Magnetic attraction wall-climbing robot with self-adaptive magnetic pendulum and obstacle crossing method of magnetic attraction wall-climbing robot

Abstract

The invention discloses a magnetic wall-climbing robot with self-adaptive magnetic pendulums and an obstacle crossing method of the magnetic wall-climbing robot, and relates to the field of magnetic wheel type wall-climbing robots, each magnetic wheel mechanism of the wall-climbing robot is internally provided with a magnetic pendulum capable of rotating around the axis of a hub, and the magnetic pendulums can actively adapt to the change of a wall surface; and the robot can smoothly pass through a crossed wall surface with a relatively large included angle. The wall-climbing robot comprises a frame module, a robot control module, a front driving wheel module, a rear driven wheel module and a detection camera module. A magnetic wheel mechanism of the wall-climbing robot is of a hollow double-layer gear shaft structure, an outer ring gear shaft is driven by a worm and gear speed reducing motor to drive wheels to rotate, and the wall-climbing robot can freely move on the vertical wall face. The inner ring gear shaft is driven by a steering engine, the angle of the magnetic pendulum is controlled, it is guaranteed that the magnetic adsorption force direction of the magnetic pendulum is perpendicular to the steel wall face, the wall-climbing robot can adapt to the change of the wall face, and therefore self-adaptive obstacle avoidance and obstacle crossing are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of wall - climbing robots, and particularly to a magnetic - adsorption wall - climbing robot with an adaptive magnetic pendulum and an obstacle - crossing method thereof. Background Art

[0002] A magnetic - adsorption wall - climbing robot is an autonomous robot that can move and perform tasks on vertical or inverted ferromagnetic surfaces. Wall - climbing robots for steel walls mainly use permanent magnets or electromagnets as the source of magnetic adsorption force. Existing magnetic - adsorption robots mostly adopt tracked and wheeled motion modes.

[0003] For a wall - climbing robot using a tracked motion mode, magnets are arranged on the tracks. The contact area between the tracks and the steel wall is relatively large, so the magnetic adsorption force is large and it can carry heavier tools. However, the obstacle - crossing ability of the tracked wall - climbing robot on the wall is weak. When encountering an intersecting wall surface, the tracks are easily suspended, resulting in the robot falling. Therefore, it cannot pass through obstacles such as intersecting wall surfaces and is only suitable for working on flat wall surfaces.

[0004] Wall - climbing robots using a wheeled motion mode mostly adopt the form of all - magnet walking wheels. This method can relatively reliably ensure that the wall - climbing robot is adsorbed on the metal surface. However, such wall - climbing robots have poor adaptability. When the robot moves between intersecting wall surfaces with a certain angle, the magnetic adsorption system of the wall - climbing robot cannot cross the splicing surface obstacle. Therefore, it can only be used on flat wall surfaces.

[0005] Currently, there are also wall - climbing robots with a rotating shaft arranged on the adsorption mechanism on the market, which can follow - up and rotate the magnet orientation when the adsorption surface changes to adapt to the change of the wall surface. Its disadvantage is that when encountering a right - angled edge or a corner with a small angle, the adsorption mechanism cannot automatically disengage from the original adsorption surface, resulting in the robot being unable to move forward and having poor passability. Summary of the Invention

[0006] In view of the above problems, the purpose of the present invention is to provide a magnetic - adsorption wall - climbing robot with an adaptive magnetic pendulum, so that the magnetic adsorption mechanism of the wall - climbing robot can actively adapt to the change of the wall surface and ensure that the robot can smoothly pass through intersecting wall surfaces with an included angle greater than or equal to 60 degrees. The technical solution is as follows:

[0007] A magnetic adsorption wall - climbing robot with an adaptive magnetic pendulum, comprising a frame module, on which a robot control module and a detection camera module are provided. Front - drive wheel modules and rear - driven wheel modules are respectively arranged on the front and rear sides of the frame module; the front - drive wheel module includes an independently rotatable active hub mechanism and a magnetic pendulum assembly, which are used to provide forward power and wall - surface adsorption force for the wall - climbing robot; the rear - driven wheel module includes an independently rotatable driven hub mechanism and a magnetic pendulum assembly, which are used to provide wall - surface adsorption force for the wall - climbing robot; the active hub mechanism and the driven hub mechanism are combined to form the moving module of the wall - climbing robot, and the magnetic pendulum assemblies in the two drive - wheel modules are combined to form the magnetic adsorption module; the detection camera module is used for the wall - climbing robot to detect the tank wall surface; the robot control module is used to control the work of each drive - wheel module and the detection camera module.

[0008] Further, the front - drive wheel module includes a front - wheel fixed base fixedly connected to the frame module. The active hub mechanism includes a front - wheel reduction motor and a front - wheel bearing seat fixedly arranged on the front - wheel fixed base. A front - wheel hub drive gear shaft is rotatably arranged in the front - wheel bearing seat. The gear end of the front - wheel hub drive gear shaft is in transmission connection with the output end of the front - wheel reduction motor, and the other end is fixedly connected with a front - wheel hub.

[0009] Further, a front - wheel servo is arranged on the front - wheel fixed base. A front - wheel magnetic - pendulum drive gear shaft is rotatably arranged in the front - wheel hub drive gear shaft. The gear end of the front - wheel magnetic - pendulum drive gear shaft is in transmission connection with the output end of the front - wheel servo, and the other end passes through the front - wheel hub and is connected to the magnetic pendulum assembly.

[0010] Further, the rear - driven wheel module includes a rear - wheel fixed base fixed on the frame module. The driven hub mechanism includes a rear - wheel servo and a rear - wheel bearing seat arranged on the rear - wheel fixed base. A rear - wheel hub drive gear shaft is rotatably arranged in the rear - wheel bearing seat. The outer end of the rear - wheel hub drive gear shaft is connected with a rear - wheel hub. A rear - wheel magnetic - pendulum drive gear shaft is rotatably arranged in the rear - wheel hub drive gear shaft. The gear end of the rear - wheel magnetic - pendulum drive gear shaft is in transmission connection with the output end of the rear - wheel servo, and the other end is connected with the magnetic pendulum assembly.

[0011] Further, the magnetic pendulum assembly includes a magnetic - pendulum housing, a group of magnets are arranged in the magnetic - pendulum housing, and a magnetic - force - adjusting fixed partition for controlling the number of internal magnets placed is arranged on the magnetic - pendulum housing.

[0012] Further, the detection camera module includes a depth camera and an inertial measurement unit IMU.

[0013] An obstacle - crossing method for a magnetic - adsorption wall - climbing robot with an adaptive magnetic pendulum to actively adapt to obstacles, comprising the following steps:

[0014] S1. When the wall-climbing robot encounters a cross-wall obstacle, the depth camera obtains the depth information of the obstacle;

[0015] S2. When the front wheel hub in the front drive wheel module of the wall-climbing robot fits the obstacle, the front wheel steering gear in the front drive wheel module controls the magnetic pendulum to rotate to the angle that fits the surface of the obstacle;

[0016] S3. The wall-climbing robot continues to move forward. The front drive wheel module disengages from the original contact wall surface and moves on the obstacle wall surface, while the two rear wheels adsorb and move on the original contact wall surface;

[0017] S4. When the rear wheel hub in the rear driven wheel module fits the surface of the obstacle, the rear wheel steering gear in the rear driven wheel module controls the magnetic pendulum to rotate to the angle that fits the surface of the obstacle, and the wall-climbing robot successfully passes through the cross-wall obstacle.

[0018] By adopting the above technologies, compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] In each magnetic wheel mechanism of the wall-climbing robot of the present invention, a magnetic pendulum that can rotate around the hub axis is installed. The magnetic pendulum can actively adapt to the changes of the wall surface, ensuring that the robot can successfully pass through cross-wall surfaces with an included angle greater than or equal to 60°; the magnetic wheel mechanism of the wall-climbing robot uses a hollow double-layer gear shaft structure. The outer ring gear shaft is driven by a worm and gear reduction motor to drive the wheel to rotate, enabling the wall-climbing robot to move freely on the vertical wall surface; the inner ring gear shaft is driven by a steering gear to control the angle of the magnetic pendulum, ensuring that the magnetic adsorption force direction of the magnetic pendulum is perpendicular to the steel wall surface, enabling the wall-climbing robot to adapt to the changes of the wall surface, thereby realizing self-adaptive obstacle avoidance and obstacle crossing. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an assembly schematic diagram of the magnetic adsorption wall-climbing robot in the present invention;

[0021] Figure 2 It is a composition schematic diagram of the left front drive wheel module in the present invention;

[0022] Figure 3 It is an assembly schematic diagram of the left front drive wheel module in the present invention;

[0023] Figure 4 It is a sectional view of the left front drive wheel module along the axis of the magnetic pendulum in the present invention;

[0024] Figure 5 It is a sectional view of the left front drive wheel module along the axis of the drive hub in the present invention;

[0025] Figure 6 It is a composition schematic diagram of the magnetic pendulum in the present invention;

[0026] Figure 7 In the present invention, it is a schematic diagram of the composition of the left rear driven wheel module;

[0027] Figure 8 In the present invention, it is a schematic diagram of the assembly of the left rear driven wheel module;

[0028] Figure 9 In the present invention, it is a schematic sectional view of the left rear driven wheel module along the axis of the magnetic pendulum;

[0029] Figure 10 In the present invention, it is a schematic diagram of the composition of the frame module;

[0030] Figure 11 In the present invention, it is a schematic diagram of the obstacle-crossing process of the wall-climbing robot;

[0031] Figure 12 In the present invention, it is a schematic diagram of the obstacle-crossing process flow of the wall-climbing robot.

[0032] In the figure: 1. Right rear driven wheel module; 2. Robot control module; 3. Right front drive wheel module; 4. Frame module; 5. Left rear driven wheel module; 6. Detection camera module; 7. Left front drive wheel module; 401. Wall-climbing robot body frame; 402. Depth camera; 403. Inertial measurement unit IMU; 404. Battery fixing bracket; 405. Lithium battery pack; 501. Rear wheel magnetic pendulum drive gear; 502. Rear wheel magnetic pendulum drive gear shaft; 503. Rear wheel hub drive gear shaft; 504. Rear wheel bearing seat; 505. Rear wheel hub; 506. Rear wheel tire rubber ring; 507. Rear wheel magnetic pendulum assembly; 508. Rear wheel servo; 509. Rear wheel fixing base; 510. Rear wheel magnetic pendulum drive gear shaft bearing; 511. Rear wheel magnetic pendulum drive gear shaft bearing 701. Front wheel magnetic pendulum drive gear; 702. Front wheel magnetic pendulum drive gear shaft; 703. Front wheel hub drive gear; 704. Front wheel hub drive gear shaft; 705. Front wheel bearing seat; 706. Front wheel hub; 707. Front wheel tire rubber ring; 708. Front wheel magnetic pendulum assembly; 709. Front wheel servo fixing bracket; 710. Front wheel servo; 711. Front wheel fixing base; 712. Front wheel worm and gear reduction motor; 713. Front wheel magnetic pendulum drive gear shaft bearing; 714. Front wheel hub drive gear shaft bearing. Detailed implementation manners

[0033] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings of the specification. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0034] Rather, the present invention encompasses any substitutions, modifications, equivalent methods, and schemes defined by the claims that are within the spirit and scope of the present invention. Further, in order to enable the public to better understand the present invention, in the following detailed description of the present invention, some specific details are described in detail. Those skilled in the art can fully understand the present invention without the description of these details.

[0035] Embodiment:

[0036] As Figure 1 shown, this embodiment provides a magnetic adsorption wall-climbing robot with an adaptive magnetic pendulum, which is composed of a right rear driven wheel module 1, a robot control module 2, a right front drive wheel module 3, a frame module 4, a left rear driven wheel module 5, a detection camera module 6, and a left front drive wheel module 7. The right front drive wheel module 3 and the left front drive wheel module 7 are symmetrically fixed to the front part of the frame module 4 using screws, providing forward power and wall adsorption force for the wall-climbing robot; the right rear driven wheel module 1 and the left rear driven wheel module 5 are symmetrically fixed to the rear part of the frame module 4 using screws, providing wall adsorption force for the wall-climbing robot; the robot control module 2 is fixed to the middle of the frame module 4 using screws and is the control center of the wall-climbing robot; the detection camera module 6 is fixed to the left side of the frame module 4 using screws and is used for the wall-climbing robot to detect the tank wall.

[0037] The left front drive wheel module 7 has the same structure as the right front drive wheel module 3. Now, the left front drive wheel module 7 will be taken as an example for description:

[0038] As Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 shown, the left front drive wheel module 7 includes a front wheel magnetic pendulum drive gear 701, a front wheel magnetic pendulum drive gear shaft 702, a front wheel hub drive gear 703, a front wheel hub drive gear shaft 704, a front wheel bearing seat 705, a front wheel hub 706, a front wheel tire rubber ring 707, a front wheel magnetic pendulum assembly 708, a front wheel servo fixing bracket 709, a servo 710, a front wheel fixing base 711, a front wheel worm and gear reduction motor 712, a front wheel magnetic pendulum drive gear shaft bearing 713, and a front wheel hub drive gear shaft bearing 714. The front wheel magnetic pendulum drive gear shaft 702 is an inner ring gear shaft, and the front wheel hub drive gear shaft 704 is an outer ring gear shaft. The two are coaxially installed through the front wheel magnetic pendulum drive gear shaft bearing 713. The front wheel hub drive gear shaft 704 is installed on the front wheel bearing seat 705 through the front wheel hub drive gear shaft bearing 714. The front wheel hub drive gear shaft 704 and the front wheel magnetic pendulum drive gear shaft 702 can rotate independently, and the front wheel hub 706 and the front wheel magnetic pendulum assembly 708 can control the rotation angle separately.

[0039] As Figure 3 、Figure 4 As shown, the shaft end of the front wheel magnetic pendulum drive gear shaft 702 passes through the through hole in the middle of the front wheel hub 706 and is fixedly installed with the front wheel magnetic pendulum assembly 708. The front wheel servo 710 is installed on the left front wheel fixed base 711 through the front wheel servo fixing bracket 709 and screws. The front wheel magnetic pendulum drive gear 701 is fixed on the output shaft of the front wheel servo 710. The front wheel magnetic pendulum drive gear 701 meshes with the gear end of the front wheel magnetic pendulum drive gear shaft 702. The front wheel servo 710 drives the front wheel magnetic pendulum assembly 708 to rotate around the axis of the front wheel hub 706 through the transmission of the front wheel magnetic pendulum drive gear 701 and the front wheel magnetic pendulum drive gear shaft 702, so that the magnetic adsorption force direction of the front wheel magnetic pendulum assembly 708 can be perpendicular to the steel wall surface.

[0040] As Figure 5 shown, the front wheel hub 706 and the front wheel tire rubber ring 707 form the wheel of the wall-climbing robot. The wheel is fixedly installed with the shaft end of the front wheel hub drive gear shaft 704. The front wheel worm and gear reduction motor 712 is installed on the left front wheel fixed base 711 through screws. The front wheel hub drive gear 703 is fixed on the output shaft of the front wheel worm and gear reduction motor 712. The front wheel hub drive gear 703 meshes with the gear end of the front wheel hub drive gear shaft 704. The front wheel worm and gear reduction motor 712 drives the wheel to rotate through the transmission of the front wheel hub drive gear 703 and the front wheel hub drive gear shaft 704, providing power for the movement of the wall-climbing robot.

[0041] The left rear driven wheel module 5 has the same structure as the left rear driven wheel module 5. Now, the left rear driven wheel module 5 will be taken as an example for description:

[0042] As Figure 7 shown, the left rear driven wheel module 5 includes a rear wheel magnetic pendulum drive gear 501, a rear wheel magnetic pendulum drive gear shaft 502, a rear wheel hub drive gear shaft 503, a rear wheel bearing seat 504, a rear wheel hub 505, a rear wheel tire rubber ring 506, a rear wheel magnetic pendulum assembly 507, a rear wheel servo 508, a rear wheel fixed base 509, a rear wheel magnetic pendulum drive gear shaft bearing 510, and a rear wheel magnetic pendulum drive gear shaft bearing 511. The rear wheel magnetic pendulum drive gear shaft 502 is an inner ring gear shaft, and the rear wheel hub drive gear shaft 503 is an outer ring gear shaft. The two are coaxially installed through the rear wheel magnetic pendulum drive gear shaft bearing 510. The rear wheel hub drive gear shaft 503 is installed on the rear wheel bearing seat 504 through the rear wheel magnetic pendulum drive gear shaft bearing 511. The rear wheel hub drive gear shaft 503 and the rear wheel magnetic pendulum drive gear shaft 502 can rotate independently, and the rear wheel hub 505 and the rear wheel magnetic pendulum assembly 507 can control the rotation angle separately.

[0043] As Figure 8 、 Figure 9As shown in the figure, the shaft end of the rear-wheel magnetic pendulum drive gear shaft 502 passes through the through hole in the middle of the rear-wheel hub 505 and is fixedly installed with the rear-wheel magnetic pendulum assembly 507. The rear-wheel servo 508 is fixedly installed on the rear-wheel fixed base 509 by screws. A rear-wheel magnetic pendulum drive gear 501 is fixed on the output shaft of the rear-wheel servo 508. The rear-wheel magnetic pendulum drive gear 501 meshes with the gear end of the rear-wheel magnetic pendulum drive gear shaft 502. The rear-wheel servo 508 drives the rear-wheel magnetic pendulum assembly 507 to rotate around the axis of the rear-wheel hub 505 through the transmission between the rear-wheel magnetic pendulum drive gear 501 and the rear-wheel magnetic pendulum drive gear shaft 502, so that the magnetic adsorption force direction of the rear-wheel magnetic pendulum assembly 507 can be perpendicular to the steel wall surface.

[0044] The front-wheel magnetic pendulum assembly 708 has the same structure as the rear-wheel magnetic pendulum assembly 507. Now, the front-wheel magnetic pendulum assembly 708 is taken as an example for description:

[0045] As Figure 6 shown in the figure, the front-wheel magnetic pendulum assembly 708 includes a magnet 7083, a magnetic pendulum housing 7081, and a magnetic force adjustment fixed partition 7082. The magnet 7083 is installed inside the magnetic pendulum housing 7081. A plurality of slots are arranged at intervals on the magnetic pendulum housing 7081. By inserting the adjusting magnetic force partition 7082 into different slots, the installation quantity of the magnet 7081 inside the magnetic pendulum housing 7081 can be controlled, so as to adjust the magnitude of the magnetic adsorption force of the magnetic pendulum assembly 708.

[0046] As Figure 10 shown in the figure, the frame module 4 includes a wall-climbing robot body frame 401, a detection camera module 6 (including a depth camera 402 and an inertial measurement unit IMU 403), a lithium battery pack 405, and a battery fixing frame 404. The depth camera 402 is fixedly installed on the camera support structure at the front upper side of the wall-climbing robot body frame 401 by screws, and can obtain the depth information of the front obstacles for obstacle avoidance and crossing obstacles; the inertial measurement unit IMU 403 is fixedly installed at the front lower side position of the bottom of the wall-climbing robot body frame 401, and can real-time monitor the body pose state of the wall-climbing robot, which is convenient for intelligent control of the wall-climbing robot. The lithium battery pack 405 is installed at the rear lower side of the bottom of the wall-climbing robot body frame 401 through the battery fixing frame 404 and screws, and serves as the energy source of the wall-climbing robot.

[0047] As Figure 11As shown, when the wall-climbing robot starts working on the inner and outer walls of a steel storage tank, the wall surface to be detected is generally a vertical wall surface at the beginning. The magnetic pendulum assemblies inside the four wheels of the wall-climbing robot are perpendicular to the steel wall surface. The wall-climbing robot is stably adsorbed on the wall surface by the magnetic adsorption force of the magnetic pendulum assemblies. The front-wheel worm and worm gear reduction motor 712 rotates to drive the wall-climbing robot to move forward along the steel wall surface. When the wall-climbing robot encounters a cross-wall obstacle, the depth camera 402 obtains the depth information of the obstacle, and the robot control module 2 controls the magnetic pendulum assemblies to cross the obstacle based on the depth information.

[0048] Specifically, when the right front drive wheel module 3 and the left front drive wheel module 7 of the wall-climbing robot move to simultaneously fit two planes of the cross-wall surface ( Figure 11 a) in the figure), the front-wheel magnetic pendulum assembly 708 of the left front drive wheel module 7 is driven by the front-wheel steering gear 710 to rotate, so that the magnet 7083 on the front-wheel magnetic pendulum assembly 708 is perpendicular to the surface of the cross-wall obstacle ( Figure 11 b) in the figure). After the front-wheel magnetic pendulum assembly 708 of the left front drive wheel module 7 is in place, the magnetic pendulum assembly of the right front drive wheel module 3 rotates to a position perpendicular to the surface of the cross-wall obstacle according to the same steps.

[0049] Subsequently, the front wheels of the wall-climbing robot continue to rotate. At this time, both front wheels are separated from the original contact wall surface and move on the obstacle wall surface, while the two rear wheels still adsorb and move on the original contact wall surface ( Figure 11 c) in the figure). When the two rear wheels move to simultaneously fit two planes of the cross-wall surface ( Figure 11 d) in the figure), the rear-wheel magnetic pendulum assembly 507 of the left rear driven wheel module 5 is driven by the rear-wheel steering gear 508 to rotate, so that the magnet on the rear-wheel magnetic pendulum assembly 507 is perpendicular to the surface of the cross-wall obstacle ( Figure 11 e) in the figure). After the rear-wheel magnetic pendulum assembly 507 of the left rear driven wheel module 5 is in place, the magnetic pendulum assembly of the right rear driven wheel module 1 rotates to a position perpendicular to the surface of the cross-wall obstacle according to the same steps. After completing the above steps, the wall-climbing robot has completed crossing the obstacle and can continue to move forward for inspection operations. The flowchart of the obstacle-crossing process is as shown in Figure 12 the figure.

Claims

1. A magnetic wall-climbing robot with an adaptive magnetic pendulum, characterized in that: It comprises a frame module, on which a robot control module and a detection camera module are arranged, and a front driving wheel module and a rear driven wheel module are arranged on the front and rear sides of the frame module respectively; the front driving wheel module comprises an independently rotatable active wheel hub mechanism and a magnetic pendulum assembly, which are used to provide forward power and wall adsorption force for the wall-climbing robot; the rear driven wheel module comprises an independently rotatable driven wheel hub mechanism and a magnetic pendulum assembly, which are used to provide wall adsorption force for the wall-climbing robot; the active wheel hub mechanism and the driven wheel hub mechanism are combined to form a mobile module of the wall-climbing robot, and the magnetic pendulum assemblies in the two driving wheel modules are combined to form a magnetic adsorption module; the detection camera module is used for the wall-climbing robot to detect the wall surface of the tank; the robot control module is used to control the operation of each driving wheel module and the detection camera module.

2. A magnetic wall-climbing robot with an adaptive magnetic pendulum according to claim 1, characterized in that: The front drive wheel module includes a front wheel fixing base fixedly connected to the frame module, the active wheel hub mechanism includes a front wheel reduction motor and a front wheel bearing seat fixedly arranged on the front wheel fixing base, a front wheel hub driving gear shaft is rotatably arranged in the front wheel bearing seat, a gear end of the front wheel hub driving gear shaft is drivingly connected to the output end of the front wheel reduction motor, and the other end is fixedly connected to the front wheel hub.

3. A magnetic wall-climbing robot with an adaptive magnetic pendulum according to claim 2, characterized in that: A front wheel steering gear is arranged on the front wheel fixed base, and a front wheel magnetic pendulum driving gear shaft is rotatably arranged in the front wheel hub driving gear shaft, the gear end of the front wheel magnetic pendulum driving gear shaft is transmission connected to the output end of the front wheel steering gear, and the other end passes through the front wheel hub and is connected to the magnetic pendulum assembly.

4. The magnetic wall-climbing robot with an adaptive magnetic pendulum according to claim 3, characterized in that: The rear driven wheel module includes a rear wheel fixing base fixed on the frame module, the driven wheel hub mechanism includes a rear wheel steering gear and a rear wheel bearing seat arranged on the rear wheel fixing base, a rear wheel hub driving gear shaft is rotatably arranged in the rear wheel bearing seat, the outer end of the rear wheel hub driving gear shaft is connected to the rear wheel hub, a rear wheel magnetic pendulum driving gear shaft is rotatably arranged in the rear wheel hub driving gear shaft, the gear end of the rear wheel magnetic pendulum driving gear shaft is transmission-connected to the output end of the rear wheel steering gear, and the other end is connected to the magnetic pendulum assembly.

5. The magnetic wall-climbing robot with an adaptive magnetic pendulum according to claim 4, characterized in that: The magnetic pendulum assembly comprises a magnetic pendulum housing, a group of magnets are arranged in the magnetic pendulum housing, and a magnetic force regulating fixed partition is arranged on the magnetic pendulum housing to control the number of internal magnets.

6. The magnetic wall-climbing robot with an adaptive magnetic pendulum according to claim 5, characterized in that: The detection camera module includes a depth camera and an inertial measurement unit (IMU).

7. The obstacle crossing method of a magnetic wall-climbing robot with an adaptive magnetic pendulum according to claim 6, characterized in that: The following steps are involved: S1. When the wall-climbing robot encounters a cross-wall obstacle, the depth camera obtains the depth information of the obstacle; S2, when the front wheel hub in the front driving wheel module of the wall-climbing robot fits the obstacle, the front wheel steering gear of the front driving wheel module controls the magnetic pendulum to rotate to an angle that fits the surface of the obstacle; S3, the wall-climbing robot continues to move forward, the front driving wheel module detaches from the original contact wall surface, moves on the obstacle wall surface, and the two rear wheels are adsorbed on the original contact wall surface and move; S4. When the rear wheel hub in the rear driven wheel module fits the surface of the obstacle, the rear wheel servo in the rear driven wheel module controls the magnetic pendulum to rotate to an angle that fits the surface of the obstacle, and the wall-climbing robot successfully passes through the cross-wall obstacle.

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