Pretightening force self-adaptive steel box girder inspection robot under multi-inclination conditions and control method

Abstract

The application discloses a kind of pre-tightening force self-adaptive steel box girder inspection robots under multiple inclination conditions and control method, and inspection robot includes shell, power system and control system;Shell includes shell, bottom plate, side plate and telescopic drive, power system includes driving wheel, bottom plate driven wheel and side plate driven wheel, control system includes IMU inertial navigation module, IMU inertial navigation module is set on shell, can collect pitch angle data and roll angle data.Using the above-mentioned pre-tightening force self-adaptive steel box girder inspection robot under multiple inclination conditions and control method, can be self-adapted according to actual working condition on track, according to the pitch and roll condition of inspection robot on track, the pre-tightening force between track is self-adapted under multiple working conditions, both ensure that self-adapted complex working condition in driving to prevent skidding, can also reduce wear to a minimum.

Description

Technical Field

[0001] This invention relates to the field of track inspection robot technology, specifically to an inspection robot and control method for steel box girders with adaptive prestressing force under multi-angle working conditions. Background Technology

[0002] The steel box girder structure of urban rail transit bridges is characterized by its enclosed nature, narrowness, poor visibility, and complex internal structure. Traditional manual inspection methods are insufficient for a comprehensive and detailed inspection of internal defects and loose bolts. Furthermore, manual inspections suffer from safety concerns, low efficiency, and high rates of false positives and false negatives. Daily inspections of urban rail transit systems require high efficiency, involving short working hours and a large workload, and are typically conducted only at night. This makes the daily inspection of steel box girder structures extremely difficult and consumes significant human and financial resources. Therefore, rail inspection robots are currently commonly used to inspect the interior of the steel box girders.

[0003] Based on their operation on the track, inspection robots can be divided into two types: suspended and straddle-type. Currently, most track inspection robots both domestically and internationally adopt the suspended operation mode. Suspended robots have advantages such as unrestricted route curvature, high travel speed, and less susceptibility to slippage. However, their disadvantages are also quite obvious: limited load-bearing capacity and susceptibility to swaying. Straddle-type inspection robots, on the other hand, have advantages such as strong load-bearing capacity, small space occupation, less swaying, and good operational stability. Their disadvantages include poor climbing ability, susceptibility to slippage, wear on guide wheels, and more complicated maintenance. For narrow track bridges with steel box girders, the complex internal spatial structure and the presence of obstacles pose a collision risk for suspended inspection robots. While straddle-type robots can avoid collision risks within the limited space, they are prone to slippage on track bridges with a certain slope, and the guide wheels wear down, requiring regular replacement and making maintenance more complicated.

[0004] Regarding straddle-type inspection robots, Chinese patent CN118478364A discloses a rail bridge inspection robot and control method with adaptive pretension force. This robot can loosen or tighten its tension relative to the track based on its flatness or slope. Through adaptive adjustment of different track segments, it improves the anti-slip effect of the straddle-type inspection robot and reduces the wear of the guide wheels. However, in actual rail bridge steel box girder inspection operations, in addition to vertical pitch slopes, the track commonly experiences lateral tilting. This patented solution only discloses adaptive adjustment under a simple, single condition of a straight or pitched track. When facing complex conditions with multiple tilt angles, including lateral tilt, it cannot adjust the robot's posture according to the lateral tilt state. This leads to prolonged overpressure or no-load on one side of the robot's wheel set, resulting in problems such as grip failure causing slippage and severe wear on some wheel sets. This not only significantly shortens the robot's lifespan but also affects operational safety. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention proposes an adaptive preload steel box girder inspection robot and control method under multi-tilt conditions, which can improve the problems of clamping failure and severe wear of some wheel sets in existing straddle-type inspection robots when facing complex working conditions including side tilt.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution: a prestressing force adaptive steel box girder inspection robot under multi-tilt working conditions, comprising a shell, a power system, and a control system; The outer casing includes a housing, a bottom plate, side plates, and a telescopic drive component. The two bottom plates are located below the housing, and the two side plates are located on both sides inside the housing. The bottom plate and the side plates are connected to the housing via the telescopic drive component. The power system includes a drive wheel, a base plate driven wheel, and a side plate driven wheel. The drive wheel is rotatably mounted inside the housing and connected to a power source. The base plate driven wheel is rotatably mounted on the base plate. The drive wheel and the base plate driven wheel are located on the upper and lower sides of the track, respectively, and the two base plate driven wheels are located on both sides of the track. The side plate driven wheel is rotatably mounted on the side plate, and the two side plate driven wheels are located on both sides of the track. The control system includes an IMU (Inertial Measurement Unit) module, which is mounted on the housing and is capable of collecting pitch and roll angle data.

[0007] Furthermore, the control system components also include an AP bridge, a communication antenna, and a laser ranging module. The AP bridge is disposed inside the housing, while the communication antenna and the laser ranging module are disposed on the outer wall of the housing. The AP bridge is connected to the motherboard via a network port and wirelessly connected to an external computer via the communication antenna. The laser ranging module is connected to the motherboard.

[0008] Furthermore, the control system also includes a camera and a fill light, which are mounted on the outer wall of the housing. The camera is connected to the AP bridge via a switch.

[0009] Furthermore, the power source includes a power battery and a stepper motor. The power battery is housed inside the casing and connected to the stepper motor and the telescopic drive component. The stepper motor is connected to the drive wheel via a steering gear and a coupling.

[0010] The beneficial effects of the aforementioned prestressing adaptive steel box girder inspection robot under multi-angle working conditions are as follows: Through IMU inertial navigation module data acquisition and independently set side base plates and side plates, the robot can adaptively adjust according to the actual working conditions on the track. On smooth or straight tracks, the driven wheels maintain minimal contact with the track to reduce wear; on sloped or curved tracks, the corresponding driven wheels are tightened to grip the track based on pitch and roll conditions to prevent slippage during operation. This ensures both adaptive adaptation to complex working conditions to prevent slippage and minimizes wear.

[0011] A control method for a steel box girder inspection robot with prestressing force adaptive under multi-tilt conditions: The IMU inertial navigation module acquires pitch angle parameters and roll angle parameters. By comparing the fluctuation values ​​of pitch angle and roll angle changes with set thresholds, the method determines whether the robot is currently traveling on a gentle track or a sloping track by the pitch angle, and whether the robot is currently traveling on a straight track or a curved track by the roll angle. If traveling on a smooth, straight track section, each telescopic drive component maintains minimal contact between the driven wheels of the base plate and the driven wheels of the side plate and the track. If traveling on a flat, curved track section, the telescopic drive controls the driven wheel of the bottom plate near the curve to press against the bottom surface of the track, and the driven wheel of the side plate away from the curve to press against the side of the track. If traveling on a straight track section with a slope, the telescopic drive component will cause the driven wheels on both sides of the base plate to press against the bottom surface of the track. If traveling on a track section with slopes and curves, the telescopic drive unit drives the driven wheels of the bottom plates on both sides to press against the bottom surface of the track, while the driven wheels of the side plates away from and closer to the curve press against the side of the track.

[0012] Furthermore, the IMU inertial navigation module acquires the pitch angle parameters, and sets... The number of sampling points for pitch angle within seconds is The sampling time interval of the IMU inertial navigation module is ,Right now pitch angle per second Ordered sets are as follows:

[0013]

[0014] Calculate the average pitch angle of the inspection robot on any smooth track section, and assume... The number of sampling points for the pitch angle of any smooth track section, and the mean pitch angle of the smooth track section. as follows:

[0015] Calculate the specified time The change in pitch angle within the range, let In order to be in The absolute value of the difference between the maximum pitch angle and the mean of all other pitch angles over a given time period. For a specified time Number of sampling points for pitch angle inside, as follows:

[0016]

[0017] Calculate the fluctuation value of pitch angle change Set threshold Represented as The accuracy of the pitch angle acquired by the IMU inertial navigation module. ,Right now , as follows:

[0018] Fluctuation value With set threshold If a comparison is made, If the pitch angle fluctuation of the inspection robot exceeds a set threshold, the inspection robot will travel on a sloped track section; if If the pitch angle fluctuation of the inspection robot does not exceed the threshold, the inspection robot will travel on a flat track section.

[0019] Furthermore, if If the pitch angle fluctuation of the inspection robot exceeds a set threshold, the inspection robot will travel on a sloped track section, and the time will be affected. The ordered set of pitch angles within the time block Divide and set for Within seconds The number of time blocks, Indicates the first indivual Mean pitch angle within the time block, The ordered set of the mean pitch angle over time is as follows:

[0020]

[0021] like If the tilt angle of the inspection robot continues to increase, the control telescopic drive will increase the retraction stroke and increase the preload of the inspection robot. like If the tilt angle of the inspection robot continues to decrease, the telescopic drive will reduce the retraction stroke and reduce the preload of the inspection robot. like If the pitch angle of the inspection robot remains unchanged, the retraction stroke of the telescopic drive remains unchanged, and the preload of the inspection robot remains unchanged; like If the pitch angle fluctuation of the inspection robot does not exceed the threshold, the inspection robot will travel on a smooth track section, and the telescopic drive will maintain the minimum contact state between the driven wheel of the base plate and the track.

[0022] Furthermore, the IMU inertial navigation module acquires the tilt angle parameters, and determines the tilt direction of the inspection robot by the sign of the tilt angle. The number of sampling points for the tilt angle within seconds is The sampling time interval of the IMU inertial navigation module is ,Right now The ordered set of intra-second tilt angles is as follows:

[0023]

[0024] Calculate the mean tilt angle of the inspection robot on any straight track segment, and assume... The number of sampling points for the tilt angle of any straight track segment, and the mean tilt angle of the straight track segment. as follows:

[0025] Calculate the specified time The change in roll angle within the body is assumed to be... In order to be in The absolute value of the difference between the maximum roll angle and the mean of all other roll angles over a given time period. For a specified time Number of sampling points for the inward tilt angle as follows:

[0026]

[0027] Calculate the fluctuation value of the roll angle change Set threshold Represented as The accuracy of the IMU inertial navigation module in acquiring the roll angle. ,Right now , as follows:

[0028] Fluctuation value With set threshold If a comparison is made, If the tilt angle fluctuation of the inspection robot exceeds the set threshold, the inspection robot will travel on a curved track section; if If the side tilt angle fluctuation value of the inspection robot does not exceed the threshold, the inspection robot will travel on the straight track section.

[0029] Furthermore, if If the tilt angle fluctuation of the inspection robot exceeds the set threshold, the inspection robot will travel on a curved track section, affecting the time... The ordered set of tilt angles within the time block Divide and set for Within seconds The number of time blocks, Indicates the first indivual Mean roll angle within the time block The ordered set of the mean roll angle over time is as follows:

[0030]

[0031] like If the side tilt angle of the inspection robot continues to increase, the control telescopic drive will increase the retraction stroke and increase the preload of the inspection robot. like If the side tilt angle of the inspection robot continues to decrease, the telescopic drive component will be controlled to reduce the retraction stroke and reduce the preload of the inspection robot. like If the side tilt angle of the inspection robot remains unchanged, the retraction stroke of the telescopic drive remains unchanged, and the preload of the inspection robot remains unchanged; like If the side tilt angle fluctuation value of the inspection robot does not exceed the threshold, the inspection robot will travel on the straight track section, and the telescopic drive will maintain the minimum contact state between the driven wheels of the base plate and the driven wheels of the side plate and the track.

[0032] Furthermore, based on pitch fluctuation values and roll fluctuation value The determination is based on the synchronous control of the telescopic drive components of the base plate and side plates. The base plate driven wheel's retraction stroke is assumed to be... The compensating contraction stroke is The retraction stroke of the driven wheel of the side plate is ; when , At that time, it travels on a smooth, straight section of track. , and All are 0, meaning the telescopic drive maintains the minimum contact state between the base plate driven wheel and the side plate driven wheel and the track; when , At that time, it travels on a smooth, curved track section. The value is 0, and the telescopic drive component controls the retraction stroke of the driven wheel of the base plate closest to the turning side. , The roll angle decreases, increases, or remains constant, while the driven wheel on the side plate furthest from the turning side contracts its travel. , It decreases, increases, or remains unchanged as the roll angle changes; when , When traveling on a straight track with an incline, the telescopic drive controls the retraction of the driven wheels on both sides of the base plate. , It decreases, increases, or remains unchanged as the pitch angle changes. and All are 0; when , When traveling on a track section with inclines and curves, the telescopic drive controls the retraction of the driven wheel on the base plate closest to the curve. , It decreases, increases, or remains unchanged as the pitch angle changes. The roll angle decreases, increases, or remains constant; the driven wheel on the side of the base plate furthest from the turning point contracts its travel. , The travel of the driven wheel on the side plate furthest from the turning point decreases, increases, or remains constant as the pitch angle changes. , It decreases, increases, or remains unchanged as the roll angle changes.

[0033] The beneficial effects of the above-mentioned control method for a prestressing adaptive steel box girder inspection robot under multi-angle working conditions are: 1. When traveling on the track under different complex working conditions, it can make judgments based on the slope and curvature of the track, and adaptively contract and adjust the corresponding driven wheels to grip the track tightly to prevent the inspection robot from slipping. It can also reduce the wear on the driven wheels under normal working conditions.

[0034] 2. When traveling on tracks with slopes and curves, the clamping force of the driven wheel can be adjusted according to changes in slope and curvature. When the slope or curvature is greater, the preload can be increased to improve the clamping and anti-slip effect. When the slope or curvature is smaller, the preload can be reduced to prevent excessive wear, further improving the anti-slip and anti-wear effects.

[0035] 3. It can adaptively and independently adjust the retraction stroke of the driven wheel on one side according to different working conditions, thereby further improving the anti-slip and anti-wear effects. Attached Figure Description

[0036] To more clearly illustrate the specific embodiments of the present invention, the accompanying drawings used in the specific embodiments will be briefly described below. In all the drawings, the elements or parts are not necessarily drawn to scale.

[0037] Figure 1 This is a schematic diagram of an inspection robot for steel box girders with adaptive prestressing force under multi-angle working conditions, provided in an embodiment of the present invention. Figure 2 for Figure 1 The diagram shows the internal structure of an adaptive prestressing steel box girder inspection robot under multi-angle working conditions. Figure 1 ; Figure 3 for Figure 1 The diagram shows the internal structure of an adaptive prestressing steel box girder inspection robot under multi-angle working conditions. Figure 2 ; Figure 4 for Figure 1 The image shown is a front view of a prestressing force adaptive steel box girder inspection robot under multi-angle working conditions; Figure 5 for Figure 1 The image shows a cross-sectional view of a prestressing adaptive steel box girder inspection robot under multi-angle working conditions; Figure 6 A flowchart illustrating a control method for an adaptive prestressing force steel box girder inspection robot under multi-tilt angle working conditions, provided in an embodiment of the present invention; Figure label: 10-track; 21-House, 22-Base plate, 23-Side plate, 24-Servo electric cylinder; 31-Drive wheel, 32-Base plate driven wheel, 33-Side plate driven wheel, 34-Power battery, 35-Stepper motor; 41-IMU inertial navigation module, 42-main board, 43-AP bridge, 44-communication antenna, 45-laser ranging module, 46-camera, 47-fill light, 48-switch. Detailed Implementation

[0038] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0039] This invention provides an inspection robot and control method for prestressed adaptive steel box girder under multi-angle working conditions. Please refer to [link / reference]. Figures 1 to 5 The inspection robot includes a shell, a power system, and a control system. The power system is used to drive the inspection robot to move on the track, and the control system is used to obtain the pitch angle and tilt angle of the track for calculation to adjust the preload between the inspection robot and the track.

[0040] Specifically, the outer casing includes a housing 21, a base plate 22, side plates 23, and a telescopic drive component. The two base plates 22 are located on both sides below the housing 21, and the two side plates 23 are located on both sides inside the housing 21. The base plates 22 and side plates 23 are connected to the housing 21 via the telescopic drive component. The power system includes a drive wheel 31, a base plate driven wheel 32, and a side plate driven wheel 33. The drive wheel 31 is rotatably mounted inside the housing 21 and connected to a power source. The base plate driven wheel 32 is rotatably mounted on the base plate 22. The drive wheel 31 and the base plate driven wheel 32 are located on the upper and lower sides of the track 10, respectively. The base plate driven wheels 32 of the two base plates 22 are located on both sides of the track 10, and the side plate driven wheels 33 are rotatably mounted on the side plates 23. The side plate driven wheels 33 of the two side plates 23 are located on both sides of the track 10. The driven wheels can all roll on the track, working in conjunction with the drive wheels 31 to roll up, down, and to the sides of the track 10. This serves both a limiting function to prevent the inspection robot from derailing and to improve the robot's stability. Figure 5 In the diagram, cross-sections of the two sides of the shell are shown at different angles to illustrate the bottom plate 22 and the side plate 23.

[0041] The control system includes an IMU (Inertial Measurement Unit) module 41 and a mainboard 42. The IMU module 41 is mounted on the housing 21, and the mainboard 42 is housed inside the housing 21. The measuring end of the IMU module 41 is horizontally positioned, enabling it to collect and measure the pitch and roll angle data of the inspection robot, and transmit this data to the mainboard 42 for calculation, thereby controlling the telescopic drive component. In this embodiment, the telescopic drive component is a servo electric cylinder 24.

[0042] The drive wheel 31 is rotated by a power source, which moves the inspection robot on the track 10. The IMU (Inertial Measurement Unit) module 41 collects the tilt and roll angle data of the inspection robot and transmits it to the main board 42 for calculation. Based on the calculated tilt and roll angle parameters, the extension and retraction of the servo electric cylinder 24 are controlled. On slopes or curves, the servo electric cylinder 24 retracts its stroke, moving the base plate 22 or side plate 23, pressing the base plate driven wheel 32 or side plate driven wheel 33 firmly onto the track 10 to prevent slippage. On flat or straight track sections, the servo electric cylinder 24 extends its stroke, removing the driven wheels from the track 10 and reducing wear. Through adaptive adjustment on different track sections, wear on the inspection robot's driven wheels is reduced, and slippage is avoided.

[0043] Specifically, the control system components also include an AP bridge 43, a communication antenna 44, a laser ranging module 45, a camera 46, and a supplementary light 47. The AP bridge 43 is housed inside the housing 21, while the communication antenna 44 and laser ranging module 45 are mounted on the outer wall of the housing 21. The AP bridge 43 connects to the motherboard 42 via a network port and wirelessly connects to an external computer via the communication antenna 44. The laser ranging module 45 is connected to the motherboard 42. The camera 46 and supplementary light 47 are mounted on the outer wall of the housing 21. The camera 46 is connected to the AP bridge 43 via a switch 48. The camera 46 is used to photograph various areas inside the steel box girder to detect internal problems, while the supplementary light 47 provides lighting compensation in low-light areas. By constructing a local area network using the TCP protocol, the AP bridge 43 can establish a connection between the camera 46, the motherboard 42, and the ground computer, thereby enabling long-distance control command interaction and real-time image transmission.

[0044] The power source includes a power battery 34 and a stepper motor 35. The power battery 34 is housed inside the housing 21 and connected to the stepper motor 35 and the servo electric cylinder 24 to provide power. The stepper motor 35 is connected to the drive wheel 31 via a steering gear and a coupling to drive the drive wheel 31 to rotate.

[0045] like Figure 6 As shown, the control method uses the aforementioned inspection robot, which controls the extension rod of the servo electric cylinder to retract after obtaining the parameters of pitch angle and roll angle.

[0046] Specifically, the IMU inertial navigation module acquires pitch angle and roll angle parameters. By comparing the fluctuation values ​​of the pitch angle and roll angle changes with set thresholds, it determines whether the current track is on a gentle track or a track with a slope by using the pitch angle, and determines whether the current track is on a straight track or a track with a curve by using the roll angle.

[0047] If traveling on a flat, straight track section, each servo electric cylinder maintains the minimum contact state between the base plate driven wheel and the side plate driven wheel and the track, that is, under the premise of installation and travel, the basic preload of the driven wheel and the track is at the minimum contact state.

[0048] If traveling on a gentle, curved track, the servo electric cylinder controls the driven wheel of the base plate closer to the turn to press against the bottom surface of the track, while the driven wheel of the side plate further away from the turn press against the side of the track. That is, if the inspection robot is turning to the right on the track, the driven wheel of the right base plate presses against the bottom surface of the track, and the driven wheel of the left side plate presses against the side of the track.

[0049] If traveling on a straight track with a slope, the servo electric cylinder drives the driven wheels on both sides of the base plate to press against the bottom surface of the track.

[0050] If traveling on a track section with slopes and curves, the servo electric cylinder drives the driven wheels of the bottom plates on both sides to press against the bottom surface of the track, while the driven wheels of the side plates away from and closer to the curve press against the side of the track.

[0051] Specifically, the IMU inertial navigation module acquires the pitch angle parameters, and sets... The number of sampling points for pitch angle within seconds is The sampling time interval of the IMU inertial navigation module is ,Right now pitch angle per second Ordered sets are as follows:

[0052]

[0053] Calculate the average pitch angle of the inspection robot on any smooth track section, and assume... The number of sampling points for the pitch angle of any smooth track section, and the mean pitch angle of the smooth track section. as follows:

[0054] Calculate the specified time The change in pitch angle within the range, let In order to be in The absolute value of the difference between the maximum pitch angle and the mean of all other pitch angles over a given time period. For a specified time Number of sampling points for pitch angle inside, as follows:

[0055]

[0056] Calculate the fluctuation value of pitch angle change Set threshold Represented as The accuracy of the pitch angle acquired by the IMU inertial navigation module. In this embodiment, It is 1.5. That is... , as follows:

[0057] Fluctuation value With set threshold If a comparison is made, If the pitch angle fluctuation of the inspection robot exceeds a set threshold, it is determined that the inspection robot is traveling on a sloped track section; if If the pitch angle fluctuation of the inspection robot does not exceed the threshold, it is determined that the inspection robot is traveling on a flat track section.

[0058] Furthermore, if If the pitch angle fluctuation of the inspection robot exceeds a set threshold, the inspection robot will travel on a sloped track section, and the time will be affected. The ordered set of pitch angles within the time block Divide and set for Within seconds The number of time blocks, Indicates the first indivual Mean pitch angle within the time block, The ordered set of the mean pitch angle over time is as follows:

[0059]

[0060] like As a result, the pitch angle of the inspection robot continues to increase, which in turn increases the retraction stroke of the servo electric cylinder and increases the preload of the inspection robot.

[0061] like As a result, the pitch angle of the inspection robot continues to decrease, and the control servo electric cylinder reduces the retraction stroke, thereby reducing the preload of the inspection robot.

[0062] like If the pitch angle of the inspection robot remains unchanged, the retraction stroke of the servo electric cylinder remains unchanged, and the preload of the inspection robot remains unchanged.

[0063] like If the pitch angle fluctuation of the inspection robot does not exceed the threshold, the inspection robot will travel on a flat track section, and the servo electric cylinder will maintain the minimum contact state between the driven wheel of the base plate and the track.

[0064] Specifically, the IMU inertial navigation module acquires the roll angle parameters and uses the roll angle... The positive or negative value determines the tilt direction of the inspection robot, i.e., let... To tilt to the left, It is tilted to the right. Let it be. The number of sampling points for the tilt angle within seconds is The sampling time interval of the IMU inertial navigation module is ,Right now The ordered set of intra-second tilt angles is as follows:

[0065]

[0066] Calculate the mean tilt angle of the inspection robot on any straight track segment, and assume... The number of sampling points for the tilt angle of any straight track segment, and the mean tilt angle of the straight track segment. as follows:

[0067] Calculate the specified time The change in roll angle within the body is assumed to be... In order to be in The absolute value of the difference between the maximum roll angle and the mean of all other roll angles over a given time period. For a specified time Number of sampling points for the inward tilt angle as follows:

[0068]

[0069] Calculate the fluctuation value of the roll angle change Set threshold Represented as The accuracy of the IMU inertial navigation module in acquiring the roll angle. In this embodiment, It is 1.5, that is , as follows:

[0070] Fluctuation value With set threshold If a comparison is made, If the tilt angle fluctuation of the inspection robot exceeds a set threshold, it is determined that the inspection robot is traveling on a curved track section; if If the side tilt angle fluctuation value of the inspection robot does not exceed the threshold, it is determined that the inspection robot is traveling on a straight track segment.

[0071] Furthermore, if If the tilt angle fluctuation of the inspection robot exceeds the set threshold, the inspection robot will travel on a curved track section, affecting the time... The ordered set of tilt angles within the time block Divide and set for Within seconds The number of time blocks, Indicates the first indivual Mean roll angle within the time block The ordered set of the mean roll angle over time is as follows:

[0072]

[0073] like If the tilt angle of the inspection robot continues to increase, the control servo electric cylinder will increase the retraction stroke and increase the preload of the inspection robot.

[0074] like As a result, the side tilt angle of the inspection robot continues to decrease, and the control servo electric cylinder reduces the retraction stroke, thereby reducing the preload of the inspection robot.

[0075] like If the side tilt angle of the inspection robot remains unchanged, the retraction stroke of the servo electric cylinder remains unchanged, and the preload of the inspection robot remains unchanged.

[0076] like If the side tilt angle fluctuation of the inspection robot does not exceed the threshold, the inspection robot will travel on the straight track section, and the servo electric cylinder will maintain the minimum contact state between the driven wheels of the bottom plate and the driven wheels of the side plate and the track.

[0077] Specifically, based on pitch fluctuation values and roll fluctuation value The determination is made to synchronously control the servo electric cylinders of all base plates and side plates. The base plate driven wheel's basic retraction stroke is assumed to be... The compensating contraction stroke is The retraction stroke of the driven wheel of the side plate is .

[0078] when , When it is determined that the train is traveling on a smooth, straight section of track, then... , and All values ​​are 0, meaning the servo electric cylinder maintains the minimum contact state between the base plate driven wheel and the side plate driven wheel and the track.

[0079] when , At that time, it was determined that the train was traveling on a smooth, curved track section. The stroke is 0, and the servo electric cylinder controls the retraction stroke of the driven wheel on the base plate near the turning side. ,and As the roll angle changes—whether it continuously decreases, increases, or remains constant—the driven wheel on the side closest to the turning side contracts its travel. ,and As the roll angle changes, it either continuously decreases, increases, or remains constant, or decreases, increases, or remains constant.

[0080] when , When the vehicle is traveling on a straight track with an incline, the servo electric cylinder controls the driven wheels on both sides of the base plate to retract their travel. , As the pitch angle changes—that is, continuously decreasing, increasing, or remaining constant—it decreases, increases, or remains constant. and All are 0.

[0081] when , When the system determines that the track is traveling on a sloped or curved section, the servo electric cylinder controls the driven wheel on the base plate closest to the curve to retract its stroke. , As the pitch angle changes, it either continuously decreases, increases, or remains constant, or decreases, increases, or remains constant. As the roll angle changes—that is, continuously decreasing, increasing, or remaining constant—the driven wheel of the base plate on the side away from the turn retracts its travel. , As the pitch angle changes, it either continuously decreases, increases, or remains constant, while the side plate driven wheel on the side furthest from the turn retracts its travel. , As the roll angle changes, it either continuously decreases, increases, or remains constant, or decreases, increases, or remains constant.

[0082] Using the aforementioned pretension-adaptive steel box girder inspection robot and control method under multi-angle working conditions, when traveling on tracks with complex conditions including slopes and curvatures, the robot can determine the slope and curvature of the track and adaptively adjust the corresponding driven wheels to grip the track and prevent slippage. It can also maintain minimal contact when traveling on smooth and straight track sections to reduce wear on the driven wheels. Furthermore, when traveling on tracks with slopes and curvatures, the robot can adaptively adjust the gripping degree of the driven wheels according to changes in slope and curvature. When the slope or curvature is greater, the pretension force can be increased to improve the gripping and anti-slip effect; when the slope or curvature is smaller, the pretension force can be reduced to prevent excessive wear, further improving the anti-slip and anti-wear effects. In addition, it can independently adjust the gripping on one side according to complex working conditions, ensuring the anti-slip effect while further reducing wear on the driven wheels.

[0083] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, 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. Such 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 the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A prestressing adaptive steel box girder inspection robot under multi-angle working conditions, characterized in that: Includes the outer casing, power system, and control system; The outer casing includes a housing, a bottom plate, side plates, and a telescopic drive component. The two bottom plates are located below the housing, and the two side plates are located on both sides inside the housing. The bottom plate and the side plates are connected to the housing via the telescopic drive component. The power system includes a drive wheel, a base plate driven wheel, and a side plate driven wheel. The drive wheel is rotatably mounted inside the housing and connected to a power source. The base plate driven wheel is rotatably mounted on the base plate. The drive wheel and the base plate driven wheel are located on the upper and lower sides of the track, respectively, and the two base plate driven wheels are located on both sides of the track. The side plate driven wheel is rotatably mounted on the side plate, and the two side plate driven wheels are located on both sides of the track. The control system includes an IMU (Inertial Measurement Unit) module, which is mounted on the housing and is capable of collecting pitch and roll angle data.

2. The prestressing force adaptive steel box girder inspection robot under multi-angle working conditions according to claim 1, characterized in that: The control system components also include an AP bridge, a communication antenna, and a laser ranging module. The AP bridge is located inside the housing, while the communication antenna and the laser ranging module are located on the outer wall of the housing. The AP bridge is connected to the motherboard via a network port and wirelessly connected to an external computer via the communication antenna. The laser ranging module is connected to the motherboard.

3. The prestressing force adaptive steel box girder inspection robot under multi-angle working conditions according to claim 2, characterized in that: The control system also includes a camera and a fill light, which are mounted on the outer wall of the housing. The camera is connected to the AP bridge via a switch.

4. The prestressing adaptive steel box girder inspection robot under multi-angle working conditions according to claim 1, characterized in that: The power source includes a power battery and a stepper motor. The power battery is housed inside the casing and connected to the stepper motor and the telescopic drive component. The stepper motor is connected to the drive wheel via a steering gear and a coupling.

5. A control method for a prestressing force adaptive steel box girder inspection robot under multi-angle working conditions, employing the prestressing force adaptive steel box girder inspection robot under multi-angle working conditions as described in any one of claims 1-4, characterized in that: The IMU inertial navigation module acquires pitch and roll parameters. By comparing the fluctuation values ​​of pitch and roll changes with set thresholds, it determines whether the current track is on a gentle track or a sloping track by the pitch angle, and whether the current track is on a straight track or a curved track by the roll angle. If traveling on a smooth, straight track section, each telescopic drive component maintains minimal contact between the driven wheels of the base plate and the driven wheels of the side plate and the track. If traveling on a flat, curved track section, the telescopic drive controls the driven wheel of the bottom plate near the curve to press against the bottom surface of the track, and the driven wheel of the side plate away from the curve to press against the side of the track. If traveling on a straight track section with a slope, the telescopic drive component will cause the driven wheels on both sides of the base plate to press against the bottom surface of the track. If traveling on a track section with slopes and curves, the telescopic drive unit drives the driven wheels of the bottom plates on both sides to press against the bottom surface of the track, while the driven wheels of the side plates away from and closer to the curve press against the side of the track.

6. The control method for an adaptive prestressing steel box girder inspection robot under multi-angle working conditions according to claim 5, characterized in that: The IMU inertial navigation module acquires pitch angle parameters, and sets... The number of sampling points for pitch angle within seconds is The sampling time interval of the IMU inertial navigation module is ,Right now pitch angle per second Ordered sets are as follows: Calculate the average pitch angle of the inspection robot on any smooth track section, and assume... The number of sampling points for the pitch angle of any smooth track section, and the mean pitch angle of the smooth track section. as follows: Calculate the specified time The change in pitch angle within the range, let In order to be in The absolute value of the difference between the maximum pitch angle and the mean of all other pitch angles over a given time period. For a specified time Number of sampling points for pitch angle inside, as follows: Calculate the fluctuation value of pitch angle change Set threshold Represented as The accuracy of the pitch angle acquired by the IMU inertial navigation module. ,Right now , as follows: Fluctuation value With set threshold If a comparison is made, If the pitch angle fluctuation of the inspection robot exceeds a set threshold, the inspection robot will travel on a sloped track section; if If the pitch angle fluctuation of the inspection robot does not exceed the threshold, the inspection robot will travel on a flat track section.

7. The control method for a prestressing force adaptive steel box girder inspection robot under multi-angle working conditions according to claim 6, characterized in that: like If the pitch angle fluctuation of the inspection robot exceeds a set threshold, the inspection robot will travel on a sloped track section, and the time will be affected. The ordered set of pitch angles within the time block Divide and set for Within seconds Number of time blocks Indicates the first indivual Mean pitch angle within the time block, The ordered set of the mean pitch angle over time is as follows: like If the tilt angle of the inspection robot continues to increase, the control telescopic drive will increase the retraction stroke and increase the preload of the inspection robot. like If the tilt angle of the inspection robot continues to decrease, the telescopic drive will reduce the retraction stroke and reduce the preload of the inspection robot. like If the pitch angle of the inspection robot remains unchanged, the retraction stroke of the telescopic drive remains unchanged, and the preload of the inspection robot remains unchanged; like If the pitch angle fluctuation of the inspection robot does not exceed the threshold, the inspection robot will travel on a smooth track section, and the telescopic drive will maintain the minimum contact state between the driven wheel of the base plate and the track.

8. The control method for an adaptive prestressing steel box girder inspection robot under multi-angle working conditions according to claim 7, characterized in that: The IMU (Inertial Measurement Unit) module acquires the roll angle parameters, and the sign of the roll angle determines the tilt direction of the inspection robot. The number of sampling points for the tilt angle within seconds is The sampling time interval of the IMU inertial navigation module is ,Right now The ordered set of intra-second tilt angles is as follows: Calculate the mean tilt angle of the inspection robot on any straight track segment, and assume... The number of sampling points for the tilt angle of any straight track segment, and the mean tilt angle of the straight track segment. as follows: Calculate the specified time The change in roll angle within the body is assumed to be... In order to be in The absolute value of the difference between the maximum roll angle and the mean of all other roll angles over a given time period. For a specified time Number of sampling points for the inward tilt angle as follows: Calculate the fluctuation value of the roll angle change Set threshold Represented as The accuracy of the IMU inertial navigation module in acquiring the roll angle. ,Right now , as follows: Fluctuation value With set threshold If a comparison is made, If the tilt angle fluctuation of the inspection robot exceeds the set threshold, the inspection robot will travel on a curved track section; if If the side tilt angle fluctuation value of the inspection robot does not exceed the threshold, the inspection robot will travel on the straight track section.

9. The control method for an adaptive prestressing steel box girder inspection robot under multi-angle working conditions according to claim 8, characterized in that: like If the tilt angle fluctuation of the inspection robot exceeds the set threshold, the inspection robot will travel on a curved track section, affecting the time... The ordered set of tilt angles within the time block Divide and set for Within seconds Number of time blocks Indicates the first indivual Mean roll angle within the time block The ordered set of the mean roll angle over time is as follows: like If the side tilt angle of the inspection robot continues to increase, the control telescopic drive will increase the retraction stroke and increase the preload of the inspection robot. like If the side tilt angle of the inspection robot continues to decrease, the telescopic drive component will be controlled to reduce the retraction stroke and reduce the preload of the inspection robot. like If the side tilt angle of the inspection robot remains unchanged, the retraction stroke of the telescopic drive remains unchanged, and the preload of the inspection robot remains unchanged; like If the side tilt angle fluctuation value of the inspection robot does not exceed the threshold, the inspection robot will travel on the straight track section, and the telescopic drive will maintain the minimum contact state between the driven wheels of the base plate and the driven wheels of the side plate and the track.

10. The control method for an adaptive prestressing steel box girder inspection robot under multi-angle working conditions according to claim 9, characterized in that: Based on pitch fluctuation value and roll fluctuation value The determination is based on the synchronous control of the telescopic drive components of the base plate and side plates. The base plate driven wheel's retraction stroke is assumed to be... The compensating contraction stroke is The retraction stroke of the driven wheel of the side plate is ; when , At that time, it travels on a smooth, straight section of track. , and All are 0, meaning the telescopic drive maintains the minimum contact state between the base plate driven wheel and the side plate driven wheel and the track; when , At that time, it travels on a smooth, curved track section. The value is 0, and the telescopic drive component controls the retraction stroke of the driven wheel of the base plate closest to the turning side. , The roll angle decreases, increases, or remains constant, while the driven wheel on the side plate furthest from the turning side contracts its travel. , It decreases, increases, or remains unchanged as the roll angle changes; when , When traveling on a straight track with an incline, the telescopic drive controls the retraction of the driven wheels on both sides of the base plate. , It decreases, increases, or remains unchanged as the pitch angle changes. and All are 0; when , When traveling on a track section with inclines and curves, the telescopic drive controls the retraction of the driven wheel on the base plate closest to the curve. , It decreases, increases, or remains unchanged as the pitch angle changes. The roll angle decreases, increases, or remains constant; the driven wheel on the side of the base plate furthest from the turning point contracts its travel. , The travel of the driven wheel on the side plate furthest from the turning point decreases, increases, or remains constant as the pitch angle changes. , It decreases, increases, or remains unchanged as the roll angle changes.

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