Inspection robot and obstacle crossing walking control method

Abstract

The application discloses a kind of inspection robot and obstacle crossing walking control method, it is related to inspection robot technical field, wherein, inspection robot includes two grabbing mechanisms and connecting mechanism, connecting mechanism connects two grabbing mechanisms, each grabbing mechanism includes mounting seat, lifting seat, first drive component and two clamping components.Lifting seat is lifted in mounting seat.First drive component is used to drive lifting seat to move and lock stop.Each of two clamping components is used to grab cable, and the other is used to grab the support member of obstacle, and two clamping components are spaced apart in up-down direction.Two second drive components are arranged in connecting body, and two second drive components drive two grabbing mechanisms respectively.Clamping component can be grabbed on the support member of obstacle, and can realize the crossing of obstacle that cannot be directly crossed, and overallly improve the problem that the crossing ability of inspection robot is limited.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and in particular to an inspection robot and an obstacle-crossing walking control method. Background Technology

[0002] Existing technologies for inspecting power transmission lines and power channels mainly include manual inspection, drone inspection, fixed or vehicle-mounted laser scanning inspection, and mounted inspection robots that operate along conductors, ground wires, or tower components. Common inspection robots typically have two gripping arms, each equipped with rollers for gripping cables. When encountering obstacles, the robot often needs to alternate gripping the cable with both arms, allowing one arm to grip the cable while the other crosses the obstacle. Some obstacles are quite large, making it difficult for the inspection robot to cross them directly, thus limiting its obstacle-crossing capability. Summary of the Invention

[0003] The main objective of this invention is to propose an inspection robot and an obstacle-crossing walking control method, which aims to improve the problem of the limited obstacle-crossing ability of the inspection robot.

[0004] To achieve the above objectives, the present invention proposes an inspection robot comprising two gripping mechanisms and a connecting mechanism, wherein the connecting mechanism connects the two gripping mechanisms, and each gripping mechanism comprises: Mounting base; The lifting seat is lifted and lowered on the mounting base; A first drive assembly is used to drive the lifting seat to move and lock it; and Two clamping assemblies, one for gripping a cable and the other for gripping a support member of an obstacle, each clamping assembly including at least two clamping parts, at least one of the at least two clamping parts being disposed on the mounting base and at least the other being disposed on the lifting base; The connecting mechanism includes: Connecting the main body; and, Two second drive components are disposed on the connecting body. The two second drive components drive the two gripping mechanisms respectively to rotate the gripping mechanisms relative to the connecting body along the vertical axis and the first horizontal axis.

[0005] In one embodiment, the two clamping assemblies include a first clamping assembly for clamping a cable, wherein at least two clamping portions of the first clamping assembly are configured as clamping wheels, and the at least two clamping wheels together define a clamping opening for accommodating the cable; At least one of the at least two gripping wheels is a drive wheel to drive the gripping mechanism to roll along the cable.

[0006] In one embodiment, the first clamping assembly includes a first clamping wheel disposed on the mounting base and two second clamping wheels disposed on the lifting base. The axes of the two second clamping wheels are both lower than the axis of the first clamping wheel and are spaced apart circumferentially along the first clamping wheel to jointly define the clamping opening with the first clamping wheel; and / or, The clamping wheel on the mounting base is the driving wheel, and the clamping wheel on the lifting base is the driven wheel.

[0007] In one embodiment, the two clamping assemblies include a second clamping assembly for clamping a support member. At least two clamping portions of the second clamping assembly are respectively configured as a clamping plate and a support portion. The clamping plate is disposed at the upper end of the mounting base, and the upper end surface of the lifting base forms the support portion. A clamping gap is defined between the clamping plate and the support portion, and the clamping gap is used to clamp the support member.

[0008] In one embodiment, the first driving component includes: A first drive motor is mounted on the mounting base; A drive screw extends vertically, and the rotor of the first drive motor is driven by the drive screw; and, A threaded sleeve is provided on the lifting seat, and the threaded sleeve is threaded onto the drive screw.

[0009] In one embodiment, the second drive assembly includes a second drive motor, a movable base, and a third drive motor, wherein the axis of the rotor of one of the second drive motor and the third drive motor extends in a vertical direction, and the axis of the rotor of the other drive motor extends in a first horizontal direction. The connecting body and the movable seat are connected by the second drive motor, and the movable seat and the mounting seat are connected by the third drive motor.

[0010] This invention also proposes an obstacle-crossing walking control method for an inspection robot, used in the inspection robot, which includes two gripping mechanisms and a connecting mechanism, wherein the connecting mechanism connects the two gripping mechanisms, and each gripping mechanism includes: Mounting base; The lifting seat is lifted and lowered on the mounting base; A first drive assembly is used to drive the lifting seat to move and lock it; and Two clamping assemblies, one for gripping a cable and the other for gripping a support member of an obstacle, each clamping assembly including at least two clamping parts, at least one of the at least two clamping parts being disposed on the mounting base and at least the other being disposed on the lifting base; The connecting mechanism includes: Connecting the main body; and, Two second drive components are disposed on the connecting body. The two second drive components drive the two gripping mechanisms respectively to rotate the gripping mechanisms relative to the connecting body along the vertical axis and the first horizontal axis.

[0011] The obstacle-crossing walking control method includes the following steps: The gripping mechanism located in front along the direction of travel is designated as the anchoring side gripping mechanism, and the gripping mechanism located behind is designated as the moving side gripping mechanism. The anchoring side gripping mechanism is kept in a clamping state during obstacle crossing. Get the type of obstacle to be crossed; The target gripping point of the moving side gripping mechanism is determined according to the type of obstacle, wherein the target gripping point is located within the gripping area of ​​the obstacle or on the other side of the obstacle along the direction of travel; The first drive component of the motion-side gripping mechanism is controlled to move according to the release action parameters, so that the motion-side gripping mechanism disengages from the cable or support member it is currently holding. The second drive component of the connecting mechanism is controlled to move according to the bypass motion parameters, so that the motion-side gripping mechanism moves to the target gripping point along a path that bypasses the obstacle. The first drive component of the motion-side gripping mechanism is controlled to move according to the gripping action parameters, so that the motion-side gripping mechanism clamps the cable or support component at the target clamping point; After confirming that the motion-side gripping mechanism is stable, the anchoring-side gripping mechanism is designated as the new motion-side gripping mechanism, and the original motion-side gripping mechanism is designated as the new anchoring-side gripping mechanism. The step of determining the target gripping point of the motion-side gripping mechanism according to the type of obstacle is repeated until both gripping mechanisms have passed the obstacle.

[0012] In one embodiment, the obstacle type includes traversable obstacles or insurmountable obstacles; Determining the target gripping point of the motion-side grasping mechanism based on the type of obstacle includes: When the obstacle is an insurmountable obstacle, the insurmountable obstacle is divided into a graspable area and an insurmountable area, and the target gripping point is determined within the graspable area of ​​the obstacle; When the obstacle is a traversable obstacle, the target clamping point is determined on the cable located on the other side of the obstacle along the direction of travel.

[0013] In one embodiment, before controlling the first drive component of the motion-side gripping mechanism to move according to the release action parameters, the method further includes: Get the current state vector parameters; The current state vector parameters are input into a pre-constructed decision function to obtain output action parameters. The decision function is used to map the current state vector parameters to the output action parameters. The output action parameters are subjected to safety constraints to obtain executable action parameters; The executable action parameters are used as the release action parameters, bypass action parameters, or grab action parameters corresponding to the current task stage to control the action of the first driving component and / or the second driving component.

[0014] In one embodiment, the current state vector parameters include the relative pose of the motion-side gripping mechanism with respect to the anchor-side gripping mechanism, the clamping state of the anchor-side gripping mechanism and the motion-side gripping mechanism, and the current task stage; The current state vector parameters also include at least one of the following parameters: the joint angles and joint angular velocities of each joint of the inspection robot, the clamping forces of the anchoring-side gripping mechanism and the moving-side gripping mechanism, the minimum Euclidean distance between the collision envelope of the moving-side gripping mechanism and the nearest obstacle surface after safety expansion, the Euclidean distance between the reference point of the gripping component of the moving-side gripping mechanism and the target gripping point, the target gripping pose, and the obstacle type.

[0015] In one embodiment, the step of performing safety constraint processing on the output action parameters to obtain executable action parameters includes: Determine whether the output action parameters meet the preset safety constraint layer; When the output action parameters do not meet the safety constraint layer, the output action parameters are projected to the set of possible actions allowed by the safety constraint layer, and the action parameter with the smallest deviation from the output action parameters in the set of possible actions is taken as the executable action parameter. When the output action parameters satisfy the safety constraint layer, the output action parameters are used as the executable action parameters.

[0016] In one embodiment, the safety constraint layer includes a restricted space parameter, a minimum number threshold of gripping mechanisms in an effective clamping state, a joint allowable range of motion parameter, and a clamping force allowable range. The step of determining whether the output action parameters meet the preset safety constraint layer includes: Based on the output action parameters, determine the space occupied by the inspection robot when executing the output action parameters, the number of gripping mechanisms in an effective gripping state, the joint angle range of each joint, and the gripping force; The output action parameters are deemed to satisfy the safety constraint layer if the following conditions are met simultaneously: the intersection of the occupied space parameter and the prohibited space parameter is empty; the number of gripping mechanisms in the effective clamping state is not less than the minimum number threshold; the joint angle range of each joint is within the joint allowable range of motion parameter; and the clamping force is within the clamping force allowable range.

[0017] In one embodiment, after using the output action parameter as the executable action parameter, the method further includes: The progress reward is determined based on the executable action parameters, the state vector parameters of the inspection robot after executing the executable action parameters, the preset target action parameters, and the pre-constructed reward function. The parameters of the decision function are updated based on the progress reward.

[0018] In one embodiment, the progress reward includes a direction alignment reward, and the target motion parameter includes the target approach direction; The obstacle-crossing walking control method also includes: When the target clamping point is located at the angle iron, obtain the unit outward normal vectors of the two plate surfaces of the angle iron facing the external accessible space; The two unit outward normal vectors are summed and normalized to obtain a normalized composite direction, and the normalized composite direction is used as the target approach direction. The target approach direction is the target movement direction when the clamping component of the motion-side gripping mechanism approaches the target clamping point. Based on the executable action parameters, determine the actual movement direction of the clamping component on the motion side when it approaches the target clamping point, and use it as the actual approach direction; The directional alignment reward is determined based on the angle between the actual approach direction and the target approach direction and the reward function.

[0019] In one embodiment, the at least two clamping portions of the motion-side gripping mechanism are a clamping plate and a supporting portion, wherein the clamping plate and the supporting portion constitute a gripper. The progress reward includes an angle alignment reward, and the target motion parameters include the target angle range; The obstacle-crossing walking control method also includes: When the target clamping point is located at the angle iron, the major axis direction of the angle iron is obtained; Based on the executable action parameters, the centerline direction of the gripper in the motion-side gripping mechanism is determined; The angle between the centerline direction of the gripper and the major axis direction of the angle iron is taken as the actual angle parameter; The angle alignment reward is determined based on the actual angle parameters, the target angle range, and the reward function.

[0020] In one embodiment, it further includes: The equivalent friction coefficient of the contact interface between the clamping part and the cable or support member, the equivalent normal clamping force of the clamping assembly, and the equivalent disturbance force along the tangential direction of the cable are obtained. When the product of the equivalent friction coefficient and the equivalent normal clamping force is less than the sum of the equivalent disturbance force and the preset safety margin, the first driving component is controlled to increase the equivalent normal clamping force until the product of the equivalent friction coefficient and the equivalent normal clamping force is not less than the sum of the equivalent disturbance force and the preset safety margin. When the equivalent normal clamping force increases to the preset upper limit of the clamping force, and the product of the equivalent friction coefficient and the equivalent normal clamping force is still less than the sum of the equivalent disturbance force and the preset safety margin, the anchoring side gripping mechanism is kept in the clamping state and the movement of the moving side gripping mechanism is stopped.

[0021] In the technical solution of the present invention, after the gripping components of the two gripping mechanisms grip the cable, the inspection robot can move on the cable; by controlling the movement of the lifting seat, the two clamping parts can be made to move closer or further apart, so that at least two clamping parts can grip or release the cable or support member, thereby realizing the gripping or releasing of the cable or support member by the gripping components.

[0022] When the inspection robot encounters an obstacle, the front gripping mechanism is designated as the anchoring gripping mechanism, and the rear gripping mechanism is designated as the moving gripping mechanism. By controlling the moving gripping mechanism to release the cable, and then controlling the connecting body to rotate relative to the anchoring gripping mechanism, the moving gripping mechanism can be positioned at the target clamping point. Finally, the moving gripping mechanism is controlled to grip the cable or supporting component. The target clamping point is located within the grippable area of ​​the obstacle or on the opposite side of the obstacle along the direction of travel.

[0023] After confirming the stability of the motion-side gripping mechanism, the anchor-side gripping mechanism is designated as the new motion-side gripping mechanism, and the original motion-side gripping mechanism is designated as the new anchor-side gripping mechanism. The step of determining the target gripping point of the motion-side gripping mechanism based on the type of obstacle is repeated, enabling both gripping mechanisms to overcome the obstacle. During obstacle crossing, the gripping assembly can grasp the supporting member of the obstacle, enabling obstacle crossing of obstacles that cannot be directly crossed, thus improving the overall obstacle-crossing capability of the inspection robot. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0025] Figure 1 This is a structural schematic diagram of an embodiment of the inspection robot provided by the present invention; Figure 2 for Figure 1 A structural schematic diagram of the inspection robot from another perspective; Figure 3 for Figure 1 A structural schematic diagram of the inspection robot from another perspective; Figure 4 for Figure 1 A schematic diagram of the inspection robot located on the cable; Figure 5 for Figure 1 A schematic diagram of the inspection robot overcoming obstacles; Figure 6 for Figure 5 Another structural diagram of the inspection robot; Figure 7 for Figure 1 A schematic diagram of the inspection robot located on the angle iron; Figure 8 for Figure 1 A schematic diagram showing the middle jaws approaching the angle iron; Figure 9 for Figure 1 Another schematic diagram showing the middle jaw approaching the angle iron; Figure 10 This is a schematic diagram of the structure of an embodiment of the obstacle-crossing walking control method provided by the present invention; Figure 11 This is a schematic diagram of another embodiment of the obstacle-crossing walking control method provided by the present invention.

[0026] Explanation of icon numbers: 1. Gripping mechanism; 11. Mounting base; 12. Lifting base; 13. First drive assembly; 131. First drive motor; 132. Drive screw; 133. Screw sleeve; 14. Clamping assembly; 141. Clamping part; 1411. Clamping wheel; 1412. Driving wheel; 1413. Driven wheel; 1414. First clamping wheel; 1415. Second clamping wheel; 1416. Clamping plate; 1417. Support part; 15. First clamping assembly; 16. Second clamping assembly; 2. Connecting mechanism; 21. Connecting body; 22. Second drive assembly; 221. Second drive motor; 222. Movable base; 223. Third drive motor; 3. Gripper; 4. Cable; 5. Angle iron; The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0028] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0029] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0030] Existing technologies for inspecting power transmission lines and power channels mainly include manual inspection, drone inspection, fixed or vehicle-mounted laser scanning inspection, and mounted inspection robots that operate along conductors, ground wires, or tower components. Common inspection robots typically have two gripping arms, each equipped with rollers for gripping cables. When encountering obstacles, the robot often needs to alternate gripping the cable with both arms, allowing one arm to grip the cable while the other crosses the obstacle. Some obstacles are quite large, making it difficult for the inspection robot to cross them directly, thus limiting its obstacle-crossing capability.

[0031] This invention proposes an inspection robot.

[0032] Please see Figure 1 , Figure 2 and Figure 3 In one embodiment of the present invention, the inspection robot includes two gripping mechanisms 1 and a connecting mechanism 2. The connecting mechanism 2 connects the two gripping mechanisms 1. Each gripping mechanism 1 includes a mounting base 11, a lifting base 12, a first drive assembly 13, and two clamping assemblies 14. The lifting base 12 is flexibly mounted on the mounting base 11. The first drive assembly 13 is used to drive the lifting base 12 to move and lock it. One of the two clamping assemblies 14 is used to grip a cable 4, and the other is used to grip a support member of an obstacle. Each clamping assembly 14 includes at least two clamping parts 141, at least one of which is located on the mounting base 11, and at least the other is located on the lifting base 12. The connecting mechanism 2 includes a connecting body 21 and two second drive assemblies 22. Two second drive components 22 are disposed on the connecting body 21. The two second drive components 22 respectively drive the two gripping mechanisms 1 to rotate relative to the connecting body 21 along the vertical axis and the first horizontal axis.

[0033] When the lifting seat 12 moves up and down relative to the mounting seat 11, at least two clamping parts 141 can move closer or further apart in the vertical direction, enabling them to clamp and release. This allows the two clamping assemblies 14 to clamp or release the support member and the cable 4 respectively. The first drive assembly 13 can be any linear drive structure, such as an electric actuator or a cylinder. The two clamping assemblies 14 are spaced apart in the vertical direction. By spacing the two clamping assemblies 14 along the vertical direction, interference from the other clamping assembly 14 to the cable 4 or the support member can be reduced when one of the clamping assemblies 14 is clamping the cable 4 or the support member.

[0034] The driving components enable relative movement between the gripping mechanism 1 and the connecting mechanism 2. Correspondingly, when one of the second driving components 22 is active, the connecting body 21 and the other gripping mechanism 1 can move relative to their respective gripping mechanisms 1. When one of the gripping mechanisms 1 grips the cable 4 or the supporting member, controlling the corresponding second driving component 22 allows the connecting mechanism 2 to move, and also allows the other gripping mechanism 1 to move and fall to the target clamping point.

[0035] In the technical solution of the present invention, after the gripping components of the two gripping mechanisms 1 grip the cable 4, the inspection robot can move on the cable 4; by controlling the movement of the lifting seat 12, the two clamping parts 141 can move closer or further apart, so that at least two clamping parts 141 can grip or release the cable 4 or the supporting member, thereby realizing the gripping or releasing of the cable 4 or the supporting member by the gripping components.

[0036] When the inspection robot encounters an obstacle, the front gripping mechanism 1 is designated as the anchoring gripping mechanism 1, and the rear gripping mechanism 1 is designated as the moving gripping mechanism 1. By controlling the moving gripping mechanism 1 to release the cable 4, and then controlling the connecting body 21 to rotate relative to the anchoring gripping mechanism 1, the moving gripping mechanism 1 can be positioned at the target clamping point. Finally, the moving gripping mechanism 1 is controlled to grip the cable 4 or the supporting component. The target clamping point is located within the grippable area of ​​the obstacle or on the opposite side of the obstacle along the direction of travel.

[0037] After confirming that the motion-side gripping mechanism 1 is stable, the anchoring-side gripping mechanism 1 is designated as the new motion-side gripping mechanism 1, and the original motion-side gripping mechanism 1 is designated as the new anchoring-side gripping mechanism 1. The step of determining the target gripping point of the motion-side gripping mechanism 1 based on the type of obstacle is repeated, enabling both gripping mechanisms 1 to cross the obstacle. During the obstacle crossing process, the gripping assembly 14 can grip the supporting member of the obstacle, enabling obstacle crossing of obstacles that cannot be directly crossed, thus improving the overall obstacle-crossing capability limitation of the inspection robot.

[0038] Please see Figure 1 , Figure 2 and Figure 3In one embodiment of the present invention, the two clamping components 14 include a first clamping component 15 for clamping the cable 4. At least two clamping portions 141 of the first clamping component 15 are configured as clamping wheels 1411. The at least two clamping wheels 1411 together define a clamping opening for accommodating the cable 4. At least one of the at least two clamping wheels 1411 is a drive wheel 1412 to drive the gripping mechanism 1 to roll along the cable 4.

[0039] When the two clamping wheels 1411 approach each other, the cable 4 can be clamped in the clamping opening, thus achieving the clamping of the cable 4 by the gripping mechanism 1. When the drive wheel 1412 rotates, the drive wheel 1412 can move along the cable 4, driving the other clamping wheels 1411 to rotate and move along the cable 4. At least one of the clamping wheels 1411 has a receiving groove on its outer peripheral side, the receiving groove is arranged circumferentially around the clamping wheel 1411, the receiving groove can form the clamping opening, and the drive wheel 1412 has the receiving groove on its outer peripheral side.

[0040] Please see Figure 1 , Figure 2 and Figure 3 In one embodiment of the present invention, the first clamping assembly 15 includes a first clamping wheel 1414 disposed on the mounting base 11 and two second clamping wheels 1415 disposed on the lifting base 12. The axes of the two second clamping wheels 1415 are both lower than the axis of the first clamping wheel 1414 and are spaced apart circumferentially along the first clamping wheel 1414 so as to define the clamping opening together with the first clamping wheel 1414.

[0041] By setting two second clamping wheels 1415, the two second clamping wheels 1415 can press the cable 4 against the outer periphery of the first clamping wheel 1414 along the circumference of the first clamping wheel 1414, which can improve the stability of the first clamping component 15 in gripping the cable 4 and reduce the shaking of the first clamping component 15 relative to the cable 4.

[0042] Please see Figure 1 , Figure 2 and Figure 3 In one embodiment of the present invention, the clamping wheel 1411 on the mounting base 11 is a driving wheel 1412, and the clamping wheel 1411 on the lifting base 12 is a driven wheel 1413. This improves the stability of the driving wheel 1412 and ensures the convenient lifting and lowering of the driven wheel 1413 with the lifting base 12. A control motor is provided on the mounting base 11, and the rotor of the control motor is connected to the driving wheel 1412, which can control the rotation of the driving wheel 1412 and adjust the direction of rotation.

[0043] Please see Figure 1 , Figure 2 and Figure 3 In one embodiment of the present invention, the two clamping assemblies 14 include a second clamping assembly 16 for clamping a support member. At least two clamping portions 141 of the second clamping assembly 16 are respectively configured as a clamping plate 1416 and a supporting portion 1417. The clamping plate 1416 is disposed at the upper end of the mounting base 11, and the supporting portion 1417 is formed on the upper end surface of the lifting base 12. See also... Figure 4 , Figure 5 and Figure 6 A clamping gap is defined between the clamping plate 1416 and the supporting part 1417, and the clamping gap is used to clamp the supporting member.

[0044] By controlling the lifting seat 12 to rise and fall, the clamping gap between the clamping plate 1416 and the support portion 1417 can be increased or decreased; when the support portion 1417 moves downward, the clamping gap can be increased so that the clamping gap can accommodate at least part of the support member; when the support portion 1417 moves upward, the clamping gap decreases, and the clamping plate 1416 and the support portion 1417 achieve clamping and fixing of the support member.

[0045] The shape of the support portion 1417 can be configured as needed to ensure that the support portion 1417 clamps and fixes the support member from below. The second clamping assembly 16 is located above the first clamping assembly 15. When the second clamping assembly 16 clamps the support member, the first clamping assembly 15 can be placed below the support member to reduce interference between the clamping wheel 1411 and the support member.

[0046] There is a limiting gap between the mounting base 11 and the lifting base 12. When the supporting member is an angle iron 5, one of the plates of the angle iron 5 can be clamped in the vertical direction by the clamping plate 1416 and the supporting plate, and the other plate can extend into the limiting gap and be limited by the mounting base 11 and the lifting base 12, which can improve the stability of the gripping mechanism 1 in gripping the angle iron 5.

[0047] Please see Figure 1 , Figure 2 and Figure 3In one embodiment of the present invention, the first driving assembly 13 includes a first driving motor 131, a driving screw 132, and a threaded sleeve 133. The first driving motor 131 is disposed on the mounting base 11. The driving screw 132 extends in a vertical direction, and the rotor of the first driving motor 131 is driven and connected to the driving screw 132. The threaded sleeve 133 is disposed on the lifting base 12, and the threaded sleeve 133 is threadedly sleeved on the driving screw 132.

[0048] When the drive screw 132 rotates, the threaded sleeve 133 causes the lifting seat 12 to rise and fall. When the rotor of the first drive motor 131 stops rotating, the drive screw 132 stops rotating, and the rising and falling of the lifting seat 12 stops. The drive screw 132 and the threaded sleeve 133 cooperate to lock the position of the lifting seat 12. The rotor of the first drive motor 131 and the drive screw 132 can be directly coaxially connected or indirectly connected. The threaded sleeve 133 can be integrally connected or welded to the lifting seat 12. A slide rail structure connects the lifting seat 12 and the mounting seat 11. The slide rail structure extends in the vertical direction, ensuring vertical movement between the lifting seat 12 and the mounting seat 11.

[0049] Please see Figure 1 , Figure 2 and Figure 3 In one embodiment of the present invention, the second drive assembly 22 includes a second drive motor 221, a movable seat 222, and a third drive motor 223. The rotor axis of one of the second drive motor 221 and the third drive motor 223 extends in a vertical direction, and the rotor axis of the other extends in a first horizontal direction. The connecting body 21 and the movable seat 222 are driven connected by the second drive motor 221, and the movable seat 222 and the mounting base 11 are driven connected by the third drive motor 223.

[0050] When the rotor of the second drive motor 221 rotates, relative movement between the connecting body 21 and the movable seat 222 is possible; when the rotor of the third drive motor 223 rotates, relative movement between the movable seat 222 and the mounting base 11 is possible. Relative rotation between the connecting body 21 and the mounting base 11 can be achieved by controlling the rotation of at least one of the rotors of the second drive motor 221 and the third drive motor 223. Rotation between the connecting body 21 and the mounting base 11 along a first horizontal direction and a vertical direction can be achieved by selectively controlling the rotation of at least one of the rotors of the second drive motor 221 and the third drive motor 223.

[0051] The rotor of the second drive motor 221 extends along the first horizontal direction, the rotor of the third drive motor 223 extends along the vertical direction, the connecting body 21 includes a connecting rod, two connecting rods are arranged in parallel, each connecting rod extends along the second horizontal direction, and the first horizontal direction and the second horizontal direction are perpendicular to each other.

[0052] The inspection robot also includes inspection equipment, which can be installed on the connecting body 21. The inspection equipment is used to inspect the cable 4 to achieve unmanned inspection. The present invention also proposes an obstacle-crossing walking control method for an inspection robot. The obstacle-crossing walking control method is used for the inspection robot, and the specific structure of the inspection robot is as described in the above embodiments. Since the obstacle-crossing walking control method adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0053] Please see Figure 4 , Figure 5 and Figure 6 In one embodiment of the present invention, the obstacle-crossing walking control method includes the following steps: Also refer to Figure 10 The gripping mechanism 1 located in front along the direction of travel is designated as the anchoring side gripping mechanism 1, and the gripping mechanism 1 located behind is designated as the moving side gripping mechanism 1. The anchoring side gripping mechanism 1 is kept in a clamping state during obstacle crossing. During longer processes, by keeping the anchoring side gripping mechanism 1 in a clamping state, the stability of the inspection robot's body can be ensured during obstacle crossing, reducing the risk of the inspection robot falling off the cable 4 or support components.

[0054] Get the type of obstacle to be crossed; The inspection robot can identify and determine the type of obstacle using machine vision.

[0055] The target gripping point of the moving side gripping mechanism 1 is determined according to the type of obstacle, wherein the target gripping point is located within the gripping area of ​​the obstacle or on the other side of the obstacle along the direction of travel; Determining the position of the target clamping point based on the type of obstacle ensures the stability of the gripping by the moving side gripping mechanism 1 at the target clamping point.

[0056] The first drive component 13 of the motion-side gripping mechanism 1 is controlled to move according to the release action parameters, so that the motion-side gripping mechanism 1 disengages from the cable 4 or support member it is currently holding. By controlling the motion-side gripping mechanism 1 to disengage from its currently held cable 4 or support member, it is possible to ensure that both the motion-side gripping mechanism 1 and the connecting mechanism 2 move relative to the anchoring-side gripping mechanism 1.

[0057] The second drive component 22 of the connecting mechanism 2 is controlled to move according to the bypass motion parameters, so that the motion-side gripping mechanism 1 moves to the target clamping point along a path that bypasses the obstacle. By controlling the action of the second drive component 22, the movement of the motion-side gripping mechanism 1 and the connecting mechanism 2 relative to the anchoring-side gripping mechanism 1 can be achieved, so that the motion-side gripping mechanism 1 can pass over the entire obstacle, or, the portion of the motion-side gripping mechanism 1 that passes over the obstacle can be used to land at the target clamping point.

[0058] The first drive component 13 of the motion-side gripping mechanism 1 is controlled to move according to the gripping action parameters so that the motion-side gripping mechanism 1 clamps the cable 4 or support component at the target clamping point; After the moving side gripping mechanism 1 lands at the target clamping point, the moving side gripping mechanism 1 is controlled to clamp the cable 4 or support component at the target clamping point, so that the moving side gripping mechanism 1 completes this obstacle crossing action.

[0059] After confirming that the motion-side gripping mechanism 1 is stable, the anchoring-side gripping mechanism 1 is designated as the new motion-side gripping mechanism 1, and the original motion-side gripping mechanism 1 is designated as the new anchoring-side gripping mechanism 1. The step of determining the target gripping point of the motion-side gripping mechanism 1 according to the type of obstacle is repeated until both gripping mechanisms 1 have passed the obstacle.

[0060] By designating the anchoring-side gripping mechanism 1 as the new motion-side gripping mechanism 1 and the original motion-side gripping mechanism 1 as the new anchoring-side gripping mechanism 1, the two gripping mechanisms 1 can alternately perform obstacle-crossing actions until both gripping mechanisms 1 have completed obstacle crossing.

[0061] In one embodiment of the present invention, the obstacle type includes traversable obstacles or non-traversable obstacles; determining the target gripping point of the motion-side gripping mechanism 1 according to the type of obstacle includes: When the obstacle is an insurmountable obstacle, the insurmountable obstacle is divided into a graspable area and an insurmountable area, and the target gripping point is determined within the graspable area of ​​the obstacle; When the obstacle is a crossable obstacle, the target clamping point is determined on the cable 4 located on the other side of the obstacle along the direction of travel.

[0062] Please see Figure 4 , Figure 5 and Figure 7 In one embodiment of the present invention, when the obstacle is an insurmountable obstacle, the moving-side clamping mechanism has difficulty directly crossing the insurmountable obstacle. Based on the ease with which the clamping component 14 clamps and fixes different points on the insurmountable obstacle, different points on the insurmountable obstacle can be divided into a graspable area and an insurmountable area; then, the target clamping point is determined within the graspable area of ​​the obstacle, ensuring stable clamping of the insurmountable obstacle by the clamping component 14. When the obstacle is an surmountable obstacle, by determining the target clamping point on the cable 4 located on the other side of the obstacle along the travel direction, the corresponding gripping mechanism 1 can directly complete the obstacle-crossing step.

[0063] The types of obstacles include areas 5 for anti-vibration hammers, insulator strings, tension clamps, connecting hardware, crossarms, angle steel, and triangular iron. Insulator strings, clamps, hardware, bolts, and sharp corners are designated as prohibited contact areas. The crossarms, angle steel, and triangular iron structures of the tension tower all have angle steel structures that can be clamped by the clamping plate 1416 and the supporting part 1417. The outer side of the crossarm, the outer edge of the angle steel, and the outer edge of the triangular iron are designated as clampable areas. The outer side of the crossarm, the outer edge of the angle steel, and the outer edge of the triangular iron constitute supporting components.

[0064] When the obstacle is a tension tower, the moving side gripping mechanism 1 releases radially along the conductor, avoiding the insulator string, tension clamp, and connecting hardware, and approaches the crossarm or the outer edge of the angle steel from the outside of the tower. After the moving side gripping mechanism 1 stabilizes, it becomes the new anchoring side gripping mechanism 1, and the original anchoring side gripping mechanism 1 becomes the new moving side gripping mechanism 1, until the crossing from the conductor domain to the tower component domain and back to the conductor domain is completed.

[0065] Please see Figure 10 and Figure 11 In one embodiment of the present invention, before controlling the first drive component 13 of the motion-side gripping mechanism 1 to move according to the release action parameters, the method further includes: Get the current state vector parameters; After acquiring the current state vector parameters, the control system of the inspection robot can identify the current working state of the inspection robot.

[0066] The current state vector parameters are input into a pre-constructed decision function to obtain output action parameters. The decision function is used to map the current state vector parameters to the output action parameters. Based on the current state vector parameters and the decision function, output action parameters can be calculated, which can be used to control the inspection robot to perform actions. The decision function can be preset.

[0067] The output action parameters are subjected to safety constraints to obtain executable action parameters; By applying safety constraints to the output action parameters, the infeasible parts of the output action parameters can be removed, thereby ensuring the feasibility of the executable action parameters.

[0068] The executable action parameters are used as the release action parameters, bypass action parameters, or grab action parameters corresponding to the current task stage to control the action of the first drive component 13 and / or the second drive component 22.

[0069] The executable action parameters are a set of release action parameters, bypass action parameters, and grasping action parameters. The executable action parameters at a given time point can be broken down into release action parameters, bypass action parameters, and grasping action parameters to control the grasping mechanism 1 and the connecting mechanism 2 respectively. Based on the current state vector parameters, the executable action parameters are obtained and used to achieve obstacle-crossing movement. This allows the inspection robot to adjust its next action posture according to the current state vector, enabling autonomous obstacle-crossing movement.

[0070] The state vector parameter is set to st, and the output action parameter is set to at. The output action parameter includes the motion side position increment, attitude increment, gripper 3 opening and closing, walking drive, and anchoring side switching.

[0071] The decision function includes a Markov decision process, and the control system of the inspection robot models the obstacle-crossing process of the inspection robot as a Markov decision process:

[0072] Where S is the state space, A is the action space, P is the state transition, R is the reward function, and γ is the discount factor. The side on which the inspection robot currently maintains stable gripping is denoted as the anchoring side a, and the side on which it performs release, bypassing, and re-gripping is denoted as the moving side m.

[0073] The state vector can be represented as:

[0074]

[0075] q t and tThe joint angles and angular velocities of each joint of the inspection robot at time t; ξ am,t The relative pose of the moving side with respect to the anchoring side; F a,t and F m,t These are the clamping forces on the anchoring side and the moving side, respectively; c a,t and c m,t These represent the clamping states from both sides; d obs,t The minimum Euclidean distance between the motion-side collision envelope (including the motion-side gripping structure, support plate, motor, and connecting arm) and the nearest obstacle surface after safety expansion; d g,t ξ is the Euclidean distance between the reference point of the moving gripper and the target gripping point; g,t The target clamping pose includes the position of the target clamping point, the major axis direction of the target support structure, and the outward normal direction; η obs For obstacle type; η task This is the current task phase.

[0076] η task The obstacle crossing sequence can be discretized into the following stages: obstacle recognition and target support domain selection, anchoring side confirmation and clamping reinforcement, moving side release, lifting and obstacle avoidance, target area approach, position and attitude alignment, moving side re-clamping and clamping stability confirmation, anchoring side switching, and restoration of bilateral clamping or normal walking. The control system updates η based on the completion conditions of each stage. task And constrain the types of actions that are allowed to be output in the next stage.

[0077] The policy network output action is:

[0078]

[0079] Where, Δq m,t Δp m,t , Δφ m,t u g,t u w,t u sw,t These represent the increment of the joint on the moving side, the increment of the end position, the increment of the end posture, the gripper opening and closing command, the walking drive command, and the anchoring side switching command, respectively.

[0080] In one embodiment of the present invention, the current state vector parameters include the relative pose of the motion-side gripping mechanism 1 with respect to the anchoring-side gripping mechanism 1, the clamping state of the anchoring-side gripping mechanism 1 and the motion-side gripping mechanism 1, and the current task stage. The current state vector parameters also include at least one of the following parameters: the joint angles and joint angular velocities of each joint of the inspection robot, the clamping force of the anchoring side gripping mechanism 1 and the moving side gripping mechanism 1, the minimum Euclidean distance between the collision envelope of the moving side gripping mechanism 1 and the nearest obstacle surface after safety expansion, the Euclidean distance between the reference point of the gripping component 14 of the moving side gripping mechanism 1 and the target gripping point, the target gripping pose, and the obstacle type.

[0081] In one embodiment of the present invention, the step of performing safety constraint processing on the output action parameters to obtain executable action parameters includes: Determine whether the output action parameters meet the preset safety constraint layer; When the output action parameters do not meet the safety constraint layer, the output action parameters are projected to the set of possible actions allowed by the safety constraint layer, and the action parameter with the smallest deviation from the output action parameters in the set of possible actions is taken as the executable action parameter. When the output action parameters satisfy the safety constraint layer, the output action parameters are used as the executable action parameters.

[0082] When the output action parameters do not meet the safety constraint layer, the executable action parameters can be selected as the action parameters with the smallest deviation from the output action parameters in the set of executable actions. This ensures the executableness of the action and reduces collisions and jamming during the inspection robot's obstacle crossing process.

[0083] The projection correction refers to adjusting the output action parameter a given by the decision function. t Configured as action to be corrected a t 0 The projection correction refers to the set of safe actions A that satisfy constraints such as collision distance, joint limit, stable anchoring on at least one side, and clamping force margin. safe (s t Within ) find the remainder of a. t 0 The executable action a with the smallest deviation t It can be represented as:

[0084] Where W is the positive definite weight matrix used to adjust the cost of each action component. If the original action has satisfied all constraints, then a t =a t 0If the original action would result in a collision, joint overshoot, simultaneous release from both sides, or insufficient clamping force, the safety constraint layer will prioritize reducing the corresponding position or attitude increment, restricting the gripper release command, delaying the anchoring side switching, or increasing the clamping force command to ensure that the corrected action falls within the safe action set. If no feasible corrective action exists in the current state, the anchoring side clamping will be maintained and a stop, retraction, or replanning will be executed.

[0085] In one embodiment of the present invention, the safety constraint layer includes a restricted space parameter, a minimum number threshold of gripping mechanisms 1 in an effective clamping state, a joint allowable range of motion parameter, and a clamping force allowable range. The step of determining whether the output action parameters meet the preset safety constraint layer includes: Based on the output action parameters, determine the space occupied by the inspection robot when executing the output action parameters, the number of gripping mechanisms 1 in an effective gripping state, the joint angle range of each joint, and the gripping force. The output action parameters are determined to satisfy the safety constraint layer if the following conditions are met simultaneously: the intersection of the occupied space parameter and the prohibited space parameter is empty, the number of gripping mechanisms 1 in the effective clamping state is not less than the minimum number threshold, the joint angle range of each joint is within the joint allowable range of motion parameter, and the clamping force is within the clamping force allowable range.

[0086] When the intersection of the occupied space parameter and the restricted space parameter is empty, it can be determined that the inspection robot will not enter the restricted space, thus reducing collisions. The number of gripping mechanisms 1 in an effective gripping state is not less than the minimum number threshold, ensuring that the inspection robot grips the cable 4 or the support member, meaning the inspection robot will not simultaneously detach from both the cable 4 and the support member; the minimum number threshold is one. When the joint angle range of each joint is within the allowable range of motion parameter, it can be determined that each joint can move in place, reducing the problem of incomplete joint movement. When the gripping force is within the allowable gripping force range, it can be determined that the gripping stability of the gripping assembly 14 on the cable 4 or the support member is sufficient, reducing slippage of the gripping assembly 14 relative to the cable 4 and the support member.

[0087] B (qt) For the inspection robot in joint state q t The space occupied below; O s The restricted area is obtained by expanding the obstacle boundary based on sensor error, control error, and preset safety clearance; N c(t) F represents the number of gripping structures currently in a stable and effective gripping state. cThis is the equivalent normal clamping force on the currently effective clamping side. This is under the condition that the following conditions are met simultaneously:

[0088] The output action parameters are determined to satisfy the safety constraint layer.

[0089] In one embodiment of the present invention, after using the output action parameter as the executable action parameter, the method further includes: The progress reward is determined based on the executable action parameters, the state vector parameters of the inspection robot after executing the executable action parameters, the preset target action parameters, and the pre-constructed reward function. The progress reward can express the difference between the executable action parameters and the preset target action parameters, so as to express the difference between the actual executed action and the preset target action.

[0090] The parameters of the decision function are updated based on the progress reward.

[0091] Based on the progress reward, the parameters of the decision function are updated. After the parameters of the decision function are optimized, the output action parameters obtained by the decision function can be close to or even equal to the preset target action parameters, so as to reduce the difference between the actual executed action and the preset target action.

[0092] The reward function is set as follows:

[0093] The progress reward for getting closer to the target clamping point is as follows:

[0094] Where, d g，t-1 This represents the distance from the previous state to the target clamping point, d g,t This represents the distance to the target clamping point in the current state.

[0095] r prog As a progress reward, it is used to guide the moving side to shorten the distance to the target clamping point; r align For attitude alignment rewards, used to guide the gripper centerline and the long axis direction of the target support structure. L Align and align the approach direction of the grippers with the outer normal of the target; r grasp To ensure stable clamping rewards, a positive value is taken when the clamping state is valid and the clamping force margin meets the requirements; r stage As a stage completion reward, positive rewards are given upon completion of key mission stages such as release, maneuvering, alignment, re-clamping, and anchor switching; col r limit renergy and r smooth These are the penalties for collision, joint over-limit, excessive energy consumption, and sudden movement, respectively; w t A fixed-time penalty is applied to each control cycle to reduce unnecessary pauses and repetitive actions.

[0096] w p w a w g w s w c w l w e and w j All are non-negative weight coefficients, representing the relative importance of progress reward, attitude alignment reward, stable clamping reward, stage completion reward, collision penalty, joint limitation penalty, energy consumption penalty, and motion smoothness penalty in the total reward. Each weight can be tuned based on simulation training and prototype testing; among them, to prioritize safety, w c and w l It should be set to a value higher than the general efficiency class weight, w g and w s To improve the success rate of re-clamping and phase switching, w e w j With w t It is used to reduce energy consumption, suppress sudden changes in action, and shorten obstacle crossing time while meeting safety requirements.

[0097] Please see Figure 8 In one embodiment of the present invention, the progress reward includes a direction alignment reward, and the target action parameter includes a target approach direction; The obstacle-crossing walking control method also includes: When the target clamping point is located at angle iron 5, obtain the unit outward normal vectors of the two plate surfaces of angle iron 5 facing the external accessible space; The angle iron 5 has two mutually perpendicular plates. The angle region between the two plates is defined as the interior, and the side of each plate away from the interior is defined as the exterior. The unit outward normal vector of the plate is a vector from the interior to the exterior and perpendicular to the plate.

[0098] The two unit outward normal vectors are summed and normalized to obtain a normalized composite direction, and the normalized composite direction is used as the target approach direction. The target approach direction is the target movement direction when the clamping component 14 of the motion-side gripping mechanism 1 approaches the target clamping point. When the clamping assembly 14 approaches the target clamping point in the target moving direction, it can reduce the interference between the clamping assembly 14 and the angle iron 5, and ensure that the clamping assembly 14 moves to the target clamping point on the angle iron 5.

[0099] Based on the executable action parameters, the actual movement direction of the clamping component 14 on the motion side when it approaches the target clamping point is determined and used as the actual approach direction; The directional alignment reward is determined based on the angle between the actual approach direction and the target approach direction and the reward function.

[0100] After obtaining the orientation alignment reward, the orientation alignment reward can be used as a progress reward to update the parameters of the decision function; after updating the parameters of the decision function, the executable action parameters obtained through the decision function, and the actual approach direction obtained therefrom, can make the actual approach direction close to the target approach direction, that is, the angle between the actual approach direction and the target approach direction is controlled within the allowable range.

[0101] When the obstacle is a triangular iron 5 structure (a triangular iron 5 structure refers to an angle steel support member formed by two intersecting plates with an inner angle and an outer edge, also known as angle steel), the control system establishes a local coordinate system of the triangular iron 5 based on point cloud or visual data, extracts the unit outward normals n1 and n2 of the two side plates facing the external accessible space, and the unit major axis vector e along the longitudinal extension direction of the triangular iron. L The normalized synthesis direction is set to n. L ,in:

[0102] n1 and n2 are perpendicular to the two side plates of the triangular iron, and their directions are both from the plate surface to the outside of the component, allowing access to the space; e L Parallel to the longitudinal extension direction of the outer edge of the triangle iron. When the normal obtained by point cloud fitting has uncertainty in positive and negative directions, the control system selects a set of external normals pointing to the free space where the inspection robot is located, based on the current position of the inspection robot.

[0103] Please see Figure 9 In one embodiment of the present invention, the at least two clamping parts 141 of the motion-side gripping mechanism 1 are clamping plate 1416 and supporting part 1417, and the clamping plate 1416 and the supporting part 1417 constitute a gripper 3. The progress reward includes an angle alignment reward, and the target motion parameters include the target angle range; The obstacle-crossing walking control method also includes: When the target clamping point is located at angle iron 5, the major axis direction of angle iron 5 is obtained; The major axis of the angle iron 5 is the length direction of the angle iron 5.

[0104] Based on the executable action parameters, the centerline direction of the gripper 3 in the motion-side gripping mechanism 1 is determined; The centerline direction of the gripper 3 is the extension direction of the clamping space between the clamping plate 1416 and the support part 1417. The two ends of the centerline direction of the gripper 3 are through-hole for the angle iron 5 to pass through.

[0105] The angle between the centerline direction of the gripper 3 and the major axis direction of the angle iron 5 is taken as the actual angle parameter; The angle alignment reward is determined based on the actual angle parameters, the target angle range, and the reward function.

[0106] The decision function is updated based on the angle alignment reward, ensuring that the updated decision function yields executable action parameters and that the determined actual angle parameters satisfy the target angle range. When the actual angle parameters satisfy the target angle range, it can be determined that the clamp can hold the angle iron 5.

[0107] The direction of the gripper centerline is set to e. g The long axis direction of the angle iron is set as e. L When the following formula is met:

[0108] It can be determined that the actual angle parameters satisfy the target angle range, wherein the angle θ is between 10° and 15° (including the two point values ​​of 10° and 15°).

[0109] In one embodiment of the present invention, the obstacle-crossing walking control method further includes: The equivalent friction coefficient of the contact interface between the clamping part 141 and the cable 4 or the supporting member, the equivalent normal clamping force of the clamping assembly 14, and the equivalent disturbance force along the tangential direction of the cable 4 are obtained. When the product of the equivalent friction coefficient and the equivalent normal clamping force is less than the sum of the equivalent disturbance force and the preset safety margin, the first driving component 13 is controlled to increase the equivalent normal clamping force until the product of the equivalent friction coefficient and the equivalent normal clamping force is not less than the sum of the equivalent disturbance force and the preset safety margin. When the product of the equivalent friction coefficient and the equivalent normal clamping force is not less than the sum of the equivalent disturbance force and the preset safety margin, it is determined that the clamping component 14 can stably clamp the cable 4 or the support member, and can reduce the slippage of the gripping mechanism 1 relative to the cable 4 or the support member.

[0110] When the equivalent normal clamping force increases to the preset upper limit of the clamping force, and the product of the equivalent friction coefficient and the equivalent normal clamping force is still less than the sum of the equivalent disturbance force and the preset safety margin, the anchoring side gripping mechanism 1 is kept in the clamping state and the movement of the moving side gripping mechanism 1 is stopped.

[0111] Let the equivalent normal clamping force be F, the equivalent friction coefficient of the contact surface be μ, and the equivalent disturbance force be F. d Where F is the equivalent normal clamping force exerted by the clamping assembly on the cable or the supporting member, F d The resultant force of various external forces acting tangentially along the cable and causing the inspection robot to slip relative to the cable or the supporting component includes the component of the inspection robot's gravity in the direction of the cable or supporting component, inertial forces generated during start-up, shutdown, or attitude adjustment, wind load, cable vibration, and obstacle crossing impacts. The control system can estimate the equivalent normal force F based on the inspection robot's mass, the tilt angle of the cable or the supporting component, the acceleration detected by the inertial measurement unit, and known environmental loads. d The larger of the real-time estimated value and the preset upper limit of disturbance force is used to adjust the clamping force. It can be determined that the clamping assembly holds the cable or the support member stably.

[0112] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An inspection robot, characterized in that, It includes two gripping mechanisms and a connecting mechanism, wherein the connecting mechanism connects the two gripping mechanisms, and each gripping mechanism includes: Mounting base; The lifting seat is lifted and lowered on the mounting base; A first drive assembly is used to drive the lifting seat to move and lock it; and Two clamping assemblies, one for gripping a cable and the other for gripping a support member of an obstacle, each clamping assembly including at least two clamping parts, at least one of the at least two clamping parts being disposed on the mounting base and at least the other being disposed on the lifting base; The connecting mechanism includes: Connecting the main body; and, Two second drive components are disposed on the connecting body. The two second drive components drive the two gripping mechanisms respectively to rotate the gripping mechanisms relative to the connecting body along the vertical axis and the first horizontal axis.

2. The inspection robot as described in claim 1, characterized in that, The two clamping assemblies include a first clamping assembly for clamping a cable, wherein at least two clamping portions of the first clamping assembly are configured as clamping wheels, and the at least two clamping wheels together define a clamping opening for accommodating the cable; At least one of the at least two gripping wheels is a drive wheel to drive the gripping mechanism to roll along the cable.

3. The inspection robot as described in claim 2, characterized in that, The first clamping assembly includes a first clamping wheel disposed on the mounting base and two second clamping wheels disposed on the lifting base. The axes of the two second clamping wheels are both lower than the axis of the first clamping wheel and are spaced apart circumferentially along the first clamping wheel to jointly define the clamping opening with the first clamping wheel; and / or, The clamping wheel on the mounting base is the driving wheel, and the clamping wheel on the lifting base is the driven wheel.

4. The inspection robot as described in claim 1, characterized in that, The two clamping assemblies include a second clamping assembly for clamping a support member. At least two clamping portions of the second clamping assembly are respectively configured as a clamping plate and a support portion. The clamping plate is located at the upper end of the mounting base, and the support portion is formed on the upper end surface of the lifting base. A clamping gap is defined between the clamping plate and the support portion, and the clamping gap is used to clamp the support member.

5. The inspection robot as described in claim 1, characterized in that, The first driving component includes: A first drive motor is mounted on the mounting base; A drive screw extends vertically, and the rotor of the first drive motor is driven by the drive screw; and, A threaded sleeve is provided on the lifting seat, and the threaded sleeve is threaded onto the drive screw.

6. The inspection robot as described in claim 1, characterized in that, The second drive assembly includes a second drive motor, a movable base, and a third drive motor. The axis of the rotor of one of the second drive motors and the third drive motor extends in a vertical direction, and the axis of the rotor of the other drive motor extends in a first horizontal direction. The connecting body and the movable seat are connected by the second drive motor, and the movable seat and the mounting seat are connected by the third drive motor.

7. A method for controlling obstacle-crossing movement of an inspection robot, used in the inspection robot as described in any one of claims 1 to 6, characterized in that, The obstacle-crossing walking control method includes the following steps: The gripping mechanism located in front along the direction of travel is designated as the anchoring side gripping mechanism, and the gripping mechanism located behind is designated as the moving side gripping mechanism. The anchoring side gripping mechanism is kept in a clamping state during obstacle crossing. Get the type of obstacle to be crossed; The target gripping point of the moving side gripping mechanism is determined according to the type of obstacle, wherein the target gripping point is located within the gripping area of ​​the obstacle or on the other side of the obstacle along the direction of travel; The first drive component of the motion-side gripping mechanism is controlled to move according to the release action parameters, so that the motion-side gripping mechanism disengages from the cable or support member it is currently holding. The second drive component of the connecting mechanism is controlled to move according to the bypass motion parameters, so that the motion-side gripping mechanism moves to the target gripping point along a path that bypasses the obstacle. The first drive component of the motion-side gripping mechanism is controlled to move according to the gripping action parameters, so that the motion-side gripping mechanism clamps the cable or support component at the target clamping point; After confirming that the motion-side gripping mechanism is stable, the anchoring-side gripping mechanism is designated as the new motion-side gripping mechanism, and the original motion-side gripping mechanism is designated as the new anchoring-side gripping mechanism. The step of determining the target gripping point of the motion-side gripping mechanism according to the type of obstacle is repeated until both gripping mechanisms have passed the obstacle.

8. The obstacle-crossing walking control method as described in claim 7, characterized in that, The obstacle types include traversable obstacles and intraversable obstacles; Determining the target gripping point of the motion-side grasping mechanism based on the type of obstacle includes: When the obstacle is an insurmountable obstacle, the insurmountable obstacle is divided into a graspable area and an insurmountable area, and the target gripping point is determined within the graspable area of ​​the obstacle; When the obstacle is a traversable obstacle, the target clamping point is determined on the cable located on the other side of the obstacle along the direction of travel.

9. The obstacle-crossing walking control method as described in claim 7, characterized in that, Before controlling the movement of the first drive component of the motion-side gripping mechanism according to the release action parameters, the method further includes: Get the current state vector parameters; The current state vector parameters are input into a pre-constructed decision function to obtain output action parameters. The decision function is used to map the current state vector parameters to the output action parameters. The output action parameters are subjected to safety constraints to obtain executable action parameters; The executable action parameters are used as the release action parameters, bypass action parameters, or grab action parameters corresponding to the current task stage to control the actions of the first driving component and / or the second driving component.

10. The obstacle-crossing walking control method as described in claim 9, characterized in that, The current state vector parameters include the relative pose of the motion-side gripping mechanism with respect to the anchor-side gripping mechanism, the clamping state of the anchor-side gripping mechanism and the motion-side gripping mechanism, and the current task stage; The current state vector parameters also include at least one of the following parameters: the joint angles and joint angular velocities of each joint of the inspection robot, the clamping forces of the anchoring-side gripping mechanism and the moving-side gripping mechanism, the minimum Euclidean distance between the collision envelope of the moving-side gripping mechanism and the nearest obstacle surface after safety expansion, the Euclidean distance between the reference point of the gripping component of the moving-side gripping mechanism and the target gripping point, the target gripping pose, and the obstacle type.

11. The obstacle-crossing walking control method as described in claim 9, characterized in that, The step of performing safety constraint processing on the output action parameters to obtain executable action parameters includes: Determine whether the output action parameters meet the preset safety constraint layer; When the output action parameters do not meet the safety constraint layer, the output action parameters are projected to the set of possible actions allowed by the safety constraint layer, and the action parameter with the smallest deviation from the output action parameters in the set of possible actions is taken as the executable action parameter. When the output action parameters satisfy the safety constraint layer, the output action parameters are used as the executable action parameters.

12. The obstacle-crossing walking control method as described in claim 11, characterized in that, The safety constraint layer includes restricted space parameters, minimum number thresholds for the number of gripping mechanisms in an effective clamping state, joint allowable range of motion parameters, and allowable clamping force range. The step of determining whether the output action parameters meet the preset safety constraint layer includes: Based on the output action parameters, determine the space occupied by the inspection robot when executing the output action parameters, the number of gripping mechanisms in an effective gripping state, the joint angle range of each joint, and the gripping force; The output action parameters are deemed to satisfy the safety constraint layer if the following conditions are met simultaneously: the intersection of the occupied space parameter and the prohibited space parameter is empty; the number of gripping mechanisms in the effective clamping state is not less than the minimum number threshold; the joint angle range of each joint is within the joint allowable range of motion parameter; and the clamping force is within the clamping force allowable range.

13. The obstacle-crossing walking control method as described in claim 11, characterized in that, After using the output action parameters as the executable action parameters, the method further includes: The progress reward is determined based on the executable action parameters, the state vector parameters of the inspection robot after executing the executable action parameters, the preset target action parameters, and the pre-constructed reward function. The parameters of the decision function are updated based on the progress reward.

14. The obstacle-crossing walking control method as described in claim 13, characterized in that, The progress reward includes a direction alignment reward, and the target motion parameters include the target approach direction; The obstacle-crossing walking control method also includes: When the target clamping point is located at the angle iron, obtain the unit outward normal vectors of the two plate surfaces of the angle iron facing the external accessible space; The two unit outward normal vectors are summed and normalized to obtain a normalized composite direction, and the normalized composite direction is used as the target approach direction. The target approach direction is the target movement direction when the clamping component of the motion-side gripping mechanism approaches the target clamping point. Based on the executable action parameters, determine the actual movement direction of the clamping component on the motion side when it approaches the target clamping point, and use it as the actual approach direction; The directional alignment reward is determined based on the angle between the actual approach direction and the target approach direction and the reward function.

15. The obstacle-crossing walking control method as described in claim 13, characterized in that, The at least two clamping parts of the motion-side gripping mechanism are a clamping plate and a supporting part, and the clamping plate and the supporting part form a gripper. The progress reward includes an angle alignment reward, and the target motion parameters include the target angle range; The obstacle-crossing walking control method also includes: When the target clamping point is located at the angle iron, the major axis direction of the angle iron is obtained; Based on the executable action parameters, the centerline direction of the gripper in the motion-side gripping mechanism is determined; The angle between the centerline direction of the gripper and the major axis direction of the angle iron is taken as the actual angle parameter; The angle alignment reward is determined based on the actual angle parameters, the target angle range, and the reward function.

16. The obstacle-crossing walking control method as described in claim 7, characterized in that, Also includes: The equivalent friction coefficient of the contact interface between the clamping part and the cable or support member, the equivalent normal clamping force of the clamping assembly, and the equivalent disturbance force along the tangential direction of the cable are obtained. When the product of the equivalent friction coefficient and the equivalent normal clamping force is less than the sum of the equivalent disturbance force and the preset safety margin, the first driving component is controlled to increase the equivalent normal clamping force until the product of the equivalent friction coefficient and the equivalent normal clamping force is not less than the sum of the equivalent disturbance force and the preset safety margin. When the equivalent normal clamping force increases to the preset upper limit of the clamping force, and the product of the equivalent friction coefficient and the equivalent normal clamping force is still less than the sum of the equivalent disturbance force and the preset safety margin, the anchoring side gripping mechanism is kept in the clamping state and the movement of the moving side gripping mechanism is stopped.

Images