Serial leg wheel automatic inspection device based on STM32

Abstract

The utility model provides a kind of STM32-based series leg wheel automatic inspection device, including vehicle body, with two walking wheels, driving motor and controller, driving motor is connected with controller, controller moves walking wheel by driving motor control and then controls vehicle body movement;Detection system, detection system is placed on vehicle body, including attitude sensor, vehicle speed measurement module and ultrasonic module, the attitude sensor, vehicle speed measurement module and ultrasonic module are connected with controller respectively, respectively monitor the balance state of vehicle body, measure vehicle speed and obstacle;Power module, is placed on vehicle body and is electrically connected with controller. Through series leg wheel composite structure, combine wheeled high-speed movement and leg type obstacle-crossing ability, solve the problem that traditional wheeled inspection robot is easy to lose stability in complex terrain, and the efficiency of obstacle-crossing is low, make the inspection robot have the ability of self-rescue, reduce manual intervention, improve operation continuity. It belongs to the field of intelligent inspection technology.

Description

Technical Field

[0001] This utility model relates to the field of intelligent inspection technology, specifically to an automatic inspection device for tandem wheeled wheels based on STM32. Background Technology

[0002] Traditional wheeled inspection robots are limited by their terrain adaptability and are prone to getting stuck in complex environments such as stairs and steps. To address this issue, multi-arm inspection robots (such as power line inspection robots) employ a hybrid mechanism of arm suspension and wheel-claw, achieving obstacle crossing through configuration adjustments. However, the high complexity and cost of multi-arm structures make them unsuitable for large-scale deployment. Furthermore, many chemical plants are located in remote areas with harsh working environments and difficult conditions, resulting in a significant shortage of personnel. This may lead to simplified inspection processes, failing to adequately assess line safety and record complete inspection data. Alternatively, chemical leaks and other unforeseen hazards during inspections could expose workers to higher safety risks. Utility Model Content

[0003] This invention aims to design an automatic inspection device based on STM32 with serially connected wheeled legs. By combining the high-speed movement of wheels with the obstacle-crossing ability of legs through a serially connected wheeled wheeled composite structure, it solves the problems of instability and low obstacle-crossing efficiency of traditional wheeled inspection robots in complex terrain (such as stairs and steps). At the same time, it enables the inspection robot to have the ability to recover from failures, reduce human intervention, and improve the continuity of operation.

[0004] To address the aforementioned technical problems, embodiments of this utility model provide an automatic inspection device for tandem wheel cascades based on STM32, comprising:

[0005] The vehicle body has two wheels, a drive motor and a controller. The drive motor is connected to the controller, and the controller controls the movement of the wheels via the drive motor, thereby controlling the movement of the vehicle body.

[0006] The detection system is mounted on the vehicle body and includes an attitude sensor, a vehicle speed measurement module, and an ultrasonic module. The attitude sensor, vehicle speed measurement module, and ultrasonic module are respectively connected to the controller to monitor the balance of the vehicle body, measure the vehicle speed, and detect obstacles.

[0007] The power module, or battery, is mounted on the vehicle body and electrically connected to the controller to supply power to the device.

[0008] In the aforementioned inspection device, auxiliary brackets are installed on the lower parts of the front and rear opposite sides of the vehicle body, and auxiliary wheels are rotatably installed at the lower end of the auxiliary brackets.

[0009] In the aforementioned inspection device, the two walking wheels are two sets of self-propelled wheel assemblies, and a set of balance leg assemblies are installed on each of the opposite sides of the vehicle body. The two sets of self-propelled wheel assemblies are respectively set at the working bottom of the two sets of balance leg assemblies. The two sets of self-propelled wheel assemblies work independently and are electrically connected to the controller to drive the vehicle body to move.

[0010] In the aforementioned inspection device, the balance leg assembly includes a motor-driven swing arm structure for adjusting the position of the walking wheels. The swing arm structure adjusts the lower part of the walking wheels to be flush with the lower part of the auxiliary wheels. Multiple sets of wheels can move stably through the front and rear auxiliary wheels and the walking wheels. When it is necessary to cross an obstacle, the swing arm structure is adjusted to lower the walking wheels and relatively raise the vehicle body, so that the vehicle body can only be supported by the walking wheels on both sides, thereby improving the obstacle crossing ability.

[0011] The aforementioned inspection device also includes a data transmission module and a host computer. The controller is connected to the host computer through the data transmission module for transmitting control signals and sensor detection data between the controller and the host computer.

[0012] The aforementioned inspection device also includes an observation module, which is a camera and / or an infrared module. The observation module is also connected to a host computer through a data transmission module, and receives images and / or infrared signals from the vehicle body through the host computer so that operators can remotely observe and operate it.

[0013] The aforementioned inspection device also includes an OLED display module, which is electrically connected to the controller. The OLED display module displays relevant data that needs to be shown, such as vehicle speed and attitude information.

[0014] In the aforementioned inspection device, the attitude sensor includes an accelerometer and a gyroscope, both of which are electrically connected to the controller.

[0015] Compared with existing technologies, this utility model's wheel-leg composite structure adopts a "tandem" wheel-leg design, combining high-speed wheel movement with obstacle-crossing capability. When there are no obstacles, it moves quickly in multiple wheel modes; when encountering obstacles, it switches to leg mode via motor drive, with the feet (two walking wheels) supporting the ground to cross obstacles. If it rolls over during inspection, it can self-rescue using the two legs driven by independent motors, greatly reducing human intervention. This utility model can also be combined with SLAM technology, using sensors (such as lidar and cameras) mounted on the machine to collect environmental information, and then using algorithms to fuse this information to determine the equipment's position in unknown environments and construct an environmental map, thereby improving the accuracy of factory inspections. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0017] Figure 2 This is a side view of the present invention;

[0018] Figure 3 This is a system schematic diagram of this utility model;

[0019] Figure 4 It is a workflow diagram; Detailed Implementation

[0020] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0021] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0022] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0023] In the following description, in order to clearly demonstrate the structure and working method of this utility model, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0024] Among existing technical solutions, wheel-legged tandem robots and wheel-legged hybrid mobile robots are most similar to this invention in terms of mechanical structure, functional characteristics, and application scenarios. They all employ a wheel-legged hybrid design to balance rapid movement and high obstacle avoidance capabilities, but there is still room for improvement in control complexity, power consumption, and terrain adaptability. The most similar existing technical solutions mainly involve wheel-legged hybrid robots and two-wheeled self-balancing vehicle control technology. These solutions attempt to integrate the advantages of wheeled and legged mechanisms in terms of mechanical structure and design concept to balance movement speed and terrain adaptability. However, there is still room for improvement in structural simplification and energy efficiency. Furthermore, innovative designs for wheel-legged robots, such as leg-like linkage mechanisms based on two-wheeled self-balancing vehicles, and control strategies optimized using LQR and VMC algorithms, demonstrate exploration in improving robot motion performance and stability. Meanwhile, two-wheeled self-balancing vehicle control technology, based on an inverted pendulum model and PID control algorithm, has achieved basic balancing functions, but its stability in complex terrain still needs to be strengthened.

[0025] The system revolves around a tandem leg-wheel composite structure. At the control level, a multimodal balance algorithm based on an inverted pendulum model is developed, integrating IMU tilt angle data and motor encoder feedback. A PID controller adjusts the wheel set torque output to maintain vehicle dynamic stability. For sudden instability situations, a self-rescue control logic is designed: when the tilt sensor detects a critical threshold (e.g., ±45°), the leg mechanism deploys, achieving a soft landing through support surface expansion and center of gravity adjustment. A 3D environmental map is constructed using SLAM technology to provide data support for path planning. The communication module supports 4G / 5G remote monitoring, allowing operators to switch between automatic inspection and manual intervention modes via a host computer, improving system fault tolerance.

[0026] like Figures 1 to 4 As shown, an embodiment of this utility model specifically provides an automatic inspection device for serially mounted wheel cascaded wheels based on STM32, the hardware of which specifically includes:

[0027] The vehicle body 1 has two wheels 11, a drive motor 12 and a controller 13. The drive motor 12 is connected to the controller 13. The controller 13 controls the movement of the wheels 11 through the drive motor 12, thereby controlling the movement of the vehicle body (1). In this embodiment, the controller 13 is an STM32 main control chip.

[0028] The detection system 2 is mounted on the vehicle body 1 and includes an attitude sensor 21, a vehicle speed measurement module 22, and an ultrasonic module 23. The attitude sensor 21, vehicle speed measurement module 22, and ultrasonic module 23 are respectively connected to the controller 13 to monitor the balance state of the vehicle body 1, measure the vehicle speed, and detect obstacles. The attitude sensor 21 includes an accelerometer and a gyroscope, both of which are electrically connected to the controller. Sensor information acquisition is a crucial step. Using the gyroscope and accelerometer, the attitude and acceleration information of the vehicle can be obtained, thereby calculating the tilt angle and direction of the vehicle. Then, an appropriate control strategy is adopted, and the control signal is output to the controller 13 (motor drive module) to keep the vehicle balanced and continue moving forward. To achieve obstacle avoidance and following functions, an ultrasonic module 23 is also added. The system hardware framework is shown in the figure below.

[0029] The power module 3, i.e. the storage battery, is mounted on the vehicle body 1 and electrically connected to the controller 13 to supply power to the device.

[0030] Auxiliary brackets 14 are installed on the lower parts of the front and rear opposite sides of the vehicle body 1, and auxiliary wheels 15 are rotatably mounted on the lower ends of the auxiliary brackets 14. The two walking wheels 11 are two sets of self-propelled wheel assemblies. A set of balance leg assemblies 16 are installed on the opposite sides of the vehicle body 1. The two sets of self-propelled wheel assemblies are respectively located at the working bottom ends of the two sets of balance leg assemblies 16. The two sets of self-propelled wheel assemblies work independently and are electrically connected to the controller 13 to drive the vehicle body 1 to move. The balance leg assembly 16 includes a swing arm structure driven by a motor for adjusting the position of the walking wheels 11. The swing arm structure adjusts the lower part of the walking wheels 11 to be flush with the lower part of the auxiliary wheels 15. The swing arm structure can be adopted as follows: Figure 1 and 2 The multi-bar cooperative swing arm structure shown can also be a single swing arm driven by a motor, as long as it can achieve the function described in this application. Multiple sets of wheels can be used to achieve stable walking through the front and rear auxiliary wheels 15 and the walking wheels 11. When it is necessary to cross an obstacle, the swing arm structure is adjusted to lower the walking wheels 11 and relatively raise the vehicle body 1, so that the vehicle body 1 can only be supported by the walking wheels 11 on both sides, thereby improving the obstacle crossing ability.

[0031] As a preferred embodiment, it may also include a data transmission module 4 and a host computer 5. The controller 13 is connected to the host computer 5 through the data transmission module 4 for the transmission of control signals and sensor detection data between the controller 13 and the host computer 5.

[0032] In this embodiment, the observation module 6 is a camera and / or an infrared module (infrared sensor). The observation module is also connected to the host computer 5 through the data transmission module 4. The host computer 5 receives the image and / or infrared module at the vehicle body 1 so that the operator can remotely observe and operate.

[0033] In a preferred embodiment, an OLED display module 7 is also included. The OLED display module 7 is electrically connected to the controller 13 and displays relevant data to be displayed, such as vehicle speed and attitude information.

[0034] The main flowchart of the software is as follows: Figure 3 As shown. The overall software design of the system is as follows: First, each module is initialized. Each module must be initialized upon power-up to ensure it is in normal working condition. After initialization, the system enters a loop waiting for commands. A timer is set to enter an interrupt routine every 5ms. Upon entering the interrupt, the loop of various parameter functions begins, and corresponding parameters are adjusted through PID control feedback. This adjusts the PWM wave of the drive motor and limits the PWM amplitude to achieve forward and reverse rotation and speed control, enabling the scooter to achieve balance. When the tilt angle threshold exceeds the set value, the output PWM value is 0, the motor stops rotating, the hardware system is protected, and the system needs to be powered on again.

[0035] The balancing leg assembly 16 revolves around a tandem leg-wheel composite structure. At the control level, a multimodal balancing algorithm is developed based on an inverted pendulum model, integrating IMU tilt angle data and motor encoder feedback. A PID controller adjusts the wheel set torque output to maintain vehicle dynamic stability. For sudden instability situations, a self-rescue control logic is designed: when the tilt sensor detects a critical threshold (e.g., ±45°), the leg mechanism deploys, achieving a soft landing through support surface expansion and center of gravity adjustment. A 3D environmental map is constructed using SLAM technology, providing data support for path planning. The communication module supports 4G / 5G remote monitoring, allowing operators to switch between automatic inspection and manual intervention modes via a host computer, enhancing system fault tolerance.

[0036] The above description is the preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. An automatic inspection device for serially mounted wheel cascades based on STM32, characterized in that, include: The vehicle body (1) has two wheels (11), a drive motor (12) and a controller (13). The drive motor (12) is connected to the controller (13). The controller (13) controls the movement of the wheels (11) through the drive motor (12) and thus controls the movement of the vehicle body (1). The detection system (2) is installed on the vehicle body (1) and includes an attitude sensor (21), a vehicle speed measurement module (22) and an ultrasonic module (23). The attitude sensor (21), the vehicle speed measurement module (22) and the ultrasonic module (23) are respectively connected to the controller (13) to monitor the balance state of the vehicle body (1), measure the vehicle speed and obstacles. The power module (3), i.e. the battery, is mounted on the vehicle body (1) and electrically connected to the controller (13) to supply power to the device.

2. The automatic inspection device for tandem wheel cascades based on STM32 according to claim 1, characterized in that, The lower parts of the front and rear sides of the vehicle body (1) are equipped with auxiliary brackets (14), and the lower end of the auxiliary brackets (14) is rotatably equipped with auxiliary wheels (15).

3. The automatic inspection device for tandem wheel cascades based on STM32 according to claim 2, characterized in that, The two walking wheels (11) are two sets of self-propelled wheel assemblies. A set of balance leg assemblies (16) are installed on the opposite sides of the vehicle body (1). The two sets of self-propelled wheel assemblies are respectively set at the working bottom of the two sets of balance leg assemblies (16). The two sets of self-propelled wheel assemblies work independently and are electrically connected to the controller (13) to drive the vehicle body (1) to move.

4. The automatic inspection device for tandem wheel cascades based on STM32 according to claim 3, characterized in that, The balance leg assembly (16) includes a motor-driven swing arm structure for adjusting the position of the walking wheel (11). The swing arm structure adjusts the lower part of the walking wheel (11) to be flush with the lower part of the auxiliary wheel (15). Multiple sets of wheels can be used to achieve stable walking through the front and rear auxiliary wheels (15) and the walking wheel (11). When it is necessary to cross an obstacle, the swing arm structure is adjusted to lower the walking wheel (11) and relatively raise the vehicle body (1), so that the vehicle body (1) is supported by the walking wheels (11) on both sides.

5. The automatic inspection device for tandem wheel cascades based on STM32 according to claim 1, characterized in that, It also includes a data transmission module and a host computer. The controller (13) is connected to the host computer through the data transmission module for the transmission of control signals and sensor detection data between the controller (13) and the host computer.

6. The automatic inspection device for tandem wheel cascades based on STM32 according to claim 1, characterized in that, It also includes an observation module, which is a camera and / or an infrared module. The observation module is also connected to the host computer through a data transmission module, and receives the image and / or infrared signal at the vehicle body (1) through the host computer.

7. The automatic inspection device for tandem wheel cascades based on STM32 according to claim 1, characterized in that, It also includes an OLED display module (7), which is electrically connected to the controller (13) and displays the relevant data to be displayed through the OLED display module (7).

8. The automatic inspection device for tandem wheel cascades based on STM32 according to claim 1, characterized in that, The attitude sensor (21) includes an accelerometer and a gyroscope, both of which are electrically connected to the controller.

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