Adaptive conformational adsorption cooperative underwater robot chassis device and control method thereof

Abstract

The application discloses an adaptive variable-configuration adsorption cooperative underwater robot chassis device and a control method thereof. The height-adjustable adsorption module of the chassis device comprises four wheel feet arranged symmetrically and capable of adjusting the ground clearance and underwater adsorption, a wheel track expansion module capable of expanding and changing the width distance, and four wheel feet arranged symmetrically on opposite sides of the wheel track expansion module and installed in the chassis main body. A suction cup module for assisting underwater adsorption is installed on the wheel track expansion module. A sensing module for detecting the underwater operation surface is installed at the bottom of the chassis main body. The chassis device can stably travel on underwater magnetic operation structures with plane, convex surface, concave surface and groove. The application solves the adaptability problem of the traditional underwater robot chassis in complex terrain through the integrated design of the symmetrical frame structure, wheel shaft linkage adjustment and intelligent adsorption control, and provides a reliable mobile platform for deep water operation equipment.

Description

Technical Field

[0001] This invention relates to an underwater robot chassis device, and specifically to an adaptive deformable adsorption cooperative underwater robot chassis device and its control method. Background Technology

[0002] Traditional underwater robot chassis use a fixed structure, which makes it impossible to flexibly switch between working modes in narrow gaps, rugged terrain and vertical magnetic walls. The single height adjustment scheme is prone to center of gravity shift and lacks dynamic stability control linked with the terrain. The adsorption device is mostly independent of the chassis system, resulting in high energy consumption and lag in switching between adsorption and movement modes. Summary of the Invention

[0003] To address the problems existing in the background technology, this invention provides an adaptive deformable adsorption collaborative underwater robot chassis device and its control method. This invention designs a three-in-one collaborative control architecture of "widening-height adjustment-adsorption," solving the coupling problem between mechanical structure and control logic in complex underwater scenarios. It can carry various operating tools and equipment, and is capable of terrain-adaptive deformable design, adsorption-movement collaborative control, and multi-condition switching and adsorption functions on walls of different shapes. It is suitable for complex underwater scenarios involving ferromagnetic material surfaces, such as the inspection of seabed metal pipelines and the maintenance of hydraulic metal gate slots.

[0004] The technical solution adopted in this invention is: I. An adaptive, deformable adsorption, cooperative underwater robot chassis device, comprising: The chassis body used for overall support of the underwater robot chassis device; The height-adjustable adsorption module includes four wheel feet symmetrically arranged for adjustable ground height and underwater adsorption.

[0005] The wheel track telescopic module is used to extend and change the width distance. The wheel track telescopic module is installed in the chassis body, and the four wheels are symmetrically arranged in pairs on opposite sides of the wheel track telescopic module.

[0006] A suction cup module for assisting underwater adsorption is mounted on the wheel track telescopic module.

[0007] A sensing module for detecting shape changes on the underwater working surface is installed at the bottom of the chassis body.

[0008] The aforementioned wheelbase telescopic module includes two telescopic components and an electrical control compartment. The electrical control compartment is installed in the chassis body. The two telescopic components are symmetrically arranged on opposite sides of the electrical control compartment. Each telescopic component includes a telescopic frame and two lead screw motors. Each lead screw motor includes a planetary ball screw and a waterproof servo motor. The telescopic frame is a hollow, mountain-shaped frame. The ends of the three parallel sections of the telescopic frame are open and horizontally pass through the same side of the electrical control compartment. The two planetary ball screws are coaxially arranged in two parallel sections of the three parallel sections of the telescopic frame, and their ends are connected to the inner end face of their respective parallel sections. The servo motors are installed inside the electrical control compartment and are each directly opposite a planetary ball screw. The output shaft of each servo motor is horizontally coaxial and synchronously connected to the other end of its respective planetary ball screw. Alternatively, a ball screw motor can be installed only in the middle parallel section of the three parallel sections, or a ball screw motor can be installed in all three parallel sections for telescopic control. The suction cup module includes two suction cup assemblies, each of which is installed at the bottom middle of the fourth section of its respective telescopic frame and faces directly downward. Two wheel feet on the same side are respectively installed on the two ends of the fourth section of the telescopic frame.

[0009] The height-adjustable adsorption module's wheels include a wheel motor, a magnetic adsorption wheel, a wheel mounting frame, and a damper. The wheel motor's body is installed inside one end of the wheel mounting frame. The side of one end of the wheel mounting frame faces one side of the fourth segment of the telescopic frame of the telescopic assembly it is located on. The output shaft of the wheel motor is horizontally and synchronously connected to one side of the fourth segment of the telescopic frame that faces the wheel mounting frame it is located on. The center of the magnetic adsorption wheel is hinged to the other side of the other end of the wheel mounting frame. Two magnetic adsorption wheels located on the same side are respectively close to the front and rear of the underwater robot chassis device. Each damper is installed inside its own wheel mounting frame.

[0010] Each magnetic adsorption wheel includes a hub, a wheel motor, a motor mounting bracket, a magnet bracket, and a magnet for magnetic adsorption onto the magnetic surface directly below the underwater robot chassis. The wheel motor, motor mounting bracket, magnet bracket, and magnet are all installed inside the hub. The motor mounting bracket is a hollow cylinder, and the magnet bracket is a hollow fan-shaped ring. The motor mounting bracket is located directly above the magnet bracket, and both have horizontally arranged central axes. The top inner ring surface of the magnet bracket is mounted on the bottom outer circumference surface of the motor mounting bracket. The wheel motor body is fitted into the motor mounting bracket, and the magnet is fitted into the magnet bracket. The output shaft of the wheel motor is horizontal and synchronously connected to the flange center of the hub. The end face of the motor mounting bracket away from the output shaft of the wheel motor is hinged to the other side of the other end of the wheel mounting bracket via a rotatable hinge. Several small rollers are also distributed on both sides of the magnet bracket to form rolling friction by contacting the inner wall surface of the hub, generating radial support force that can offset part of the cantilever gravity of the wheel motor. The magnetic adsorption wheel is driven by a high-torque waterproof wheel motor, which can form strong friction on rough structural surfaces and adsorb onto ferromagnetic material surfaces to increase moving friction.

[0011] The magnet includes a yoke, two permanent magnets, and a magnetic shielding block. The yoke, the two permanent magnets, and the magnetic shielding block are all fan-shaped and installed inside the magnet bracket. The magnetic shielding block is installed between the two permanent magnets to form a small magnetic fan-shaped ring. The bottom surface of the outer ring of the yoke is installed on the top surface of the inner ring of the small magnetic fan-shaped ring to form a fan-shaped magnet. The yoke is located directly below the wheel motor. The shape of the magnet is completely adapted to the shape inside the magnet bracket. A magnetic shielding block is provided between the two permanent magnets to form a magnetic array combination to enhance the magnetic attraction to the stator surface. The yoke is placed on the top to isolate the magnetic force of the magnet on the wheel motor.

[0012] Each suction cup assembly includes an adsorption suction cup and a waterproof suction cup motor. The adsorption suction cup includes a suction cup body and a centrifugal impeller. The suction cup body is a hollow column and is installed at the bottom middle of the fourth section of the telescopic frame with its central axis arranged vertically. The body of the waterproof suction cup motor is installed inside the upper side of the suction cup body, and the centrifugal impeller is installed inside the lower side of the suction cup body. The output shaft of the waterproof suction cup motor is vertical and synchronously connected to the central axis of the centrifugal impeller. There is a gap between the centrifugal impeller and the magnetic wall below. The waterproof suction cup motor is used to drive the centrifugal impeller to rotate, thereby forming a flow field in the water, and then achieving adsorption on the wall to be adsorbed through the flow field in the water.

[0013] The sensing module includes several cameras and sonars. Each camera is installed at the bottom of the chassis body and faces the magnetic wall below, for observing and identifying the working structure. Each sonar is installed at the front bottom of the chassis body and faces the front of the underwater robot chassis device at an angle downward, for detecting foreign objects or wall protrusions, to ensure that the device's posture after deformation can adapt to wall movement and adsorption and overcome obstacles.

[0014] The chassis body is also equipped with thruster mounting brackets at the four corners for mounting vector thrusters to enable the underwater robot chassis device to float. In addition, the chassis body has modular expansion interfaces and reserved mounting positions for fixing working tools.

[0015] II. A control method for an adaptive deformable adsorption cooperative underwater robot chassis device, comprising: When the underwater robot chassis device moves, the vector thruster is first installed on the thruster mounting frame of the chassis body, and the working tools are placed on the chassis body. The vector thruster controls the underwater robot chassis device to float to the vicinity of the magnetic working structure. By driving each centrifugal impeller to rotate, a water flow field is generated to attract the wall of the magnetic working structure below. The magnets of each magnetic adsorption wheel ensure that the wheel hub is always attracted to the wall of the magnetic working structure. The centrifugal impeller always has an adsorption distance h between it and the wall below. Then, each magnetic adsorption wheel is driven to move and pass through each camera in real time to see the shape type of the magnetic working structure, including planes, convex surfaces, concave surfaces and grooves.

[0016] When the magnetic working structure is planar, the underwater robot chassis is in an initial state with horizontal wheels, meaning the length of each wheel mounting bracket is on the same horizontal plane. When there is an obstacle in front of the underwater robot chassis, the height of the obstacle is obtained through various sonars, which is the initial ground clearance minus the detection height. This allows the motors of each wheel to drive the two wheel mounting brackets on the same side to form a figure-eight shape, compensating for the height the chassis needs to raise to control the downward rotation angle of the wheels. This raises the chassis body to a height higher than the obstacle, allowing the magnetically attracted wheels to continue moving to overcome the obstacle.

[0017] When the magnetic working structure is concave, the motors controlling each wheel drive the two wheel mounting frames on the same side to form an inverted V-shape to adapt to the concave surface, i.e., an inverted arched folded state. The wheels rotate upward to their maximum angle, and each sonar detects the ground clearance. The height compensation of the chassis device is then adjusted to control the downward rotation angle of the wheels. At this time, the height of the chassis device will automatically rise to the optimal position to adapt to the curvature radius of the concave surface. When the magnetic working structure is convex, the motors controlling each wheel drive the two wheel mounting frames on the same side to form an V-shape to adapt to the convex surface, i.e., an arched folded state. The wheels rotate downward to their maximum angle, and each sonar detects the ground clearance. The height compensation of the chassis device is then adjusted to control the upward rotation angle of the wheels. At this time, the height of the chassis device will automatically fall to the optimal position to adapt to the curvature radius of the convex surface.

[0018] When the magnetic working structure is a trench, the width of the trench is identified by each camera. When the width of the trench narrows or widens, the screw motors of each of the extension components of the wheel track extension module drive the extension frame to extend and retract, so that the distance between the two magnetic adsorption wheels facing each other on opposite sides is greater than the width of the trench. Then, the magnetic adsorption wheels are driven to make the underwater robot chassis device cross the trench.

[0019] The beneficial effects of this invention are: 1. This invention has all-terrain adaptive capability. Through intelligent adjustment of wheel track, it can pass through narrow gaps of 1m-1.4m and match complex terrains such as door slots and shipwreck cracks.

[0020] 2. This invention has autonomous recognition capabilities. It can switch the working state of the wheel feet to achieve overall structural changes for different working scenarios and adapt to moving and adsorbing on different working surfaces.

[0021] 3. This invention has autonomous obstacle avoidance capability. During the adsorption and movement on the working surface, if it encounters obstacles or structural protrusions, it can automatically adjust the height of the chassis to facilitate passage and operation.

[0022] In summary, this invention solves the problem of adaptability of traditional underwater robot chassis in complex terrain through the integrated design of symmetrical frame structure, wheel-axle linkage adjustment and intelligent adsorption control, and provides a reliable mobile platform for deep-water operation equipment. Attached Figure Description

[0023] Figure 1 This is an isometric view of the chassis assembly of the present invention; Figure 2 These are the front view and bottom view of the chassis device of the present invention; Figure 3 This is an exploded view of the magnetic adsorption wheel and its magnet in the chassis device of the present invention, wherein, Figure 3 (a) is an exploded view of the magnetic adsorption wheel of the chassis device of the present invention. Figure 3 (b) is an exploded view of the magnet of the magnetic adsorption wheel of the chassis device of the present invention; Figure 4 This is a schematic diagram of the operation of the chassis device of the present invention, wherein, Figure 4 (a) is a schematic diagram of the initial state and the raised state of the chassis device of the present invention. Figure 4 (b) is a schematic diagram of the chassis device of the present invention adapting to concave and convex surfaces. Figure 4 (c) is a schematic diagram of the chassis device of the present invention in which the wheel track narrows and widens in narrow and wide grooves; In the diagram: 1. Wheel foot, 2. Adsorption suction cup, 3. Suction cup motor, 4. Wheel foot motor, 5. Magnetic adsorption wheel, 51. Wheel hub, 52. Wheel motor, 53. Motor mounting bracket, 54. Magnet bracket, 55. Magnet, 551. Yoke, 552. Permanent magnet, 553. Magnetic shielding block, 6. Wheel mounting bracket, 7. Thruster mounting bracket, 8. Planetary ball screw, 9. Electrical control compartment, 10. Chassis body, 11. Camera, 12. Damper, 13. Sonar. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way.

[0025] like Figure 1 As shown, the adaptive deformable adsorption collaborative underwater robot chassis device of the present invention includes a chassis body 10, a height adjustment adsorption module, a wheelbase extension module, a suction cup module, and a sensing module. The chassis body 10 provides overall support for the underwater robot chassis device. The height adjustment adsorption module includes four symmetrically arranged adjustable wheels 1 for underwater adsorption, adapting to different shaped walls and simultaneously serving as an obstacle-crossing mechanism. The wheelbase extension module, installed in the chassis body 10, extends and changes the width distance. The four wheels 1 are symmetrically arranged in pairs on opposite sides of the wheelbase extension module, changing the width distance between the four wheels 1 to adapt to different widths of underwater doorways. The suction cup module, installed on the wheelbase extension module, assists in underwater adsorption. The sensing module detects changes in the shape of the underwater working surface and is installed at the bottom of the chassis body 10 to control the adaptive deformable structure of the chassis device. Figure 2 As shown, the sensing module includes several cameras 11 and sonars 13. Each camera 11 is mounted on the bottom of the chassis body 10 and faces the magnetic wall below, for observing and identifying the working structure. Each sonar 13 is mounted on the front bottom of the chassis body 10 and faces the underwater robot chassis device at a downward angle, for detecting foreign objects or wall protrusions, to ensure that the device's modified posture can adapt to wall movement and adhesion and obstacle crossing. Specifically, the sensing module consists of two cameras 11 and two sonars 13. The two cameras 11 are mounted below the chassis body 10, for scene identification of the working structure before the device adheres to the working wall. The two sonars 13 are mounted on the lower front of the chassis body 10, for height detection of foreign objects or protrusions that may be present in the working structure, to help control the height of the chassis device to achieve obstacle avoidance. The four corners of the chassis body 10 are also provided with thruster mounting brackets 7 for mounting vector thrusters to enable the underwater robot chassis device to float. In addition, the chassis body 10 has modular expansion interfaces and reserved mounting positions for fixing working tools.

[0026] like Figure 1 As shown, the wheelbase telescopic module includes two telescopic components and an electronic control compartment 9. The electronic control compartment 9 is installed in the chassis body 10. The two telescopic components are symmetrically arranged on opposite sides of the electronic control compartment 9. Each telescopic component includes a telescopic frame and two lead screw motors. Each lead screw motor includes a planetary ball screw 8 and a waterproof servo motor. The telescopic frame is a hollow, mountain-shaped frame. The ends of the three parallel sections of the telescopic frame are open and horizontally pass through the same side of the electronic control compartment 9. The two planetary ball screws 8 are coaxially arranged in the two parallel sections of the three parallel sections of the telescopic frame, and their ends are connected to the inner end face of their respective parallel sections. The bodies of the two servo motors are installed inside the electronic control compartment 9 and are respectively facing one of their respective planetary ball screws 8. The output shafts of each component are horizontally coaxial and synchronously connected to the other end of their respective planetary ball screws 8. Alternatively, a screw motor can be installed only in the middle parallel section of the three parallel sections, or in all three parallel sections for telescopic control. The suction cup module includes two suction cup assemblies, each mounted at the bottom center of the fourth section of its respective telescopic frame, facing directly downwards. Two wheel feet 1 on the same side are mounted on the sides of the fourth section of the telescopic frame. The wheel track telescopic module uses two sets of parallel planetary ball screws 8 to achieve bidirectional symmetrical telescopic movement of the wheel axle, with a stroke range of 10cm to 30cm, i.e., ±50% of the initial wheel track of 20cm. It can also be equipped with a magnetic scale for closed-loop positioning (accuracy ±0.1mm). The electrical control compartment 9 also houses a battery and motor controller to power and control each suction cup motor 3, wheel foot motor 4, and wheel motor 52.

[0027] like Figure 1 As shown, the height-adjustable adsorption module's wheel foot 1 includes a wheel foot motor 4, a magnetic adsorption wheel 5, a wheel mounting frame 6, and a damper 12. The body of the wheel foot motor 4 is installed inside one end of the wheel mounting frame 6. The side of one end of the wheel mounting frame 6 faces one side of the fourth segment of the telescopic frame of the telescopic assembly it is located on. The output shaft of the wheel foot motor 4 is horizontally and synchronously connected to one side of the fourth segment of the telescopic frame that is facing the wheel mounting frame 6 it is located on. The center of the magnetic adsorption wheel 5 is hinged to the other side of the other end of the wheel mounting frame 6. The two magnetic adsorption wheels 5 located on the same side are close to the front and rear of the underwater robot chassis device, respectively. Each damper 12 is installed inside its own wheel mounting frame 6, which plays a role in buffering and shock absorption during the movement of the magnetic adsorption wheel 5, and can also resist the interference of water flow.

[0028] Wheel feet 1 are arched, rod-shaped height-adjustable legs, which can simultaneously change the angle range of all four wheel feet 1 to adjust the height of the chassis body 10. The wheel feet 1 are driven to rotate by wheel foot motors 4 with harmonic reducers and are equipped with encoders for angle positioning. The adjustment angle range of a single wheel foot 1 is -15° to 75° (initial position is horizontal, downward is a positive angle, and upward is a negative angle).

[0029] like Figure 3 As shown in (a), each magnetic adsorption wheel 5 includes a hub 51, a wheel motor 52, a motor mounting bracket 53, a magnet bracket 54, and a magnet 55 for magnetic adsorption of the magnetic surface directly below the underwater robot chassis. The wheel motor 52, motor mounting bracket 53, magnet bracket 54, and magnet 55 are all installed inside the hub 51. The motor mounting bracket 53 is a hollow cylinder, and the magnet bracket 54 is a hollow fan-shaped ring. The motor mounting bracket 53 is located directly above the magnet bracket 54, and their central axes are all horizontally arranged. The top inner ring surface of the magnet bracket 54 is mounted on the bottom outer circumference surface of the motor mounting bracket 53. The body of the wheel motor 52 is fitted into the motor mounting bracket 53. Iron 55 is housed in magnet bracket 54. The output shaft of wheel motor 52 is horizontal and synchronously connected to the flange center of wheel hub 51. One end of motor mounting bracket 53 away from the output shaft of wheel motor 52 is hinged to the other side of the other end of wheel mounting bracket 6 via a rotatable hinge. Several small rollers are distributed on both sides of magnet bracket 54 to form rolling friction with the inner wall of wheel hub 51, generating radial support force that can offset part of the cantilever gravity of wheel motor 52. Magnetic adsorption wheel 5 is driven by high-torque waterproof wheel motor 52, which can form strong friction on rough structural surfaces and can also adsorb on ferromagnetic material surfaces to increase moving friction.

[0030] like Figure 3 As shown in (b), the magnet 55 includes a yoke 551, two permanent magnets 552, and a magnetic shielding block 553. The yoke 551, the two permanent magnets 552, and the magnetic shielding block 553 are all fan-shaped and installed inside the magnet bracket 54. The magnetic shielding block 553 is installed between the two permanent magnets 552 to form a small magnetic fan-shaped body. The bottom surface of the outer ring of the yoke 551 is installed on the top surface of the inner ring of the small magnetic fan-shaped body to form a fan-shaped magnet 55. The yoke 551 is located directly below the wheel motor 52. The shape of the magnet 55 is completely adapted to the shape inside the magnet bracket 54. The magnetic shielding block 553 is provided between the two permanent magnets 552 to form a magnetic array combination to enhance the magnetic attraction force on the stator surface, and the yoke 551 is placed on the upper part to isolate the magnetic force of the magnet 55 on the wheel motor 52.

[0031] like Figure 1 As shown, each suction cup assembly includes an adsorption suction cup 2 and a waterproof suction cup motor 3. The adsorption suction cup 2 includes a suction cup body and a centrifugal impeller. The suction cup body is a hollow column and is installed at the bottom middle of the fourth section of the telescopic frame with its central axis arranged vertically. The body of the waterproof suction cup motor 3 is installed on the upper side inside the suction cup body, and the centrifugal impeller is installed on the lower side inside the suction cup body. The output shaft of the waterproof suction cup motor 3 is vertical and synchronously connected to the central axis of the centrifugal impeller. There is a gap between the centrifugal impeller and the magnetic wall below. The waterproof suction cup motor 3 is used to drive the centrifugal impeller to rotate, thereby forming a flow field in the water, and then achieving adsorption on the wall to be adsorbed through the flow field in the water.

[0032] The control method of the adaptive allosteric adsorption cooperative underwater robot chassis device of the present invention is as follows: When the underwater robot chassis moves, the vector thruster is first installed on the thruster mounting bracket 7 of the chassis body 10, and the working tools are placed on the chassis body 10. The vector thruster controls the underwater robot chassis to float to the vicinity of the magnetic working structure. By driving the centrifugal impellers to rotate, a water flow field is generated to attract the wall of the magnetic working structure below. The magnets 55 of each magnetic adsorption wheel 5 ensure that the wheel hub 51 is always adsorbed onto the wall of the magnetic working structure. The centrifugal impellers always maintain an adsorption distance h from the wall below. Then, the magnetic adsorption wheels 5 are driven to move and are monitored in real time by the cameras 11. The shape and type of the magnetic working structure are considered, including flat surfaces, convex surfaces, concave surfaces, and grooves. Figure 4 of (a) Figure 4 (b) and Figure 4 As shown in (c).

[0033] When the magnetic working structure is a plane, the underwater robot chassis is in the initial state of horizontal wheel feet, that is, the length direction of the wheel mounting frame 6 of each wheel foot 1 is on the same horizontal plane. When there is an obstacle in front of the underwater robot chassis, the height of the obstacle is obtained by each sonar 13, which is the initial ground clearance minus the detection height. Then, the motors 4 of each wheel foot drive the two wheel mounting frames 6 on the same side to form a figure-eight shape, which compensates for the height that the chassis needs to be raised to control the downward rotation angle of the wheel feet 1, so that the chassis body 10 is raised to a height higher than the obstacle, and continues to drive each magnetic adsorption wheel 5 to move to cross the obstacle.

[0034] When the magnetic working structure is concave, the motors 4 of each wheel drive the two wheel mounting frames 6 on the same side to form an inverted V-shape to adapt to the concave surface, i.e., an inverted arched folded state. The wheel 1 rotates upward to its maximum angle, and each sonar 13 detects the height above the ground and compensates for the height required to raise the chassis device to control the downward rotation angle of the wheel 1. At this time, the height of the chassis device will automatically rise to the optimal position to adapt to the curvature radius of the concave surface. When the magnetic working structure is convex, the motors 4 of each wheel drive the two wheel mounting frames 6 on the same side to form an V-shape to adapt to the convex surface, i.e., an arched folded state. The wheel 1 rotates downward to its maximum angle, and each sonar 13 detects the height above the ground and compensates for the height required to lower the chassis device to control the upward rotation angle of the wheel 1. At this time, the height of the chassis device will automatically fall to the optimal position to adapt to the curvature radius of the convex surface.

[0035] When the magnetic working structure is a trench, the width of the trench is identified by each camera 11. When the width of the trench narrows or widens, the telescopic frame is driven to extend and retract by each screw motor of the telescopic component of the wheel track telescopic module, so that the distance between the two magnetic adsorption wheels 5 facing each other on opposite sides is greater than the width of the trench. Then, the magnetic adsorption wheels 5 are driven to make the underwater robot chassis device cross the trench.

[0036] The mobile adsorption structures include concrete and metal structures. The types of working structures include flat, convex, concave, and grooved surfaces of concrete and metal structures. When the working structure is flat, the chassis device can be adjusted to a ground clearance of 30mm-100mm. When the working structure is convex (e.g., the outer wall of a pipe), the two pairs of wheels 1 rotate downwards at a certain angle, raising the ground clearance of the chassis body 10 by 5mm-30mm. When the working structure is concave (e.g., the inner wall of a pipe), the two pairs of wheels 1 rotate upwards at a certain angle, raising the ground clearance of the chassis body 10 by 5mm-20mm. When the working structure is a wide groove (e.g., a doorway), the wheelbase extension module of the chassis device widens outwards, allowing the four sets of magnetic adsorption wheels 5 to be located on the raised platform, with a maximum groove width of 150cm. When the working structure is a narrow groove, the wheelbase extension module of the chassis device narrows inwards, allowing the four sets of magnetic adsorption wheels 5 to be located on the raised platform, with a minimum groove width of 75cm.

[0037] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this invention.

Claims

1. An adaptive, deformable adsorption-cooperative underwater robot chassis device, characterized in that, include: The chassis body (10) is used for overall support of the underwater robot chassis device. The height-adjustable adsorption module includes four wheel feet (1) that are symmetrically arranged and have adjustable ground height and underwater adsorption. The wheel track telescopic module is used to extend and change the width distance. The wheel track telescopic module is installed in the chassis body (10). The four wheel feet (1) are symmetrically arranged on opposite sides of the wheel track telescopic module. A suction cup module for assisting underwater adsorption is mounted on the wheel track telescopic module. A sensing module for detecting underwater working surfaces is installed at the bottom of the chassis body (10); The wheelbase telescopic module includes two telescopic components and an electrical control compartment (9). The electrical control compartment (9) is installed in the chassis body (10). The two telescopic components are symmetrically arranged on opposite sides of the electrical control compartment (9). Each telescopic component includes a telescopic frame and two lead screw motors. Each lead screw motor includes a planetary ball screw (8) and a servo motor. The telescopic frame is a hollow, mountain-shaped frame. The ends of the three parallel sections of the telescopic frame are open and horizontally pass through the same side of the electrical control compartment (9). The two planetary ball screws (8) are coaxially arranged on the three parallel sections of the telescopic frame. The two parallel sections on both sides are connected to the inner end face of their respective parallel sections. The bodies of the two servo motors are installed inside the electrical control cabin (9) and are respectively facing one of their respective planetary ball screws (8). The output shaft of each servo motor is horizontally coaxial and synchronously connected to the other end of one of its respective planetary ball screws (8). The suction cup module includes two suction cup assemblies. Each suction cup assembly is installed at the bottom middle of the fourth section of its respective telescopic frame and faces directly downward. The two wheel feet (1) on the same side are respectively installed on the two ends of the fourth section of the telescopic frame. The height-adjustable adsorption module's wheel foot (1) includes a wheel foot motor (4), a magnetic adsorption wheel (5), a wheel mounting frame (6), and a damper (12). The body of the wheel foot motor (4) is installed inside one end of the wheel mounting frame (6). The side of one end of the wheel mounting frame (6) faces one end of the fourth segment of the telescopic frame of the telescopic assembly it is located on. The output shaft of the wheel foot motor (4) is horizontally and synchronously connected to one end of the fourth segment of the telescopic frame that the wheel mounting frame (6) it is located on faces. The center of the magnetic adsorption wheel (5) is hinged to the other side of the other end of the wheel mounting frame (6). The two magnetic adsorption wheels (5) located on the same side are close to the front and rear of the underwater robot chassis device, respectively. Each damper (12) is installed inside its own wheel mounting frame (6). Each suction cup assembly includes an adsorption suction cup (2) and a waterproof suction cup motor (3). The adsorption suction cup (2) includes a suction cup body and a centrifugal impeller. The suction cup body is a hollow column. The suction cup body is installed at the bottom middle of the fourth section of the telescopic frame and the central axis is arranged vertically. The body of the waterproof suction cup motor (3) is installed on the upper side inside the suction cup body. The centrifugal impeller is installed on the lower side inside the suction cup body. The output shaft of the waterproof suction cup motor (3) is vertical and synchronously connected to the central axis of the centrifugal impeller. There is a gap between the centrifugal impeller and the magnetic wall below.

2. The adaptive deformable adsorption cooperative underwater robot chassis device according to claim 1, characterized in that: Each of the aforementioned magnetic adsorption wheels (5) includes a hub (51), a wheel motor (52), a motor mounting bracket (53), a magnet bracket (54), and a magnet (55) for magnetic adsorption of the magnetic surface directly below the underwater robot chassis. The wheel motor (52), motor mounting bracket (53), magnet bracket (54), and magnet (55) are all installed inside the hub (51). The motor mounting bracket (53) is a hollow cylinder, and the magnet bracket (54) is a hollow fan-shaped ring. The motor mounting bracket (53) is located on the magnet bracket (54). The magnet bracket (54) is mounted on the bottom outer circumference of the motor mounting bracket (53) with the top inner ring surface of the magnet bracket (54) horizontally arranged. The body of the wheel motor (52) is fitted in the motor mounting bracket (53), and the magnet (55) is fitted in the magnet bracket (54). The output shaft of the wheel motor (52) is horizontal and synchronously connected to the flange center of the wheel hub (51). The end face of the motor mounting bracket (53) away from the output shaft of the wheel motor (52) is hinged to the other side of the other end of the wheel mounting bracket (6) by a rotatable hinge.

3. The adaptive deformable adsorption cooperative underwater robot chassis device according to claim 2, characterized in that: The magnet (55) includes a yoke (551), two permanent magnets (552) and a magnetic shielding block (553). The yoke (551), the two permanent magnets (552) and the magnetic shielding block (553) are all fan-shaped and installed inside the magnet bracket (54). The magnetic shielding block (553) is installed between the two permanent magnets (552) to form a small magnetic fan-shaped body. The bottom surface of the outer ring of the yoke (551) is installed on the top surface of the inner ring of the small magnetic fan-shaped body to form a fan-shaped magnet (55). The yoke (551) is located directly below the wheel motor (52).

4. The adaptive deformable adsorption cooperative underwater robot chassis device according to claim 2, characterized in that: The sensing module includes several cameras (11) and sonars (13). Each camera (11) is installed at the bottom of the chassis body (10) and faces the magnetic wall below. Each sonar (13) is installed at the front bottom of the chassis body (10) and faces the front of the underwater robot chassis device at an angle downward.

5. The adaptive deformable adsorption cooperative underwater robot chassis device according to claim 1, characterized in that: The chassis body (10) is also provided with thruster mounting brackets (7) at the four corners for mounting vector thrusters to enable the underwater robot chassis device to float.

6. The control method for the adaptive deformable adsorption cooperative underwater robot chassis device according to any one of claims 1-5, characterized in that, include: When the underwater robot chassis device moves, the vector thruster is first installed on the thruster mounting bracket (7) of the chassis body (10), and the working tools are placed on the chassis body (10). The underwater robot chassis device is controlled by the vector thruster to float to the vicinity of the magnetic working structure. The flow field in the water is generated by driving each centrifugal impeller to adsorb the wall of the magnetic working structure below. The magnets (55) of each magnetic adsorption wheel (5) make the hub (51) always adsorbed on the wall of the magnetic working structure. Then, each magnetic adsorption wheel (5) is driven to move and the shape type of the magnetic working structure, including plane, convex, concave and groove, is detected in real time by each camera (11). When the magnetic working structure is a plane, the underwater robot chassis is in the initial state of horizontal wheel feet, that is, the length direction of the wheel mounting frame (6) of each wheel foot (1) is on the same horizontal plane; when there is an obstacle in front of the underwater robot chassis, the height of the obstacle is obtained by each sonar (13), and then each wheel foot motor (4) is controlled to drive the two wheel mounting frames (6) on the same side to form a figure eight shape, so that the chassis body (10) is raised to a height higher than the obstacle, and continues to drive each magnetic adsorption wheel (5) to move to cross the obstacle; When the magnetic working structure is concave, control each wheel motor (4) to drive the two wheel mounting frames (6) on the same side to form an inverted V-shape to adapt to the concave surface; when the magnetic working structure is convex, control each wheel motor (4) to drive the two wheel mounting frames (6) on the same side to form an V-shape to adapt to the convex surface; When the magnetic working structure is a trench, the width of the trench is identified by each camera (11). When the width of the trench narrows or widens, the telescopic frame is driven to extend and retract by each screw motor of the telescopic component of the wheel track telescopic module so that the distance between the two magnetic adsorption wheels (5) facing each other on opposite sides is greater than the width of the trench. Then, each magnetic adsorption wheel (5) is driven to make the underwater robot chassis device cross the trench.

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