robots on complex terrains still have many shortcomings.

[0003] Common mobile robots include wheeled, tracked and multi-legged robots. Wheeled and tracked robots have poor adaptability on complex and irregular surfaces and are prone to slipping or loose adhesion. Although multi-legged robots have strong obstacle-crossing capabilities, their adhesion performance is weak and they are difficult to work on steep rock surfaces. Adsorption robots achieve surface adhesion through magnetic adsorption or negative pressure adsorption. Magnetic adsorption technology is limited to magnetic surfaces, and although negative pressure adsorption technology is suitable for non-magnetic surfaces, existing designs are difficult to form stable adsorption on rough and irregular rock surfaces. Summary of the invention

[0004] The purpose of the present invention is to provide a bionic crawling robot for dangerous rock monitoring and a control method thereof, aiming to solve the problem that the existing mobile robots have poor adsorption stability and are difficult to work on the surface of steep rock masses.

[0005] To achieve the above-mentioned object, in a first aspect, the present invention provides a bionic crawling robot for dangerous rock monitoring, comprising a body device, a crawling structure, a sensing and monitoring system, a motion control system, a communication system and a remote control device;

[0006] The front and rear ends of the fuselage device are equipped with adsorption devices. The crawling structure is installed on the fuselage device and can be stably adsorbed on rock surfaces of different shapes. The communication system is installed on one side of the fuselage device. By combining the remote control device with the communication system, the robot can be remotely controlled to complete the dangerous rock monitoring task.

[0007] Wherein, swing parts are symmetrically arranged in pairs on both sides of the fuselage device, and the swing parts are hinged to four crawling structures with the same structure.

[0008] Wherein, the crawling structure includes a thigh, a calf and a sole, the thigh is hinged to the swing member, the calf is installed on one side of the thigh, and the sole is installed on the side of the calf away from the thigh.

[0009] The sole of the foot has a pressure sensor, an adaptive sealing material and a negative pressure fan. The adaptive sealing material is arranged at the edge of the sole of the foot. The wind force of the negative pressure fan can be controlled by the pressure of the pressure sensor.

[0010] Wherein, the adsorption device includes a fan device and flexible silica gel, the fan device is installed on the body device, and the flexible silica gel is installed on a side of the body device close to the fan device.

[0011] Among them, the motion control system includes a motion controller, a motor driver, a fuselage drive motor, an upper arm drive motor, a lower arm drive motor, a steering device and a battery, the battery is installed on the fuselage device, the motion controller is installed on the fuselage device and is connected to the battery and the motor driver through a wire, the motor driver is connected to the fuselage drive motor through a wire, the fuselage drive motor is installed on the fuselage device, the upper arm drive motor is installed on the thigh, the lower arm drive motor is installed on the calf, and the steering device is installed on one side of the fuselage device.

[0012] Among them, the perception and monitoring system includes a perception module and a monitoring module, the perception module includes a laser radar and a positioning sensor, the laser radar and the positioning sensor are located at the front end of the fuselage device, and the monitoring module includes a high-definition camera and a crack sensor, and the high-definition camera and the crack sensor are located on the fuselage device.

[0013] Among them, the remote control device includes a signal receiver, a display screen, a crawling control unit, a suction size display, a high-definition camera switch button, a suction increase button, a suction decrease button, a crack collection button, a positioning button, a laser radar button and a dangerous rock marking button. The signal receiver receives real-time data and transmits remote control device signals. The high-definition camera switch button is used to control the high-definition camera switch, the crack collection button is used to control the crack sensor switch, the positioning button is used to control the positioning sensor, the display screen is used to display the transmitted information, the map generated by the laser radar, the real-time data of crack detection and the positioning information, the dangerous rock marking button is used to mark dangerous rocks, the suction increase button is used to increase the suction, the suction decrease button is used to reduce the suction, and the suction size display can display the suction size.

[0014] In a second aspect, a control method of a bionic crawling robot for dangerous rock monitoring is provided, which is used for the bionic crawling robot for dangerous rock monitoring described in the first aspect, and comprises the following steps:

[0015] Start the robot and initialize each system;

[0016] Controlling the motion control system and the crawling structure through a remote control device to move the fuselage device to a preset position;

[0017] The sensing and monitoring system works to capture rock surface images and crack depth and width;

[0018] The real-time collected data is transmitted to the remote control device through the communication system for manual analysis and processing. Once it is determined to be a dangerous rock, it is marked and located through the remote control device.

[0019] The bionic crawling robot for dangerous rock monitoring of the present invention provides installation conditions for the crawling structure, the sensing and monitoring system, the motion control system and the communication system through the fuselage device. When it is necessary to work on the surface of a steep rock mass, the remote control device is started to match the robot and control the robot to crawl. The sensing and monitoring system is turned on to collect video data, crack data, real-time positioning data, generate a map, and transmit the data to the remote control device through the communication system. Dangerous rocks are manually observed and marked and located through the remote control device after the dangerous rocks are determined, thereby solving the problem that the existing mobile robots have poor adsorption stability and are difficult to work on the surface of steep rock masses. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic diagram of the three-dimensional structure of a bionic crawling robot for dangerous rock monitoring provided by the present invention.

[0022] Figure 2 A top view of a bionic crawling robot for dangerous rock monitoring provided by the present invention.

[0023] Figure 3 A bottom view of a bionic crawling robot for dangerous rock monitoring provided by the present invention.

[0024] Figure 4 A schematic diagram of the internal structure of a bionic crawling robot for dangerous rock monitoring provided by the present invention.

[0025] Figure 5 A schematic diagram of a remote control device.

[0026] Figure 6The present invention provides a flow chart of a bionic crawling robot control method for dangerous rock monitoring.

[0027] In the figure: a-crawling structure, a1-thigh, a2-calf, a3-foot, a11-upper arm drive motor, a22-lower arm drive motor, a32-pressure sensor, a33-adaptive sealing material, a34-negative pressure fan, 4-fuselage device, 41-adsorption device, 411-fan device, 412-flexible silicone, 42-steering device, 43-communication system, 44-swinging part, 7-motion control system, 46-fuselage drive motor, 47-motion controller, 48-motor driver, 49-electric Pool, 5- perception and monitoring system, 51- perception module, 511- laser radar, 512- positioning sensor, 52- monitoring module, 522- high-definition camera, 523- crack sensor, 8- remote control device, 81- signal receiver, 82- display screen, 83- crawling control unit, 84- suction size display, 85- camera switch button, 86- suction increase button, 87- suction decrease button, 88- crack collection button, 89- positioning button, 90- laser radar button, 91- dangerous rock marking button. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0029] See also Figures 1 to 5 In a first aspect, the present invention provides a bionic crawling robot for dangerous rock monitoring, comprising a body device 4, a crawling structure a, a sensing and monitoring system 5, a motion control system 7, a communication system 43 and a remote control device 8;

[0030] The front and rear ends of the fuselage device 4 are equipped with adsorption devices 41. The crawling structure a is installed on the fuselage device 4 and can be stably adsorbed on rock surfaces of different shapes. The communication system 43 is installed on one side of the fuselage device 4. By combining the remote control device 8 with the communication system 43, the robot can be remotely controlled to complete the dangerous rock monitoring task.

[0031] In this embodiment, the fuselage device 4 provides installation conditions for the crawling structure a, the perception and monitoring system 5, the motion control system 7 and the communication system 43. When it is necessary to work on the surface of a steep rock mass, the remote control device 8 is started to match the robot and control the robot to crawl. The perception and monitoring system 5 is turned on to collect video data, crack data, real-time positioning data, generate a map, and transmit the data to the remote control device 8 through the communication system 43. Dangerous rocks are manually observed and marked and located through the remote control device 8 after they are determined, thereby solving the problem that the existing mobile robots have poor adsorption stability and are difficult to work on the surface of steep rock masses.

[0032] Furthermore, swing members 44 are symmetrically arranged in pairs on both sides of the fuselage device 4, and the swing members 44 are hinged to four crawling structures a with the same structure.

[0033] In this embodiment, the packaging room provides installation conditions for the crawling structures a, and the plurality of crawling structures a can be driven to rotate by the swinging member 44 .

[0034] Furthermore, the crawling structure a includes a thigh a1, a calf a2 and a sole a3, the thigh a1 is hinged to the swing member 44, the calf a2 is installed on one side of the thigh a1, and the sole a3 is installed on the side of the calf a2 away from the thigh a1.

[0035] In this embodiment, the thigh a1 provides mounting conditions for the calf a2, and the calf a2 provides mounting conditions for the sole a3, and the sole a3 adopts a gecko bionic design.

[0036] Furthermore, the sole a3 has a pressure sensor a32, an adaptive sealing material a33 and a negative pressure fan a34. The adaptive sealing material a33 is arranged at the edge of the sole a3. The wind force of the negative pressure fan a34 can be controlled by the pressure of the pressure sensor a32.

[0037] In this embodiment, the adaptive sealing material a33 is arranged at the edge of the sole a3, and the pressure sensor a32 monitors the pressure change of the contact surface of the sole a3 in real time to provide adhesion data for motion control. The sole a3 adopts the gecko bionic design, and the edge is equipped with the adaptive sealing material a33, and the negative pressure fan a34 provides strong adhesion, so that the robot can flexibly cope with steep and irregular rock surfaces.

[0038] Furthermore, the adsorption device 41 includes a fan device 411 and a flexible silica gel 412 . The fan device 411 is installed on the body device 4 , and the flexible silica gel 412 is installed on a side of the body device 4 close to the fan device 411 .

[0039] In this embodiment, the adsorption force of the body device 4 can be improved by adjusting the wind force of the fan device 411 in combination with the flexible silica gel 412 .

[0040] Furthermore, the motion control system 7 includes a motion controller 47, a motor driver 48, a body drive motor 46, an upper arm drive motor a11, an arm drive motor a22, a steering device 42 and a battery 49, wherein the battery 49 is installed on the body device 4, the motion controller 47 is installed on the body device 4, and is connected to the battery 49 and the motor driver 48 through wires, the motor driver 48 is connected to the body drive motor 46 through wires, the body drive motor 46 is installed on the body device 4, the upper arm drive motor a11 is installed on the thigh a1, the arm drive motor a22 is installed on the calf a2, and the steering device 42 is installed on one side of the body device 4.

[0041] In this embodiment, by accurately adjusting the joint angles, each section of the thigh a1 and the calf a2 can maintain stable movement on complex terrain. The motion controller 47 plans the best movement path by analyzing the data and positioning information of the laser radar 511, and optimizes the movement trajectory of the robot on irregular surfaces. The motion controller 47 is connected to the battery 49 and the motor driver 48 through wires, and the motor driver 48 is connected to the body drive motor 46, the upper arm drive motor a11, the lower arm drive motor a22, and the steering device 42 through wires. Combined with the pressure data of the sole a3, the action of each joint motor is dynamically adjusted to ensure a stable posture during movement.

[0042] Furthermore, the perception and monitoring system 5 includes a perception module 51 and a monitoring module 52, the perception module 51 includes a laser radar 511 and a positioning sensor 512, the laser radar 511 and the positioning sensor 512 are located at the front end of the fuselage device 4, the monitoring module 52 includes a high-definition camera 522 and a crack sensor 523, the high-definition camera 522 and the crack sensor 523 are located on the fuselage device 4.

[0043] In this embodiment, the laser radar 511 is used to scan the environment in front of the robot and generate high-precision three-dimensional point cloud data. These data can be used to detect the geometry and distance of the rock surface. The positioning sensor 512 achieves real-time positioning through the combination of inertial navigation and GPS, obtains the relative and absolute position of the robot, and ensures that its motion path is accurate. The high-definition camera 522 of the monitoring module 52 captures the rock surface image in real time, distinguishes the crack details and surface texture, and is used for manual analysis and model generation. The crack sensor 523 uses ultrasonic technology to detect the depth and width changes inside the crack, thereby evaluating the stability of the rock structure.

[0044] Furthermore, the remote control device 8 includes a signal receiver 81, a display screen 82, a crawling control unit 83, a suction force display 84, a high-definition camera 522 switch button 85, a suction force increase button 86, a suction force decrease button 87, a crack acquisition button 88, a positioning button 89, a laser radar button 90 and a dangerous rock marking button 91. The signal receiver 81 receives real-time data and transmits the remote control device 8 signal. The high-definition camera 522 switch button 85 is used to control the high-definition camera 522 switch. The crack acquisition button 88 is used to control the crack sensor 523 switch. The positioning button 89 is used to control the positioning sensor 512. The display screen 82 is used to display the transmitted information, the map generated by the laser radar 511, the real-time data of crack detection and the positioning information. The dangerous rock marking button 91 is used to mark dangerous rocks. The suction force increase button 86 is used to increase the suction. The suction force decrease button 87 is used to reduce the suction. The suction force display 84 can display the suction force.

[0045] In this embodiment, the signal receiver 81 receives real-time data and transmits the remote control device 8 signal, the high-definition camera 522 switch button 85 is used to control the high-definition camera 522 switch, the crack acquisition button 88 is used to control the crack sensor 523 switch, the positioning button 89 is used to control the positioning sensor 512, the display screen 82 is used to display the transmitted information, the map generated by the laser radar 511, the real-time data of crack detection and the positioning information, the dangerous rock marking button 91 is used to mark dangerous rocks, the suction increase button 86 is used to increase the suction, the suction decrease button 87 is used to reduce the suction, and the suction size display 84 can display the suction size.

[0046] See also Figure 6 In a second aspect, a control method of a bionic crawling robot for dangerous rock monitoring is provided for the bionic crawling robot for dangerous rock monitoring described in the first aspect, comprising the following steps:

[0047] S1 starts the robot and initializes each system;

[0048] Specifically, the operator conducts a comprehensive inspection of the robot, including the crawling structure a, the adsorption device 41, the sensor, the communication system 43, etc., to ensure the normal operation of the equipment. The remote control device 8 is connected to the robot communication system 43 to ensure stable signal transmission. The laser radar 511, the positioning sensor 512, the high-definition camera 522, the crack sensor 523, etc. are started to perform self-inspection and calibration.

[0049] S2 controls the motion control system 7 and the crawling structure a through the remote control device 8 to move the fuselage device 4 to a preset position;

[0050] Specifically, the operator controls the robot's crawling direction, speed, and posture adjustment through the crawling control unit 83 of the remote control device 8, so that it can flexibly move to the target area. The laser radar 511 scans the environment ahead in real time and generates three-dimensional point cloud data. The motion controller 47 identifies obstacles based on the data and automatically plans an obstacle avoidance path. The robot automatically adjusts the crawling path to avoid obstacles. During the robot's crawling process, the fuselage adsorption device 41 (the fan device 411 and the flexible silica gel 412) and the negative pressure fan a34 on the sole a3 are started to enhance the robot's adhesion to the rock surface. According to the real-time data of the suction size display 84, the operator adjusts the wind force of the negative pressure fan a34 through the suction increase button 86 or the suction decrease button 87 on the remote control device 8 to ensure that the robot is stably attached to the steep and irregular rock surface;

[0051] The S3 perception and monitoring system 5 works to capture rock surface images and crack depth and width;

[0052] Specifically, the operator can control the opening and closing of the robot's high-definition camera 522, crack sensor 523, positioning sensor 512 and laser radar 511 through the high-definition camera 522 switch button 85, crack collection button 88, positioning button 89, laser radar button 90, etc. on the remote control device 8 to achieve multi-dimensional monitoring of dangerous rocks. The collected high-definition images, crack detection data, positioning information, etc. are transmitted to the remote control device 8 in real time through the communication system 43. The data received by the remote control device 8 can be stored locally or uploaded to the cloud for further analysis, providing a scientific basis for dangerous rock monitoring.

[0053] S4 transmits the real-time collected data to the remote control device 8 through the communication system for manual analysis and processing. After determining that it is a dangerous rock, the remote control device 8 marks and locates the dangerous rock.

[0054] Specifically, after the operator determines the dangerous rock through the high-definition camera 522 and the crack sensor 523, the operator presses the dangerous rock marking button 91 on the remote control device 8 to mark the dangerous rock for subsequent monitoring and processing.

[0055] What is disclosed above is only a preferred embodiment of a bionic crawling robot for dangerous rock monitoring and its control method of the present invention. Of course, this cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A bionic crawling robot for dangerous rock monitoring, characterized in that: It includes fuselage device, crawling structure, perception and monitoring system, motion control system, communication system and remote control device; The front and rear ends of the fuselage device are equipped with adsorption devices. The crawling structure is installed on the fuselage device and can be stably adsorbed on rock surfaces of different shapes. The communication system is installed on one side of the fuselage device. By combining the remote control device with the communication system, the robot can be remotely controlled to complete the dangerous rock monitoring task.

2. The bionic crawling robot for dangerous rock monitoring according to claim 1, characterized in that: Swinging parts are symmetrically arranged in pairs on both sides of the fuselage device, and the swinging parts are hinged to four crawling structures with the same structure.

3. The bionic crawling robot for dangerous rock monitoring according to claim 2, characterized in that: The crawling structure comprises a thigh, a calf and a sole, wherein the thigh is hinged to the swing member, the calf is mounted on one side of the thigh, and the sole is mounted on a side of the calf away from the thigh.

4. The bionic crawling robot for dangerous rock monitoring according to claim 3, characterized in that: The sole of the foot is provided with a pressure sensor, an adaptive sealing material and a negative pressure fan. The adaptive sealing material is arranged at the edge of the sole of the foot. The wind force of the negative pressure fan can be controlled by the pressure of the pressure sensor.

5. The bionic crawling robot for dangerous rock monitoring according to claim 1, characterized in that: The adsorption device comprises a fan device and flexible silica gel, wherein the fan device is installed on the body device, and the flexible silica gel is installed on a side of the body device close to the fan device.

6. The bionic crawling robot for dangerous rock monitoring according to claim 3, characterized in that: The motion control system includes a motion controller, a motor driver, a body drive motor, an upper arm drive motor, a lower arm drive motor, a steering device and a battery, wherein the battery is installed on the body device, the motion controller is installed on the body device and is connected to the battery and the motor driver through a wire, the motor driver is connected to the body drive motor through a wire, the body drive motor is installed on the body device, the upper arm drive motor is installed on the thigh, the lower arm drive motor is installed on the calf, and the steering device is installed on one side of the body device.

7. The bionic crawling robot for dangerous rock monitoring according to claim 1, characterized in that: The perception and monitoring system includes a perception module and a monitoring module. The perception module includes a laser radar and a positioning sensor. The laser radar and the positioning sensor are located at the front end of the fuselage device. The monitoring module includes a high-definition camera and a crack sensor. The high-definition camera and the crack sensor are located on the fuselage device.

8. The bionic crawling robot for dangerous rock monitoring according to claim 7, characterized in that: The remote control device includes a signal receiver, a display screen, a crawling control unit, a suction size display, a high-definition camera switch button, a suction increase button, a suction decrease button, a crack acquisition button, a positioning button, a laser radar button and a dangerous rock marking button. The signal receiver receives real-time data and transmits remote control device signals. The high-definition camera switch button is used to control the high-definition camera switch, the crack acquisition button is used to control the crack sensor switch, the positioning button is used to control the positioning sensor, the display screen is used to display the transmitted information, the map generated by the laser radar, the real-time data of crack detection and the positioning information, the dangerous rock marking button is used to mark dangerous rocks, the suction increase button is used to increase the suction, the suction decrease button is used to reduce the suction, and the suction size display can display the suction size.

9. A control method for a bionic crawling robot for dangerous rock monitoring, used for the bionic crawling robot for dangerous rock monitoring according to any one of claims 1 to 8, characterized in that: The following steps are involved: Start the robot and initialize each system; Controlling the motion control system and the crawling structure through a remote control device to move the fuselage device to a preset position; The sensing and monitoring system works to capture rock surface images and crack depth and width; The real-time collected data is transmitted to the remote control device through the communication system for manual analysis and processing. Once it is determined to be a dangerous rock, it is marked and located through the remote control device.

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