An obstacle-climbing robot and a method of using the same

Abstract

The application discloses an obstacle climbing robot, which comprises a body main body, a camera assembly, at least two driving wheel components with magnetic attraction devices, and two auxiliary obstacle climbing mechanical arms. The camera assembly is fixed to the body main body. The driving wheel components with the magnetic attraction devices are connected to the body main body through a position state adjusting mechanism, and are used for providing adsorption force and driving force for moving along a truss. The auxiliary obstacle climbing mechanical arms are connected to the body main body, are used for being stretched out and fixed to the truss in front of an obstacle before the obstacle is crossed, and provide additional fulcrums for the body. In the obstacle crossing process, the corresponding driving wheel components are adjusted in position and / or posture relative to the body main body and / or the truss by controlling the auxiliary obstacle climbing mechanical arms to anchor the truss, so as to realize obstacle crossing. The application can grasp the truss in front of the obstacle by the auxiliary obstacle climbing mechanical arms, so that the front wheels and the rear wheels of the obstacle climbing robot can be lifted to cross the obstacle more stably and the obstacle climbing robot can avoid losing balance.

Description

Technical Field

[0001] This application relates to the technical field of climbing robots, and more particularly to an obstacle-crossing climbing robot and its usage method. Background Technology

[0002] As a key piece of equipment in my country's engineering construction sector, boom cranes experience aging and maintenance issues due to their high workload. Lifting machinery has a complex structure and a large external surface area, especially the boom section, where the main beam can reach tens of meters in length. After a certain number of years of operation, critical welds on the crane may develop cracks, paint peeling, and corrosion, posing safety hazards. Therefore, regular inspection and maintenance of cranes is crucial.

[0003] However, traditional manual inspection methods have many drawbacks. Manual inspection is not only inefficient and costly, but also carries a high risk, especially in the high, blind spots of cranes, where it is difficult to guarantee safety and effectiveness. Furthermore, manual inspection cannot cover all areas requiring inspection, leading to potential safety hazards going undetected in a timely manner.

[0004] Due to advancements in robotics technology, climbing robots, as a novel type of inspection equipment, are increasingly being applied to crane inspection. These robots can carry various detection devices and move across the metal structure of cranes using methods such as magnetic attraction, reaching areas inaccessible to humans. However, existing climbing robots still have many shortcomings when facing the complex environment of boom-type crane truss mechanisms.

[0005] Especially in terms of obstacle-crossing ability, most existing climbing robots have poor obstacle-crossing capabilities, slow movement speed, and limited climbing height. When encountering obstacles such as truss intersections, weld protrusions, or corroded areas, traditional climbing robots often cannot effectively cross them, leading to interruptions or failure to complete the inspection task. This not only affects inspection efficiency but also increases the risk of robot damage. Summary of the Invention

[0006] This application aims to at least partially address one of the technical problems in the related art.

[0007] Therefore, one objective of this application is to provide an obstacle-crossing climbing robot that solves the problem of poor obstacle-crossing ability of existing climbing robots on the gantry mechanism of boom-type cranes, improves detection efficiency and safety, and provides strong protection for the safe operation of cranes.

[0008] To achieve the above objectives, a first aspect of this application provides an obstacle-climbing robot, comprising:

[0009] The main fuselage consists of two fuselage frames;

[0010] The camera assembly is fixedly attached to the main body of the device;

[0011] At least two independent drive wheel components with magnetic attraction devices are connected to the main body of the fuselage via a position adjustment mechanism to provide attraction force and driving force for movement along the truss;

[0012] Two auxiliary obstacle-crossing robotic arms are connected to the main body of the machine and are used to extend and fix to the truss in front of the obstacle before crossing the obstacle, providing additional fulcrum for the machine.

[0013] During obstacle crossing, the position and / or attitude of the corresponding drive wheel component relative to the main body and / or truss are adjusted by controlling the anchoring truss of the auxiliary obstacle crossing robot arm to achieve obstacle crossing.

[0014] In addition, the obstacle-crossing and climbing robot proposed in this application may also have the following additional technical features:

[0015] In one embodiment of this application, the position adjustment mechanism includes a drive wheel lifting mechanism and a connecting frame. The connecting frame is disposed between the two fuselage frames, and the drive wheel component is connected to the fuselage body through the drive wheel lifting mechanism.

[0016] In one embodiment of this application, the drive wheel lifting mechanism includes a front drive wheel lifting mechanism and a rear drive wheel lifting mechanism;

[0017] The drive wheel lifting mechanism includes a rack, a gear, and a gear motor. The end of the rack is fixed to the drive wheel component, and the rack is slidably connected to the main body of the machine. The gear motor is fixed to the main body of the machine, and the gear is connected to the output shaft of the gear motor. The gear meshes with the rack.

[0018] In one embodiment of this application, the connecting frame includes a universal joint and two rotating shafts;

[0019] The universal joint includes a cross universal joint one, a cross universal joint two, and a cross shaft. The cross universal joint one and the cross universal joint two are rotatably connected by the cross shaft.

[0020] The two rotating shafts are respectively located at both ends of the universal joint, and the two rotating shafts are respectively connected to the two fuselage frames.

[0021] In one embodiment of this application, the obstacle-crossing robotic arm includes a fixed base and a multi-joint robotic arm. The robotic arm is mounted on the fixed base and includes a rotating base, a first robotic arm, a second robotic arm, a third robotic arm, and a robotic claw component. The robotic claw component includes a robotic claw base, which is rotatably connected to the third robotic arm. Two first connecting rods are hinged to the robotic claw base, and each of the two first connecting rods has a meshing gear at its end. The two meshing gears mesh with each other. A robotic claw motor is mounted on the robotic claw base, and one of the meshing gears is rotatably connected to the output of the robotic claw motor. A third connecting rod is hinged to the end of each of the first connecting rods, and a robotic claw is mounted at the other end of the third connecting rod. The third connecting rod also includes a second connecting rod, one end of which is hinged to the robotic claw base, and the other end of which is hinged to the third connecting rod. The second connecting rod and the first connecting rod cooperate to form a parallelogram linkage transmission mechanism. The gripping surface of the robotic claw is provided with a motion assist structure to assist movement.

[0022] In one embodiment of this application, the rotating base, the first robotic arm, the second robotic arm, the third robotic arm, and the robotic claw base are sequentially rotatably connected to form a multi-joint robotic arm. Independent drive mechanisms are provided at the rotatable connections between the fixed base and the rotating base, between the rotating base and the first robotic arm, between the first robotic arm and the second robotic arm, between the second robotic arm and the third robotic arm, and between the third robotic arm and the robotic claw base. Each drive mechanism is electrically connected to the robot's main control system to receive control commands and drive the corresponding components to rotate relative to each other.

[0023] In one embodiment of this application, linear guide rails are provided on both sides of the main body of the machine, and the fixed bases of the two sets of auxiliary obstacle-crossing robotic arms are respectively slidably connected to the tracks of the two sets of linear guide rails.

[0024] Both sides of the main body of the machine are provided with lead screw transmission mechanisms. The moving end of the lead screw transmission mechanism slides on the track of the linear guide and is connected to the fixed base.

[0025] In one embodiment of this application, the drive wheel component with magnetic attraction device is connected to the main body of the machine body through the drive wheel lifting mechanism. Each drive wheel component with magnetic attraction device includes a main board. Two main boards are respectively fixed to the moving ends of the two drive wheel lifting mechanisms. Each main board has an excitation plate and two steering motors fixedly connected to it.

[0026] The output shaft of each steering motor is connected to a drive connection on the upper base plate;

[0027] Each of the connecting upper base plates is rotatably connected to a connecting lower base plate via a connecting shaft;

[0028] A suspension adjustment mechanism is provided between each of the connecting upper base plates and the corresponding connecting lower base plates;

[0029] A drive motor is fixedly connected to the lower base plate of the connection;

[0030] A magnetic wheel is mounted on the output shaft of the drive motor.

[0031] In one embodiment of this application, the camera assembly includes a camera, a connector, a vision processing unit, and at least one environmental sensor. The camera is connected to the main body via the connector, which is fixed to the main body and the camera base by connecting screws. The vision processing unit is communicatively connected to the camera and is used to process the image information captured by the camera.

[0032] The environmental sensor is mounted on the main body of the robot and is connected in communication with the vision processing unit or the robot's main control system.

[0033] A second aspect of this application provides a method for using the aforementioned obstacle-climbing robot, comprising the following steps:

[0034] Driving and Perception Steps: Control the robot to adhere to and drive on the truss, and use its camera components to continuously perceive the environment in front of it;

[0035] Obstacle recognition and decision-making steps: When an obstacle is detected ahead, the obstacle type is determined based on the perceived information, and a corresponding obstacle-crossing operation is generated. The obstacle-crossing operation includes two modes. In the first obstacle-crossing mode, if the obstacle is determined to need to be lifted to cross, the following steps are executed:

[0036] Anchoring step: Control the movement of the auxiliary obstacle-crossing robotic arm to fix the end of the auxiliary obstacle-crossing robotic arm to the truss in front of the obstacle;

[0037] In the front wheel obstacle crossing step, with the robotic arm anchored and supported, the front drive wheel lifting mechanism is controlled to lift the front drive wheel component to cross the obstacle, and then the front drive wheel component is reset.

[0038] The rear wheel obstacle crossing step involves controlling the rear drive wheel lifting mechanism to raise the rear drive wheel assembly to cross the same obstacle, and then resetting the rear drive wheel assembly.

[0039] Release procedure: Control the release and reset of the auxiliary obstacle-crossing robotic arm;

[0040] The second obstacle-crossing mode execution steps, if determined to be an obstacle requiring a detour, then execute:

[0041] The steering adjustment process involves controlling the steering motor and connecting frame to adjust the orientation of the drive wheel components and the attitude of the aircraft body to cross obstacles by going around them.

[0042] Continue the driving process; after overcoming the obstacle, control the robot to resume driving.

[0043] The above-described at least one technical solution adopted in the embodiments of this application can achieve the following beneficial effects:

[0044] 1. This application uses an auxiliary obstacle-crossing robotic arm to grab the truss in front of obstacle one, so as to ensure that the front and rear wheels of the obstacle-crossing climbing robot rise more smoothly when crossing obstacle one, and avoid the obstacle-crossing climbing robot losing balance.

[0045] 2. This application uses a cross-shaped universal joint connecting the frame to ensure that the obstacle-crossing and climbing robot can turn at a larger angle and be more flexible when turning to cross obstacle two, thus avoiding contact between the obstacle-crossing and climbing robot and obstacle two.

[0046] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0047] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0048] Figure 1 This is a three-dimensional structural diagram of the present application;

[0049] Figure 2 This is a schematic diagram of obstacle crossing in obstacle one of this application;

[0050] Figure 3 This is a schematic diagram of obstacle crossing at obstacle two in this application;

[0051] Figure 4 This is a three-dimensional structural diagram of the camera component in this application;

[0052] Figure 5 This is a three-dimensional structural diagram of the obstacle-crossing robotic arm in this application;

[0053] Figure 6 This is a three-dimensional structural diagram of the drive wheel component with a magnetic attraction device in this application;

[0054] Figure 7 This is a schematic diagram of the drive wheel lifting mechanism in this application;

[0055] Figure 8 This is a schematic diagram of the connecting rack in this application;

[0056] Figure 9This is a system block diagram from this application.

[0057] Figure label:

[0058] 1. Main body; 2. Camera assembly; 3. Obstacle-crossing robotic arm; 4. Drive wheel assembly; 5. Drive wheel lifting mechanism; 6. Connecting frame; 7. Truss; 8. Camera; 9. Connector; 10. Fixed base; 11. Rotating base; 12. First robotic arm; 13. Second robotic arm; 14. Third robotic arm; 15. Mechanical claw base; 16. First connecting rod; 17. Second connecting rod; 18. Third connecting rod; 19. Mechanical claw; 20. Motion assist structure; 21. Main board; 22. Excitation plate; 23. Steering motor; 24. Connecting upper base plate; 25. Connecting lower base plate; 26. Suspension adjustment mechanism; 27. Drive motor; 28. Magnetic wheel; 29. ​​Rack; 30. Gear; 31. Gear motor; 32. Cross shaft; 33. Universal shaft. Detailed Implementation

[0059] Embodiments of this application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. Rather, embodiments of this application include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0060] The following is in conjunction with the appendix Figures 1-9 This application describes an obstacle-climbing robot, comprising:

[0061] The fuselage body 1 comprises two fuselage bodies 1, each adopting a main frame structure composed of two parallel longitudinal beams, i.e., fuselage bodies 1. These two fuselage bodies 1 are fixed together by transverse connectors, forming a stable rectangular or trapezoidal frame.

[0062] Camera component 2 is fixed to the main body 1. This component is responsible for collecting visual data from the surface of the truss 7.

[0063] At least two independent drive wheel components 4 equipped with magnetic attraction devices are connected to the main body 1 via a position adjustment mechanism to provide attraction and driving force for movement along the truss 7. Each drive wheel component 4 integrates a magnet and a hub motor as an independent walking unit. The position adjustment mechanism is a set of mechanisms connected between the main body 1 and the walking unit, which allows the drive wheel components 4 to change position or angle under control.

[0064] Two auxiliary obstacle-crossing robotic arms 3 are connected to the main body 1 and are used to extend and fix to the truss 7 in front of the obstacle before crossing it, providing additional fulcrum for the main body 1.

[0065] The obstacle-crossing robotic arm 3 is a multi-joint robotic arm with grippers or hook-like components at its end. These are mounted on both sides of the main body 1 and can move independently.

[0066] The obstacle-crossing robotic arm 3 acts as a pilot anchor point in the obstacle-crossing sequence. Upon detecting an obstacle, the arm extends, its end gripping or hooking onto a sturdy truss section 7 a short distance in front of the obstacle. This provides an additional, reliable external stabilizing point for subsequent robot weight transfer and wheel adjustment.

[0067] During obstacle crossing, the auxiliary obstacle crossing robotic arm 3 is controlled to anchor the truss 7, and the position and / or attitude of the corresponding drive wheel component 4 relative to the main body 1 and / or the truss 7 are adjusted to achieve obstacle crossing.

[0068] Specifically, as the robot autonomously travels along the main strut of truss 7 and performs scanning, the camera assembly 2 in front of it captures images in real time. Once the image analysis identifies an obstacle ahead, such as a horizontally welded reinforcing rib or node plate, the main control system immediately issues a command to slow the robot down and stop it at an appropriate position in front of the obstacle.

[0069] Subsequently, the auxiliary obstacle-crossing robotic arms 3 located on both sides of the main body 1 are activated. They unfold from the retracted state, and with the cooperation of the multi-joint drive mechanism, the mechanical claws 19 at their ends move to the stable truss 7 component a distance in front of the obstacle and perform a grasping or locking action, thereby establishing an additional fixed anchor point in front of the entire robot.

[0070] After confirming secure anchoring, the obstacle-crossing procedure enters its core phase. The system first controls the position adjustment mechanism connected to the front drive wheel component 4 to detach the front magnetic wheel 28 from the surface of the truss 7 and raise it to a height sufficient to cross the obstacle. With the assistance of the anchoring pull of the robotic arm 3, the front wheel smoothly crosses the obstacle, then descends and reattaches to the truss 7 on the other side of the obstacle.

[0071] After the front wheel provides new stable support, the system controls the rear drive wheel lifting mechanism with the same logic to lift the rear drive wheel component 4 so that it can cross the same obstacle. After both the front and rear wheel sets have successfully crossed the obstacle and re-stabilized, the obstacle-crossing robotic arm 3 releases its grip and returns to its driving posture.

[0072] This completes one obstacle-crossing maneuver. The robot resumes its speed and continues its inspection task on gantry 7 until it encounters the next obstacle and repeats the process.

[0073] In one embodiment of this application, such as Figure 1 , Figure 2 , Figure 3 , Figure 6 As shown, the position adjustment mechanism includes a drive wheel lifting mechanism 5 and a connecting frame 6. The connecting frame 6 is located between the two main bodies 1. The drive wheel component 4 is connected to the main body 1 through the drive wheel lifting mechanism 5.

[0074] In this embodiment, the position adjustment function is achieved through the sequential or coordinated actions of these two mechanisms during obstacle crossing: when it is necessary to cross a lateral obstacle, the drive wheel lifting mechanism 5 acts as the main actuator, responsible for lifting and lowering in the vertical direction; when it is necessary to adapt to the angle of the truss 7 or to turn to avoid obstacles, the connecting frame 6 plays a major role, allowing the drive wheel component 4 and the fuselage body 1 to generate the necessary relative pitch, roll, or yaw angles through its hinged structure. Together, they constitute a composite mechanism that realizes two-dimensional or three-dimensional position adjustment.

[0075] In one embodiment of this application, such as Figure 1 , Figure 2 , Figure 3 , Figure 6 , Figure 7 As shown, the drive wheel lifting mechanism 5 includes a front drive wheel lifting mechanism and a rear drive wheel lifting mechanism;

[0076] The drive wheel lifting mechanism 5 includes a rack 29, a gear 30, and a gear motor 31. The end of the rack 29 is fixed to the drive wheel component 4, and the rack 29 is slidably connected to the main body 1. The gear motor 31 is fixed to the main body 1, and the gear 30 is connected to the output shaft of the gear motor 31 and meshes with the rack 29.

[0077] The front drive wheel lifting mechanism and the rear drive wheel lifting mechanism can operate in steps according to the sequence of lifting the front wheel first and then the rear wheel. At any given time, at least one set of wheels remains in an adsorbed state, thus maintaining the dynamic stability of the obstacle crossing process.

[0078] When it is necessary to lift the wheel to overcome an obstacle, the control system starts the corresponding gear motor 31. According to the transmission principle of gear 30 and rack 29, the rotation of gear 30 will be converted into linear motion of rack 29 relative to the main body 1, thereby ultimately realizing the lifting and lowering of drive wheel component 4.

[0079] In one embodiment of this application, such as Figure 1 , Figure 2 , Figure 8 As shown, the connecting frame 6 includes a universal joint 33 and two rotating shafts;

[0080] Universal joint 33 includes universal joint one, universal joint two and universal joint 32, universal joint one and universal joint two are rotatably connected through universal joint 32;

[0081] Two rotating shafts are respectively located at both ends of the universal joint 33, and the two rotating shafts are respectively connected to the two main bodies 1 of the fuselage.

[0082] In actual obstacle crossing, when the robot needs to turn or cross oblique obstacles in a specific posture, the articulation system connecting the frame 6 can passively adapt or actively cooperate to produce the necessary relative angle changes, thereby ensuring that all drive wheels can maintain effective contact and adsorption on the complex truss geometry, while keeping the body 1 in a relatively stable posture.

[0083] In one embodiment of this application, such as Figure 1 , Figure 2 , Figure 5 As shown, the obstacle-crossing robotic arm 3 includes a fixed base 10 and a multi-joint robotic arm. The robotic arm is mounted on the fixed base 10 and includes a rotating base 11, a first robotic arm 12, a second robotic arm 13, a third robotic arm 14, and a robotic claw 19. The robotic claw 19 includes a robotic claw base 15, which is rotatably connected to the third robotic arm 14. Two first connecting rods 16 are hinged to the robotic claw base 15, and each of the two first connecting rods 16 has a meshing gear at its end. The two meshing gears mesh with each other. The robotic claw base 15 is equipped with... The device includes a mechanical gripper 19 motor, with one meshing gear rotatably connected to the output of the mechanical gripper 19 motor. A third connecting rod 18 is hinged to the end of the first connecting rod 16, and the mechanical gripper 19 is mounted on the other end of the third connecting rod 18. It also includes a second connecting rod 17, one end of which is hinged to the mechanical gripper base 15, and the other end of which is hinged to the third connecting rod 18. The second connecting rod 17 and the first connecting rod 16 cooperate to form a parallelogram linkage transmission mechanism. The gripping surface of the mechanical gripper 19 is provided with a motion assist structure 20 to assist in motion.

[0084] In the actual operation of this embodiment, the obstacle-crossing robotic arm 3 completes the extension and grasping tasks according to the following process:

[0085] Once the control system determines that obstacle crossing is required based on visual information and selects a gripping point, it first controls the fixed base 10 to move along the linear guide rail to the predetermined starting position.

[0086] Subsequently, the drive mechanisms of each joint coordinate to drive the rotating base 11, the first robotic arm 12, the second robotic arm 13 and the third robotic arm 14 to rotate in sequence, thereby driving the end-effector 19 to move rapidly to the vicinity of the target truss 7 component in front of the obstacle along a trajectory from near to far and from high to low.

[0087] After positioning is completed, the mechanical gripper 19 motor starts. Its output torque drives the two first connecting rods 16 to rotate in opposite directions through the meshing gears connected to it. Since the second connecting rod 17 and the first connecting rod 16 form a parallelogram linkage transmission mechanism, this motion is converted into the parallel opening and closing action of the third connecting rod 18 and the mechanical gripper 19 thereon, clamping the target rod.

[0088] During the grasping moment and subsequent process, the motion assist structure 20 allows the robot to generate a small rolling displacement between the mechanical claw 19 and the surface of the truss 7 by micro-movement of the drive wheel or other mechanisms of the main body 1, provided that the robot has firmly grasped the truss 7. This helps to adjust the robot's overall posture to the optimal obstacle preparation state, while avoiding jamming or surface damage that may be caused by pure sliding friction.

[0089] After the task is completed, the motor of the robotic gripper 19 rotates in the reverse direction, the robotic gripper 19 is released, and the drive mechanisms of each joint move in reverse sequence to retract the entire robotic arm back to the initial storage posture that is close to the main body 1, ready for the next operation.

[0090] Furthermore, as one possibility in this embodiment, the motion assist structure 20 can be multiple sets of balls to reduce the sliding friction that may occur when the mechanical claw 19 grips the truss 7, and to allow smooth relative displacement when fine-tuning the robot body 1 after gripping.

[0091] Furthermore, as another possibility in this embodiment, the motion-assisting structure 20 can also be a pneumatic adaptive array. This structure consists of multiple miniature independent air chamber units embedded in the gripping surface of the robotic gripper 19. Each air chamber unit has a flexible sealing membrane at the bottom and a wear-resistant contact layer at the top. When the robotic gripper 19 grips the truss 7, the control system can adjust the air pressure in each air chamber according to the feedback from the pressure sensor, so that the contact layer actively deforms to conform to the irregular surface of the truss 7, increasing the actual contact area. When it is necessary to adjust the robot's posture, the air pressure can be briefly increased to form an extremely thin air film between the contact layer and the surface of the truss 7, with slight floating to reduce friction.

[0092] In one embodiment of this application, a multi-joint robotic arm is formed by sequentially rotating a rotating base 11, a first robotic arm 12, a second robotic arm 13, a third robotic arm 14, and a robotic claw base 15. Independent drive mechanisms are provided at the rotational connections between the fixed base 10 and the rotating base 11, between the rotating base 11 and the first robotic arm 12, between the first robotic arm 12 and the second robotic arm 13, between the second robotic arm 13 and the third robotic arm 14, and between the third robotic arm 14 and the robotic claw base 15. Each drive mechanism is electrically connected to the robot's main control system to receive control commands and drive the corresponding components to rotate relative to each other. The drive mechanism can be a servo motor.

[0093] Once the robot's main control system determines the obstacle and target gripping point based on the visual data from camera component 2, it first performs trajectory planning and inverse kinematics calculation based on the preset robotic arm kinematic model.

[0094] The system calculates the sequence of rotation angles required for each joint of the rotating base 11, the first robotic arm 12, the second robotic arm 13, the third robotic arm 14, and the robotic claw base 15 to reach the target gripping point from the current position and posture.

[0095] Subsequently, the main control system sends out the first set of pulses or position commands through the drive mechanism to drive the rotating base 11 to rotate in the horizontal plane relative to the fixed base 10, thereby completing the overall orientation adjustment of the robotic arm.

[0096] Subsequently, the instructions are sent sequentially, synchronously, or in a specific timing sequence to the drive mechanisms at each subsequent connection point:

[0097] The drive mechanism between the rotating base 11 and the first robotic arm 12 is activated to raise or lower the first robotic arm 12.

[0098] The drive mechanism between the first robotic arm 12 and the second robotic arm 13 is activated to extend or retract the second robotic arm 13.

[0099] The drive mechanism between the second robotic arm 13 and the third robotic arm 14 is activated to adjust the pitch angle of the third robotic arm 14.

[0100] The drive mechanism between the third robotic arm 14 and the robotic claw base 15 makes a final micro-motion to precisely adjust the posture of the robotic claw 19 so that its gripping surface faces the target truss 7 component.

[0101] Each drive mechanism, typically a servo motor, has a built-in or external position sensor, such as an encoder, forming a closed-loop control system. They feed back the actual position to the main control system in real time, and the system dynamically adjusts the output through control algorithms such as PID, ultimately enabling the end effector 19 to move along a planned smooth trajectory in three-dimensional space and precisely stop at the target position.

[0102] In one embodiment of this application, linear guide rails are provided on both sides of the main body 1, and the fixed bases 10 of the two sets of auxiliary obstacle-crossing robotic arms 3 are slidably connected to the tracks of the two sets of linear guide rails respectively.

[0103] Both sides of the main body 1 are equipped with lead screw transmission mechanisms. The moving end of the lead screw transmission mechanism slides on the track of the linear guide and is connected to the fixed base 10.

[0104] After the robot's main control system completes the identification and decision-making of the obstacle in front, it calculates the final target gripping point of the mechanical claw 19. It also calculates an optimal horizontal starting position of the mechanical arm based on the robot's current position, the lateral span of the obstacle, and the optimal lever arm principle.

[0105] Specifically, during or after the fixed base 10 moves into place and locks, the drive mechanisms of each joint of the robotic arm start to move, driving the robotic arm to start from the new base point and perform subsequent extension and gripping actions.

[0106] The process of first adjusting the horizontal base point and then performing spatial extension further adds a programmable, large-stroke horizontal degree of freedom to the robotic arm.

[0107] This embodiment allows the robot to cover a wider lateral working area in front of the main body 1 by adjusting the mounting point of the robotic arm without moving itself. This enables the robot to handle lateral obstacles not directly in front of the main body 1 more flexibly, or to avoid frequent repositioning during continuous obstacle crossings.

[0108] The main control system has a built-in inverse kinematics solution module.

[0109] Coordinate system definition:

[0110] The origin of the coordinate system is the connection point between the fixed base 10 and the rotating base 11. , The axis is vertically upward. The axis points in the direction the robot is moving.

[0111] The coordinate systems for each joint are established according to the Denavit-Hartenberg (DH) method, and the joint variables are denoted as follows. (Rotating base 11) (First robotic arm 12) (Second robotic arm 13) (Third robotic arm 14) (Mechanical claw base 15).

[0112] The target pose in the base coordinate system is given by the vision system, and the end effector of the robotic gripper is denoted as . .

[0113] These represent the distance values ​​on three mutually perpendicular coordinate axes (e.g., forward, left, and upward).

[0114] These represent the rotation angles around the three coordinate axes (e.g., roll, pitch, yaw).

[0115] Inverse kinematics solution steps:

[0116] Position decoupling: Decoupling the first three joints of the robotic arm ( , , ) is used to control the end position, the last two joints ( , This is used to control the end effector's attitude. Since the robotic arm structure satisfies the Pieper criterion (the axes of three adjacent joints intersect at a single point or are parallel), analytical solutions can be performed.

[0117] Solve : From the end position Calculate the rotation angle of the rotating base 11: .

[0118] Solve , Project the robotic arm onto the plane formed by the first robotic arm 12 and the second robotic arm 13, and solve using a geometric method:

[0119] The wrist position (i.e., the intersection of the axis of the third robotic arm 14 and the axis of the robotic claw base 15) is calculated. This position can be deduced from the end position and attitude.

[0120] Based on the geometric relationship between the wrist position and the first robotic arm 12 and the second robotic arm 13, a triangle is established, and the solution is obtained using the law of cosines. , .

[0121] Solve , Based on the desired end effector orientation (given by the vision system, for example, aligning the gripper 19 with the truss member 7), combined with the previously calculated... , , Solving by corresponding elements of the rotation matrix , .

[0122] Specifically, the last two joint angles are solved by utilizing the transformation relationship between the wrist coordinate system and the base coordinate system.

[0123] Multiple solution selection: Since there are multiple solutions in inverse kinematics, the system selects the optimal solution as the execution command based on constraints such as the current joint angle, minimum energy consumption, and obstacle avoidance.

[0124] The calculated sequence of robot arm joint angles is sent to the servo drivers of each joint via the CAN bus, and the servo motors achieve precise position control.

[0125] Each robotic arm joint is equipped with an absolute encoder, which provides real-time feedback on the actual angle, forming a closed loop to ensure end-effector positioning accuracy within ±1mm.

[0126] In one embodiment of this application, the drive wheel component 4 with magnetic attraction device is connected to the main body 1 of the machine body through the drive wheel lifting mechanism 5. Each drive wheel component 4 with magnetic attraction device includes a main board 21 and a pressure sensing unit. The two main boards 21 are respectively fixed to the moving ends of the two drive wheel lifting mechanisms 5. Each main board 21 is fixed with an excitation plate 22 and two steering motors 23.

[0127] The output shaft of each steering motor 23 is connected to a drive connection to the upper base plate 24;

[0128] Each connecting upper base plate 24 is rotatably connected to a connecting lower base plate 25 via a connecting shaft;

[0129] A suspension adjustment mechanism 26 is provided between each connecting upper base plate 24 and the corresponding connecting lower base plate 25;

[0130] A drive motor 27 is fixedly connected to the lower base plate 25;

[0131] A magnetic wheel 28 is mounted on the output shaft of the drive motor 27;

[0132] Multiple pressure sensing units are disposed on the magnetic wheel 28 to detect the contact pressure between the magnetic wheel 28 and the surface of the truss 7.

[0133] The suspension adjustment mechanism 26 includes an electronically controlled linear actuator and a shock-absorbing spring;

[0134] The electronically controlled linear actuator is one of the following: a servo electric cylinder, a linear motor, or an electric push rod.

[0135] The main control system is electrically connected to each electronically controlled linear actuator and each pressure sensing unit. The main control system is configured to dynamically adjust the extension length of the corresponding electronically controlled linear actuator according to the detection data of each pressure sensing unit, so that the contact pressure between each magnetic wheel 28 and the surface of the truss 7 remains uniform and within a preset range.

[0136] In actual use, pressure sensing and status monitoring are performed. When the robot moves on the truss 7, the pressure sensing unit installed on the axle or load-bearing structure of each magnetic wheel 28 works continuously to collect and feed back the contact pressure data between the magnetic wheel 28 and the metal surface of the truss 7 to the main control system in real time.

[0137] Meanwhile, the control algorithms of the main control system, such as the PID controller, synchronously process and compare the pressure data of all magnetic wheels 28.

[0138] This ensures that the pressure values ​​of all the bearing magnetic wheels 28 are kept uniform and fall within a preset optimal pressure range.

[0139] The upper limit of this range is used to prevent excessive pressure from causing a surge in movement resistance or damaging the surface coating, while the lower limit is used to ensure that the magnetic attraction force is fully converted into frictional force to resist slippage and overturning.

[0140] Suspension adjustment execution: Once the algorithm determines that the pressure of one or more magnetic wheels 28 deviates from the target range, for example, due to local rust protrusion of the truss 7 causing the pressure of a magnetic wheel 28 to be too high, or due to surface depression causing the pressure to be too low, the main control system immediately sends a command to the corresponding suspension adjustment mechanism 26.

[0141] The electronically controlled linear actuator responds by finely adjusting the extension or retraction length of its piston rod.

[0142] The change in length directly alters the relative distance between the upper base plate 24 and the lower base plate 25, thereby raising or lowering the magnetic wheel 28 fixed thereto, and instantly and actively adjusting the degree of compression or release of the magnetic wheel 28 relative to the surface of the truss 7.

[0143] The goal is to enable the robot to actively adapt to uneven surfaces instead of relying on flat surfaces, thereby improving its mobility, obstacle crossing safety, and continuous operation capability under non-ideal flat truss 7.

[0144] In this embodiment, several alternative possibilities exist, such as a thin-film pressure sensor, a strain gauge sensor, or a piezoelectric sensor, which is mounted at the axle bearing seat of the magnetic wheel 28 or at the connection between the lower base plate 25 and the mounting structure of the magnetic wheel 28.

[0145] To ensure that the contact pressure between each magnetic wheel (28) and the truss surface is uniform and within a preset range, this embodiment adopts a collaborative control strategy based on pressure feedback, as follows:

[0146] System components:

[0147] Each magnetic wheel 28 is equipped with a pressure sensing unit (e.g., a thin-film pressure sensor, mounted on the wheel axle bearing seat) at its mounting location to detect the normal pressure acting on the wheel in real time. ( (corresponding to four magnetic wheels 28).

[0148] Each suspension adjustment mechanism 26 includes an electrically controlled linear actuator (servo electric cylinder) that can independently adjust the distance between the upper base plate 24 and the lower base plate 25, thereby changing the vertical position of the wheel relative to the fuselage.

[0149] To ensure that the contact pressure between each magnetic wheel 28 and the surface of the truss 7 is uniform and within a preset range, the main control system has a built-in pressure equalization controller.

[0150] Control objective:

[0151] Pressure on each wheel satisfy:

[0152] Average pressure of all wheels Maintain within the preset target range Inside.

[0153] Pressure deviation of each wheel Less than the allowable threshold .

[0154] Control algorithm (taking PID controller as an example):

[0155] Sampling and Filtering: Raw data from each pressure sensing unit is acquired at a frequency of 100Hz and then low-pass filtered to obtain... .

[0156] Calculation error: for each wheel Calculate pressure error Note: The error here is defined as the expected pressure minus the actual pressure. A positive value indicates that the pressure on that wheel is too low, and the clamping force of that wheel (i.e., the extension actuator) needs to be increased; if... If the value is negative, the actuator needs to be contracted.

[0157] PID calculation: for each round Actuator adjustment amount Calculated by the PID controller: .

[0158] in, , , These are preset coefficients, which are then tuned through experiments or simulations.

[0159] Output limiting and dead-time handling: To prevent frequent actuator operation, a dead-time range is set (e.g., ...). (not adjusted at the time), among which Represents a preset minimum pressure value; adjustment amount After being limited, it is converted into a displacement command (extend or retract length) for the actuator.

[0160] Coordinated compensation: Since the pressure of each wheel is coupled through the fuselage, adjusting one wheel will affect the pressure of the other wheels.

[0161] Therefore, a decoupling control strategy is adopted: the pressure error vector is... The decoupling matrix is ​​converted into actuator displacement commands, and the decoupling matrix can be pre-calibrated based on the mechanical structure stiffness matrix. In the simplified implementation, iterative learning control is used to gradually approximate the equilibrium state.

[0162] Special operating condition handling:

[0163] When a wheel is temporarily suspended in the air due to an obstacle (pressure sensor reading is close to zero), the main control system immediately instructs the corresponding electronically controlled linear actuator to quickly retract to its minimum length to avoid the wheel continuing to extend in the suspended state and causing interference; when the wheel re-contacts the truss surface, it slowly extends until the pressure reaches the preset range.

[0164] During the robot's movement, the changing trend of pressure data can also be used to predict changes in the cross-section of the truss in front (such as transitioning from a square tube to a round tube), allowing the system to adjust the actuators of each wheel in advance and achieve predictive control.

[0165] In this embodiment, the main control system is further configured to: predict changes in the cross-sectional shape or surface state of the truss 7 based on the data change trends of each pressure sensing unit during robot movement, and adjust the length of the corresponding electronically controlled linear actuator in advance.

[0166] S1: Real-time contact pressure data between each magnetic wheel 28 and the surface of the truss 7 is obtained through pressure sensors on each magnetic wheel 28;

[0167] S2: Compare the pressure data of each magnet 28 with the preset target pressure range;

[0168] S3: Based on the comparison results, the main control system calculates the required length adjustment for each electronically controlled linear actuator;

[0169] S4: Control each electronically controlled linear actuator to operate synchronously or asynchronously according to the calculated adjustment amount, and adjust the position of the corresponding magnetic wheel 28 relative to the main body 1;

[0170] S5: Repeat steps S1-S4 to bring the pressure data of each magnetic wheel 28 into the target pressure range, thereby achieving a balanced distribution of the adsorption force of each magnetic wheel 28.

[0171] In this embodiment, the main control system further includes the following: when a certain magnetic wheel 28 is detected to be temporarily suspended due to crossing an obstacle, the main control system controls the corresponding electronically controlled linear actuator to retract rapidly, and when the magnetic wheel 28 re-contacts the surface of the truss 7, it controls it to slowly extend until the pressure reaches a preset range.

[0172] The main control system uses PID control algorithm or fuzzy control algorithm to calculate the length adjustment of each electronically controlled linear actuator.

[0173] It also includes adaptive learning steps:

[0174] Record the pressure data of the robot under different truss sections and different surface conditions, and the corresponding electronically controlled linear actuator adjustment parameters.

[0175] Establish and update a mapping database between environmental characteristics and regulation parameters;

[0176] When similar environmental characteristics are encountered again, the adjustment parameters in the mapping relationship library are directly called for pre-adjustment.

[0177] In one embodiment of this application, the camera assembly 2 includes a camera 8, a connector 9, a vision processing unit, and at least one environmental sensor. The camera 8 is connected to the main body 1 via the connector 9. The connector 9 is fixed to the main body 1 and the base of the camera 8 by connecting screws. The vision processing unit is communicatively connected to the camera 8 and is used to process the image information collected by the camera 8.

[0178] Environmental sensors are mounted on the main body 1 or connector 9 and communicate with the vision processing unit or the robot's main control system.

[0179] Camera 8 continuously captures high-definition images or video streams of the surface of the truss 7 ahead as the robot moves and overcomes obstacles.

[0180] The vision processing unit analyzes the image, automatically identifies defects such as cracks, rust, and coating peeling on the surface of truss 7, and marks or measures them.

[0181] Specifically, obstacle perception and classification: Real-time detection of various obstacles ahead, such as node plates, welds, and support rods, and analysis of their geometric characteristics, thereby classifying them into types that require lifting to cross or turning around.

[0182] Specifically, camera component 2 mainly includes:

[0183] Camera 8: Employs a high-resolution industrial camera (such as a CMOS or CCD sensor), automatically adjusting exposure parameters based on ambient light, and supports continuous video stream acquisition. A protective glass or light shield can be installed in front of its lens to adapt to high-altitude outdoor working environments.

[0184] Connector 9: is a rigid bracket or adapter plate.

[0185] Vision processing unit: This unit can be a standalone embedded processing board (e.g., based on FPGA, DSP, or ARM architecture), installed inside the main body 1 or in the housing near the camera 8; alternatively, it can be directly integrated into the robot's main control system chip, implementing processing functions through software algorithms. The vision processing unit communicates with the camera 8 via a high-speed data interface (such as MIPI, USB 3.0, or GigE) to receive raw image data and perform real-time analysis.

[0186] Environmental sensors: These include at least one light intensity sensor (e.g., a photodiode or ambient light sensor), and can be expanded to include a temperature and humidity sensor, wind speed sensor, or dust sensor as needed. The sensor can be mounted on the outer surface of the main body 1 or at a suitable location on the connector 9 to ensure accurate perception of environmental parameters. It communicates with the vision processing unit or the main control system.

[0187] Image acquisition and preprocessing.

[0188] In actual operation, as the robot travels along the truss 7, the camera 8 continuously captures high-definition images or video streams of the surface of the truss 7 in front at a set frame rate (e.g., 30fps).

[0189] An environmental sensor detects the current ambient light intensity in real time. After acquiring image data, the vision processing unit first performs preprocessing operations:

[0190] Based on the illumination data fed back by the environmental sensor, the exposure compensation, white balance and gain of the image are automatically adjusted to eliminate overexposed or underexposed areas.

[0191] Perform distortion correction (such as barrel distortion or pincushion distortion) on the image to restore the true geometric proportions;

[0192] Image enhancements, such as contrast stretching and histogram equalization, can be performed when necessary to highlight details of defects such as cracks and corrosion.

[0193] Intelligent image analysis – defect identification.

[0194] The preprocessed image is then fed into a pre-configured deep learning model (e.g., a convolutional neural network) or a traditional image processing algorithm within the vision processing unit for defect identification. This process includes:

[0195] Feature extraction: Extracting features such as texture, edges, and color distribution from an image.

[0196] Defect detection: Identify abnormal features on the surface of truss 7, such as cracks, rust areas, coating peeling, and loose bolts, and use the model to output the defect category, confidence level, and accurate pixel-level contour.

[0197] Measurement and labeling: The detected defects are dimensionally measured (e.g., crack length, corrosion area), and their locations are labeled on the images. The resulting data (defect type, coordinates, dimensions) is encapsulated into structured information.

[0198] Obstacle perception and classification.

[0199] While detecting defects, the vision processing unit also performs obstacle perception functions:

[0200] Target detection: Real-time detection of obstacles such as node plates, weld protrusions, horizontal or diagonal support rods, and maintenance platforms that appear ahead.

[0201] Geometric analysis: Depth estimation is performed on the detected obstacle area (if using a binocular camera or monocular ranging algorithm) to obtain its distance, height, width, and approximate shape relative to the robot.

[0202] Classification decision: Based on the geometric characteristics of the obstacle, it is classified as either "requiring lifting and crossing" (e.g., transverse welds, low reinforcing ribs) or "requiring turning and detour" (e.g., longitudinal support rods, large node plates). The classification result, along with the spatial location information of the obstacle, is output.

[0203] Information fusion and instruction generation.

[0204] The information analyzed by the vision processing unit (including defect data, obstacle type and location) and real-time data from environmental sensors are aggregated to the robot's main control system via an internal bus (such as CAN bus or Ethernet).

[0205] The main control system, acting as the decision-making center, fuses this visual information with data from other sensors (such as the pressure sensing unit, tilt sensor, and odometer on drive wheel component 4). The fusion algorithm comprehensively considers factors such as the robot's current posture, adhesion status, and remaining battery power to ultimately generate specific control commands.

[0206] If there are no obstacles ahead, a command is generated to maintain the current speed or accelerate.

[0207] If a defect is detected, the defect location will be recorded and an audible and visual alarm may be triggered.

[0208] If an obstacle is detected, the appropriate obstacle-crossing strategy is invoked based on the obstacle type (e.g., activating the first obstacle-crossing mode or the second obstacle-crossing mode).

[0209] Optional alternatives.

[0210] In other embodiments of this application, the camera assembly 2 may also be modified as follows:

[0211] Binocular vision configuration: The single camera 8 is replaced with a pair of binocular cameras, which directly obtain depth information through parallax calculation, thereby improving the accuracy of obstacle ranging.

[0212] Integrated fill light unit: LED fill lights are added to both sides of the camera 8 or on the connector 9, which are automatically turned on under low light conditions triggered by the environmental sensor.

[0213] Wireless transmission: The vision processing unit and the main control system use wireless communication (such as Wi-Fi or 5G), which is suitable for application scenarios that require remote transmission of image data back to the ground control station.

[0214] Multi-sensor fusion: Environmental sensors can be expanded to include lidar, millimeter-wave radar, or ultrasonic sensors.

[0215] The processed visual information and environmental data are ultimately aggregated into the robot's main control system. The main control system integrates this information with data from other sensors to generate specific driving control commands or initiate obstacle-crossing sequence.

[0216] This application discloses a method for using the aforementioned obstacle-crossing and climbing robot, including the following steps:

[0217] Driving and Perception Steps: Control the robot to adhere to and drive on the truss 7, and use its camera component 2 to continuously perceive the environment in front;

[0218] Obstacle recognition and decision-making steps: When an obstacle is detected ahead, the obstacle type is determined based on the perceived information, and a corresponding obstacle-crossing operation is generated. The obstacle-crossing operation includes two modes. In the first obstacle-crossing mode, if the obstacle is determined to need to be lifted to cross, the following steps are executed:

[0219] Anchoring step: Control the movement of the auxiliary obstacle-crossing robotic arm 3 so that the end of the auxiliary obstacle-crossing robotic arm 3 is fixed to the truss 7 in front of the obstacle;

[0220] In the front wheel obstacle crossing step, with the robotic arm anchored and supported, the front drive wheel lifting mechanism is controlled to lift the front drive wheel component 4 to cross the obstacle, and then the front drive wheel component 4 is reset.

[0221] In the rear wheel obstacle crossing step, the rear drive wheel lifting mechanism is controlled to lift the rear drive wheel component 4 to cross the same obstacle, and then the rear drive wheel component 4 is reset.

[0222] Release procedure: Control the release and reset of the auxiliary obstacle-crossing robotic arm 3;

[0223] The second obstacle-crossing mode execution steps, if determined to be an obstacle requiring a detour, then execute:

[0224] The steering adjustment step involves controlling the steering motor 23 and the connecting frame 6 to adjust the orientation of the drive wheel component 4 and the attitude of the main body 1, so as to cross obstacles by going around them.

[0225] Continue the driving process; after overcoming the obstacle, control the robot to resume driving.

[0226] Specifically, the following are several possible usage instructions for this obstacle-crossing and climbing robot during actual operation:

[0227] S1: Drive motor 27 controls the rotation of magnetic wheel 28. The obstacle-crossing and climbing robot is attracted to the truss 7 of the boom crane by the magnetic attraction provided by excitation plate 22 and magnetic wheel 28. The magnetic wheel 28 is attracted to the crane truss 7 by adjusting the wheel distance by shock-absorbing spring. The obstacle-crossing and climbing robot walks by the magnetic force between the obstacle-crossing and climbing robot and truss 7.

[0228] S2: During the journey, camera 8 is responsible for identifying obstacles, such as obstacle one and obstacle two. When an obstacle is about to be encountered, the sensor sends a deceleration signal to reduce the speed of drive motor 27, thereby slowing down the obstacle-crossing and climbing robot.

[0229] S3: Because the obstacle-crossing and climbing robot encounters different obstacles, its obstacle-crossing methods also differ. Therefore, it is necessary to adjust the obstacle-crossing method accordingly. For example, when the obstacle-crossing and climbing robot overcomes obstacle one... Figure 2 As shown, the sensor sends a signal. After deceleration is completed, the linear guide rail on the main body 1 causes the fixed base 10 of the robotic arm to reach the corresponding position via the lead screw. The rotating base 11 on the fixed base 10 of the robotic arm rotates by a corresponding angle. The first robotic arm 12 on the rotating base 11 of the robotic arm rotates by a corresponding angle. The second robotic arm 13 on the first robotic arm 12 of the robotic arm rotates by a corresponding angle. The third robotic arm 14 on the second robotic arm 13 of the robotic arm rotates by a corresponding angle. The mechanical claw base 15 on the third robotic arm 14 of the robotic arm rotates by a corresponding angle. The mechanical claw 19 on the mechanical claw base 15 is driven by a motor to rotate the first connecting rod 16, the second connecting rod 17, and the third connecting rod 18. The mechanical claw 19 on the third connecting rod 18 grabs the truss 7 in front of the obstacle. The gear motor 31 of the front drive wheel lifting mechanism drives the gear 30 to drive the rack 29, causing the drive wheel component 4 with a magnetic attraction device at the bottom of the front drive lifting mechanism 5 to rise to a certain height, realizing the obstacle-crossing climbing robot's front drive wheel lifting mechanism overcoming the obstacle.

[0230] S4: After the front drive wheel lifting mechanism completes obstacle crossing, the sensor sends a signal, and the gear motor 31 in the front drive wheel lifting mechanism drives the gear 30 to drive the rack 29, so that the drive wheel component 4 with magnetic attraction device at the bottom of the front drive lifting mechanism 5 descends onto the truss 7. The gear motor 31 in the rear drive wheel lifting mechanism drives the gear 30 to drive the rack 29, so that the drive wheel component 4 with magnetic attraction device at the bottom of the rear drive wheel lifting mechanism rises to a certain height, thus realizing the obstacle crossing of the rear drive wheel lifting mechanism of the obstacle-crossing climbing robot.

[0231] S5: After the rear drive wheel lifting mechanism has completed the obstacle crossing, the sensor sends a signal, and the gear motor 31 located in the rear drive wheel lifting mechanism drives the gear 30 to drive the rack 29, so that the drive wheel component 4 with the magnetic attraction device located at the bottom of the rear drive wheel lifting mechanism descends onto the truss 7.

[0232] S6: After the obstacle-crossing and climbing robot completes obstacle one, the sensor sends a signal; the auxiliary obstacle-crossing robotic arm 3 returns to its initial position, increases the speed of the drive motor 27, and makes the obstacle-crossing and climbing robot accelerate.

[0233] S7: Obstacle-climbing robot overcomes two obstacles, such as... Figure 3 As shown, the sensor sends a signal, and after deceleration is completed, the steering motor 23 located on the drive wheel component 4 with the magnetic attraction device starts to steer. Driven by the steering motor 23, the connecting frame 6 is driven to realize the obstacle crossing of the front drive wheel lifting mechanism.

[0234] S8: The universal joint 33 located on the connecting frame 6 plays a role in enabling the entire obstacle-crossing and climbing robot to turn.

[0235] S9: After the front drive wheel lifting mechanism completes obstacle crossing, the steering motor 23 located on the drive wheel component 4 with magnetic attraction device starts to steer. Driven by the steering motor 23, the connecting frame 6 is driven to realize the obstacle crossing of the rear drive wheel lifting mechanism.

[0236] S10: After the obstacle-crossing and climbing robot completes obstacle two, the sensor sends a signal; the speed of the drive motor 27 is increased, causing the obstacle-crossing and climbing robot to accelerate.

[0237] It should be noted that, in this application, the first obstacle is a transverse protrusion-type obstacle on the truss 7, including the truss 7 intersection nodes, weld protrusions, rust protrusions, transverse reinforcing ribs, etc., which require the robot to lift the drive wheels to cross, corresponding to the first obstacle crossing mode (lifting to cross); the second obstacle is the truss 7 corners, branches, diagonal intersection structures, etc., which require the robot to turn and adjust to bypass and cross, corresponding to the second obstacle crossing mode (turning to bypass).

[0238] This application discloses a robot system, including: the climbing robot described above;

[0239] And a robot control unit that is connected to the robot for communication, the robot control unit being configured to perform the above-described usage method.

[0240] This application discloses an electronic device, specifically including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of any of the above-described usage methods.

[0241] This application discloses a computer-readable storage medium, specifically, on which a computer program is stored, which, when executed by a processor, implements the steps of any of the above-described usage methods.

[0242] In summary, the obstacle-crossing and climbing robot of this application embodiment uses an auxiliary obstacle-crossing robotic arm to grab the truss 7 in front of the obstacle to ensure that the front and rear wheels of the obstacle-crossing and climbing robot rise more smoothly when crossing the obstacle and avoid the obstacle-crossing and climbing robot losing balance.

[0243] This application uses a cross-shaped universal joint connecting the frame to ensure that the obstacle-crossing and climbing robot can turn at a larger angle and be more flexible when turning to cross obstacle two, thus avoiding contact between the obstacle-crossing and climbing robot and obstacle two.

[0244] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0245] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0246] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An obstacle-climbing robot, characterized in that, include: The main fuselage (1) includes two fuselage frames; The camera assembly (2) is fixedly attached to the main body (1); At least two independent drive wheel components (4) with magnetic attraction devices are connected to the main body (1) of the fuselage via a position adjustment mechanism to provide adsorption force and driving force for movement along the truss (7); Two auxiliary obstacle-crossing robotic arms (3) are connected to the main body (1) and are used to extend and fix to the truss in front of the obstacle before crossing the obstacle, providing an additional fulcrum for the body; The position adjustment mechanism includes a drive wheel lifting mechanism (5) and a connecting frame (6). The connecting frame (6) is disposed between the two fuselage frames. The drive wheel component (4) is connected to the fuselage body (1) through the drive wheel lifting mechanism (5). The connecting frame (6) includes a universal joint (33) and two rotating shafts; The universal joint (33) includes a cross universal joint one, a cross universal joint two and a cross shaft (32), and the cross universal joint one and the cross universal joint two are rotatably connected through the cross shaft (32); The two rotating shafts are respectively located at both ends of the universal joint (33), and the two rotating shafts are respectively connected to the two fuselage frames; The drive wheel lifting mechanism (5) includes a front drive wheel lifting mechanism and a rear drive wheel lifting mechanism; During the obstacle crossing process, the position and / or attitude of the corresponding drive wheel component (4) relative to the main body (1) and / or truss (7) are adjusted by controlling the auxiliary obstacle crossing robot arm (3) to anchor the truss, so as to achieve obstacle crossing.

2. The obstacle-crossing and climbing robot according to claim 1, characterized in that, The drive wheel lifting mechanism (5) includes a rack (29), a gear (30) and a gear motor (31). The end of the rack (29) is fixed to the drive wheel component (4). The rack (29) is slidably connected to the main body (1). The gear motor (31) is fixed to the main body (1). The gear (30) is connected to the output shaft of the gear motor (31). The gear (30) meshes with the rack (29).

3. The obstacle-crossing and climbing robot according to claim 1, characterized in that, The auxiliary obstacle-crossing robotic arm (3) includes a fixed base (10) and a robotic arm. The robotic arm is mounted on the fixed base (10). The robotic arm includes a rotating base (11), a first robotic arm (12), a second robotic arm (13), a third robotic arm (14), and a robotic claw component. The robotic claw component includes a robotic claw base (15). The robotic claw base (15) is rotatably connected to the third robotic arm (14). Two first connecting rods (16) are hinged on the robotic claw base (15). Each of the two first connecting rods (16) has a meshing gear at its end. The two meshing gears mesh with each other. A mechanical claw motor is provided, one of the meshing gears is rotatably connected to the output of the mechanical claw motor, a third connecting rod (18) is hinged at the end of the first connecting rod (16), a mechanical claw (19) is provided at the other end of the third connecting rod (18), and a second connecting rod (17) is also provided. One end of the second connecting rod (17) is hinged to the mechanical claw base (15), and the other end of the second connecting rod (17) is hinged to the third connecting rod (18). The second connecting rod (17) and the first connecting rod (16) cooperate to form a parallelogram linkage transmission mechanism. The clamping surface of the mechanical claw (19) is provided with a motion assist structure (20) to assist movement.

4. The obstacle-crossing and climbing robot according to claim 3, characterized in that, The rotating base (11), the first robotic arm (12), the second robotic arm (13), the third robotic arm (14), and the robotic claw base (15) are sequentially rotatably connected to form a multi-joint robotic arm. At the rotatable connection points between the fixed base (10) and the rotating base (11), between the rotating base (11) and the first robotic arm (12), between the first robotic arm (12) and the second robotic arm (13), between the second robotic arm (13) and the third robotic arm (14), and between the third robotic arm (14) and the robotic claw base (15), there are independent drive mechanisms. Each drive mechanism is electrically connected to the robot's main control system and is used to receive control commands and drive the corresponding components to generate relative rotation.

5. The obstacle-crossing and climbing robot according to claim 3, characterized in that, Linear guide rails are provided on both sides of the main body (1), and the fixed bases (10) of the two sets of auxiliary obstacle-crossing robotic arms (3) are slidably connected to the tracks of the two sets of linear guide rails respectively. Both sides of the main body (1) are provided with lead screw transmission mechanisms. The moving end of the lead screw transmission mechanism slides on the track of the linear guide and is connected to the fixed base (10).

6. The obstacle-crossing and climbing robot according to claim 1, characterized in that, The drive wheel component (4) with magnetic attraction device is connected to the main body (1) of the machine body through the drive wheel lifting mechanism (5). Each drive wheel component (4) with magnetic attraction device includes a main board (21). The two main boards (21) are respectively fixed to the moving ends of the two drive wheel lifting mechanisms (5). Each main board (21) has an excitation plate (22) and two steering motors (23) fixed on it. The output shaft of each steering motor (23) is connected to a drive plate (24) for transmission. Each of the connecting upper base plates (24) is rotatably connected to a connecting lower base plate (25) via a connecting shaft; A suspension adjustment mechanism (26) is provided between each of the upper connecting base plate (24) and the corresponding lower connecting base plate (25); A drive motor (27) is fixedly connected to the lower base plate (25); A magnetic wheel (28) is mounted on the output shaft of the drive motor (27).

7. The obstacle-crossing and climbing robot according to claim 1, characterized in that, The camera assembly (2) includes a camera (8), a connector (9), a vision processing unit and at least one environmental sensor. The camera (8) is connected to the main body (1) via the connector (9). The connector (9) is fixed to the main body (1) and the base of the camera (8) by connecting screws. The vision processing unit is communicatively connected to the camera (8) and is used to process the image information collected by the camera (8). The environmental sensor is mounted on the main body (1) and is communicatively connected to the vision processing unit.

8. A method of using the obstacle-climbing robot of claim 6, characterized in that, Includes the following steps: Driving and Perception Steps: Control the robot to adhere to and drive on the truss (7), and use its camera component (2) to continuously perceive the environment in front; Obstacle recognition and decision-making steps: When an obstacle is detected ahead, the obstacle type is determined based on the perceived information, and a corresponding obstacle-crossing operation is generated. The obstacle-crossing operation includes two modes. In the first obstacle-crossing mode, if the obstacle is determined to need to be lifted to cross, the following steps are executed: Anchoring step, control the movement of the auxiliary obstacle-crossing robotic arm (3) so that the end of the auxiliary obstacle-crossing robotic arm (3) is fixed on the truss in front of the obstacle; In the front wheel obstacle crossing step, under the anchor support of the robotic arm, the front drive wheel lifting mechanism is controlled to lift the front drive wheel component (4) to cross the obstacle, and then the front drive wheel component (4) is reset. In the rear wheel obstacle crossing step, the rear drive wheel lifting mechanism is controlled to lift the rear drive wheel component (4) to cross the same obstacle, and then the rear drive wheel component (4) is reset. Release step: Control the release and reset of the obstacle-crossing robotic arm (3); The second obstacle-crossing mode execution steps, if determined to be an obstacle requiring a detour, then execute: The steering adjustment step involves controlling the steering motor (23) and the connecting frame (6) to adjust the orientation of the drive wheel component (4) and the attitude of the fuselage to cross obstacles by going around them; Continue the driving process; after overcoming the obstacle, control the robot to resume driving.

Images