CN105459122B - Container inspection system robot system and its control method - Google Patents
Container inspection system robot system and its control method Download PDFInfo
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- CN105459122B CN105459122B CN201510730749.6A CN201510730749A CN105459122B CN 105459122 B CN105459122 B CN 105459122B CN 201510730749 A CN201510730749 A CN 201510730749A CN 105459122 B CN105459122 B CN 105459122B
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- electromagnet
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Abstract
The present invention provides a kind of Container inspection system robot system, including robot casing, Zu Shi travel mechanisms, electromagnet adsorbent equipment, Zu Shi travel mechanisms control module, magnet control module and power supply, wherein：Zu Shi travel mechanisms are connected by hinge with robot casing, electromagnet adsorbent equipment is fixed on Zu Shi travel mechanisms end, Zu Shi travel mechanisms control module, magnet control module and power supply are each attached on robot casing, Zu Shi travel mechanisms control module is used for the motion for controlling Zu Shi travel mechanisms, magnet control module controls the work and stopping of electromagnet adsorbent equipment, and power supply is Zu Shi travel mechanisms, electromagnet adsorbent equipment, Zu Shi travel mechanisms control module and magnet control module provide power supply.The present invention can adapt to the rough surface of container wall, advances or retreats on container wall surface, completes the detection to container wall surface.
Description
Technical field
The present invention relates to a kind of robot system, is that one kind possesses autonomous ability and can complete to collect specifically
The robot system and its control method for interior surface video detection of casing.
Background technology
Container is a kind of steel chest by specification standardization, and its is size normalised, can be overlapping layer by layer, can be a large amount of
Steamer, aircraft, train of transport by sea etc. are positioned over, transport space utilization rate is improved and ensures goods installation and transportation, container
It is essential equipment in modern cargo transport, the application of container is more and more common.To ensure cargo transport in container
Safety, container need to inspect inside progress before cargo transport, and inspecting work includes interior waterproof, inner clean, does
Without nail or the possible damage goods of other protrusions in dry and container, " container safety pact (Container is obtained
Safety Convention(CSC)).And for oversized container, for its length dimension more than 13 meters, width is high more than 2 meters
Spend more than 2.5 meters, directly progress naked eyes vision-based detection, light difference in container, labor intensity is big, inefficient, it is necessary to a kind of
Equipment can be automatically performed internal container detection.
Found through being retrieved to prior art：
1. it is published in《Mechatronics and Automation》2005IEEE International
Paper " Proposed wall climbing robot with Conference, 29July-1 Aug.2005
Permanent magnetic tracks for inspecting oil tanks " propose a kind of magneto Climbing Robot,
The robot running gear is track structure, and this track structure can not adapt to creeping for corrugated container wall.
2.SRI International companies develop a kind of climbing robot, and robot has the patent skill of the said firm
Art " electroadhesion " (the publication number US 20100027187A1 of application number 7551419) can be in concrete, metal, wood
Material, glass metope swash row, but this robot can only adapt to the environment of wall surface levelling, it is impossible to adapt to wavy surfaces
Cargo container wall is creeped.
In the prior art without find can be in the robot architecture of cargo container surface creep, and in practical application
In, it can adapt to the robot that cargo container wall is creeped and application demand be present.
The content of the invention
For deficiencies of the prior art, the present invention provides a kind of electromagnetic adsorption, the packaging of wall is climbed in the movement of sufficient formula
Case detects robot system, and the robot system can adapt to the practical structures of container waveform wall, using electromagnetic adsorption in
Container wall surface, and sufficient formula walking mechanism is utilized, walked on container wall surface.Video detection is installed in the robotic surface
Equipment, the image taking of cargo container inwall can be completed, realize the detection of cargo container inwall.
The present invention is achieved through the following technical solutions：
According to the first aspect of the invention, there is provided a kind of Container inspection system robot system, the system include：Robot
Casing, Zu Shi travel mechanisms, electromagnet adsorbent equipment, Zu Shi travel mechanisms control module, magnet control module and power supply, its
In：Zu Shi travel mechanisms are connected by hinge with robot casing, and electromagnet adsorbent equipment is fixed on Zu Shi travel mechanisms end,
Zu Shi travel mechanisms control module, magnet control module and power supply are fixed on robot casing；Zu Shi travel mechanisms control
Module is used for the motion for controlling Zu Shi travel mechanisms；Magnet control module controls the work and stopping of electromagnet adsorbent equipment；
Power supply is fixed on robot casing, is Zu Shi travel mechanisms, electromagnet adsorbent equipment, Zu Shi travel mechanisms control module and electricity
Magnet control module provides power supply；Zu Shi travel mechanisms can adapt to container wall surface irregularity shape automatically.
Further, the electromagnetic adsorption power between the electromagnet adsorbent equipment and container wall surface, and the foot
Supporting role of the formula travel mechanism to robot casing, it can be ensured that robot casing is in stable state at any time.
Further, when a Zu Shi travel mechanisms step pitch forward or backward, robot casing keeps stable, to
Preceding or repeating motion step pitch backward, realizes Container inspection system robot system in corrugated container wall apparent motion.
Further, it is the carrier of other building blocks that the robot casing, which is cube shaped,.
Further, the Zu Shi travel mechanisms, hinge, electromagnet adsorbent equipment number are identical, are a plurality of, and right
Claim to set.
In a preferred embodiment, the Zu Shi travel mechanisms, hinge, electromagnet adsorbent equipment number are four,
I.e.：First Zu Shi travel mechanisms, first axle, the second Zu Shi travel mechanisms, second hinge, 3-foot travel mechanism, the 3rd
Hinge, all fours type travel mechanism, the 4th hinge, the first electromagnet adsorbent equipment, the second electromagnet adsorbent equipment, the 3rd electromagnetism
Iron adsorbent equipment, the 4th electromagnet adsorbent equipment, wherein：
First Zu Shi travel mechanisms are moved by first axle, the second Zu Shi travel mechanisms by second hinge, 3-foot
Motivation structure is individually fixed in four angles of robot casing position by third hinge, all fours type travel mechanism by the 4th hinge
Put；
First electromagnet adsorbent equipment, the second electromagnet adsorbent equipment, the 3rd electromagnet adsorbent equipment, the 4th electromagnet are inhaled
Adsorption device is separately fixed at the first Zu Shi travel mechanisms, the second Zu Shi travel mechanisms, 3-foot travel mechanism, all fours type shifting
The end of motivation structure, the first electromagnet adsorbent equipment, the second electromagnet adsorbent equipment, the 3rd electromagnet adsorbent equipment and the 4th electricity
Magnetic iron absorption device can be adsorbed on container wall surface by electromagnetic force；
The first electromagnet of electromagnet control device independent control adsorbent equipment, the second electromagnet adsorbent equipment, the 3rd electromagnetism
The work and stopping of iron adsorbent equipment and the 4th electromagnet adsorbent equipment；Four institutes of Zu Shi travel mechanisms control device independent control
Shu Zu formulas travel mechanism moves forwards or backwards a step pitch；After ensuring that moving step pitch completes, the Zu Shi travel mechanisms
Container wall surface irregularity shape, repeating motion step pitch can be adapted to automatically so that the robot system can collect
The uneven surface advance of wall of casing retreats, and realizes the detection to container wall surface.
Preferably, the first axle, second hinge, third hinge, the 4th hinge are relative to robot casing center pair
Claim.
Preferably, the first Zu Shi travel mechanisms, the second Zu Shi travel mechanisms, 3-foot travel mechanism, four-footed
Formula travel mechanism can realize 0~180 ° of rotation along the center of first axle, second hinge, third hinge, the 4th hinge respectively,
The first Zu Shi travel mechanism corresponding with first axle and the second corresponding sufficient formula moving machine of second hinge are driven respectively
Structure, the 3-foot travel mechanism corresponding with third hinge and the corresponding all fours type travel mechanism of the 4th hinge are forward
Or move backward.
Preferably, during the Container inspection system robot system moves forwards or backwards, there are three electromagnet to inhale
Adsorption device is adsorbed on container wall surface, so that it is guaranteed that the Container inspection system robot system is in stable state all the time.
According to the second aspect of the invention, there is provided a kind of control method of Container inspection system robot system, it is specific as follows：
When the robot system is static：The electromagnet control device control electromagnet adsorbent equipment passes through electromagnetic force
Absorption is on container wall, to ensure that robot casing is still in container wall surface；
When the robot system is moved：The electromagnet control device controls one of electromagnet adsorbent equipment pine
The absorption to container wall is opened, other electromagnet adsorbent equipments are adsorbed on container wall still through electromagnetic force, ensure machine
People's casing is stable；
When the first electromagnet adsorbent equipment unclamps absorption to container wall, Zu Shi travel mechanisms control device control the
One Zu Shi travel mechanisms move forwards or backwards a step pitch；When moving step pitch in place after, electromagnet control device control first
Electromagnet adsorbent equipment is adsorbed on container wall, while controls the second electromagnet adsorbent equipment to unclamp the suction to container wall
It is attached；
When the second electromagnet adsorbent equipment unclamps absorption to container wall, Zu Shi travel mechanisms control device control the
Two Zu Shi travel mechanisms are moved forward or rearward a step pitch；When moving step pitch in place after, electromagnet control device control second
Electromagnet adsorbent equipment is adsorbed on container wall, while controls the 3rd electromagnet adsorbent equipment to unclamp the suction to container wall
It is attached；
When the 3rd electromagnet adsorbent equipment unclamps absorption to container wall, Zu Shi travel mechanisms control device control the
3-foot travel mechanism is moved forward or rearward a step pitch；When moving step pitch in place after, electromagnet control device control the 3rd
Electromagnet adsorbent equipment is adsorbed on container wall, while controls the 4th electromagnet adsorbent equipment to unclamp the suction to container wall
It is attached；
When the 4th electromagnet adsorbent equipment unclamps absorption to container wall, Zu Shi travel mechanisms control device control the
All fours type travel mechanism is moved forward or rearward a step pitch；When moving step pitch in place after, electromagnet control device control the 4th
Electromagnet adsorbent equipment is adsorbed on container wall；
So far, robot casing follows the first Zu Shi travel mechanisms, the second Zu Shi travel mechanisms, 3-foot moving machine
Structure, all fours type travel mechanism are moved forward or rearward a step pitch；During step pitch moves, three electromagnet adsorbent equipments are inhaled
It is attached on container wall, ensures the stabilization of robot casing；
The above method is repeated, the robot system can advance or retreat on container wall, using installed in described
Other sensors in Container inspection system robot system, such as video sensor, it is possible to achieve to the video on container wall surface
Detection.
Compared with prior art, the invention has the advantages that：
The present invention is by multiple electromagnet adsorbent equipments and the electromagnetic adsorption power on container wall surface, in combination with to individual foot
Supporting role of the formula travel mechanism to robot casing, it can be ensured that robot casing is in stable state at any time；
Present system can adapt to the rough surface of container wall, advances or retreats on container wall surface, utilizes carrying
Video image sensors, the detection to container wall surface can be completed.
Brief description of the drawings
The detailed description made by reading with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is one embodiment of the present invention work structure diagram；
In figure：First axle 1, second hinge 2, the first Zu Shi travel mechanisms 3, first the 4, second foot of electromagnet adsorbent equipment
Formula travel mechanism 5, the second electromagnet adsorbent equipment 6, the 3rd electromagnet adsorbent equipment 7, the electricity of 3-foot travel mechanism the 8, the 4th
Magnetic iron absorption device 9, all fours type travel mechanism 10, third hinge 11, robot casing 12, the 4th hinge 13, the movement of sufficient formula
Mechanism controls device 14, electromagnet control device 15, power supply 16.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
As shown in figure 1, a kind of Container inspection system robot system, the system include：First axle 1, second hinge 2,
First Zu Shi travel mechanisms 3, the first electromagnet adsorbent equipment 4, the second Zu Shi travel mechanisms 5, the second electromagnet adsorbent equipment 6,
3rd electromagnet adsorbent equipment 7,3-foot travel mechanism 8, the 4th electromagnet adsorbent equipment 9, all fours type travel mechanism 10,
Third hinge 11, robot casing 12, the 4th hinge 13, Zu Shi travel mechanisms control device 14, the and of electromagnet control device 15
Power supply 16；Wherein：
The first Zu Shi travel mechanisms 3 are fixed on 12 1 jiaos of robot casing by first axle 1, and the first electromagnet is inhaled
Adsorption device 4 is fixed on the end of the first Zu Shi travel mechanisms 3；
The second Zu Shi travel mechanisms 5 are fixed on 12 1 jiaos of robot casing by second hinge 2, and the second electromagnet is inhaled
Adsorption device 6 is fixed on the end of the second Zu Shi travel mechanisms 5；
The 3-foot travel mechanism 8 is fixed on 12 1 jiaos of robot casing, the 3rd electromagnet by third hinge 11
Adsorbent equipment 7 is fixed on the end of 3-foot travel mechanism 8；
The all fours type travel mechanism 10 is fixed on 12 1 jiaos of robot casing, the 4th electromagnet by the 4th hinge 13
Adsorbent equipment 9 is fixed on the end of all fours type travel mechanism 10；
Zu Shi travel mechanisms control device 14, electromagnet control device 15 and power supply 16 are each attached to robot casing
On 12；Zu Shi travel mechanisms control device 14 can control the first Zu Shi travel mechanisms 3, the second Zu Shi travel mechanisms respectively
5th, 3-foot travel mechanism 8 and all fours type travel mechanism 10；The electromagnetic control apparatus 15 can control the first electricity respectively
Magnetic iron absorption device 4, the second electromagnet adsorbent equipment 6, the 3rd electromagnet adsorbent equipment 7 and the 4th electromagnet adsorbent equipment 9, the
One electromagnet adsorbent equipment 4, the second electromagnet adsorbent equipment 6, the 3rd electromagnet adsorbent equipment 7 and the 4th electromagnet adsorbent equipment
9 are adsorbed on container wall by electromagnetic force；Power supply 16 be used for for the first Zu Shi travel mechanisms 3, the second Zu Shi travel mechanisms 5,
3-foot travel mechanism 8 and all fours type travel mechanism 10, the first electromagnet adsorbent equipment 4, the second electromagnet adsorbent equipment
6th, the 3rd electromagnet adsorbent equipment 7 and the 4th electromagnet adsorbent equipment 9, and Zu Shi travel mechanisms control device 14, electromagnet
Control device 15 provides power supply.
Preferably, aforementioned four hinge is connected relative to the Central Symmetry of robot casing 12 with hinge
Four Ge Zu formulas travel mechanisms can realize 0~180 along the hinge centres each connected respectively°Rotation, drives corresponding sufficient formula
Travel mechanism moves forwards or backwards.
Above-described embodiment Container inspection system robot system, control method are as follows：
When static, the first electromagnet adsorbent equipment 4, the second electromagnet adsorbent equipment 6, the 3rd electromagnet adsorbent equipment 7
Device 9 is inhaled with the 4th electromagnet to adsorb on container wall surface by electromagnetic force.Belong to waveform in view of container wall surface
It is uneven, the first Zu Shi travel mechanisms 3, the second sufficient formula moving machine 5,3-foot travel mechanism 8 and all fours type moving machine
Structure 10 is connected by first axle 1, second hinge 2, the hinge 13 of third hinge 11 and the 4th with robot casing 12, it is ensured that above-mentioned
Four Ge Zu formulas travel mechanisms adapt to the rough surface of container wall, while ensure the stabilization of robot casing 12.
In motion, electromagnet control device 15 controls the first electromagnet adsorbent equipment 4 to unclamp to container wall surface
Absorption, while the first electromagnet adsorbent equipment 4 is unclamped to container wall adsorption, Zu Shi travel mechanisms control device 14
The first Zu Shi travel mechanisms 3 are controlled to be moved forward or rearward a step pitch；After step pitch moves into place, electromagnet control device 15
The first electromagnet adsorbent equipment 4 is controlled to adsorb on container wall surface, it is contemplated that the rough surface of container wall, due to machine
Device people casing 12 is connected by first axle 1 with the first Zu Shi travel mechanisms 3, therefore the first Zu Shi travel mechanisms 3 can be automatic
The surface of container wall surface irregularity is adapted to, while is adsorbed by the first electromagnet adsorbent equipment 4 on container wall surface,
Ensure the stabilization of robot casing 12；
First electromagnet adsorbent equipment 4 is adsorbed on container wall surface simultaneously, the electricity of the control of electromagnet control device 15 second
Magnetic iron absorption device 6 unclamps the absorption to container wall surface, the sufficient formula movement of the control of Zu Shi travel mechanisms control device 14 second
Mechanism 5 moves forwards or backwards a step pitch；After step pitch is moved in place, electromagnet control device 15 controls the second electromagnet to inhale
Adsorption device 6 is adsorbed on container wall surface, and the second hinge is connected through due to the second Zu Shi travel mechanisms 5 and robot casing 12
Chain 2 is connected, and the second Zu Shi travel mechanisms 5 can adapt to the rough surface of packaging wall surface automatically, while by the second electricity
Magnetic iron absorption device 6 is adsorbed on container wall surface, it is ensured that the stabilization of robot casing 12；
Second electromagnet adsorbent equipment 6 is adsorbed on container wall surface simultaneously, the electricity of the control of electromagnet control device 15 the 3rd
Magnetic iron absorption device 7 unclamps the absorption to container wall surface, and Zu Shi travel mechanisms control device 14 controls 3-foot movement
Mechanism 8 moves forwards or backwards a step pitch；After step pitch is moved in place, electromagnet control device 15 controls the 3rd electromagnet to inhale
Adsorption device 7 is adsorbed on container wall surface, and the 3rd hinge is connected through due to 3-foot travel mechanism 8 and robot casing 12
Chain 11 is connected, and 3-foot travel mechanism 8 can adapt to the rough surface of packaging wall surface automatically, while by the 3rd electricity
Magnetic iron absorption device 8 is adsorbed on container wall surface, it is ensured that the stabilization of robot casing 12；
3rd magnetic iron absorption device 7 is adsorbed on container wall surface simultaneously, and electromagnet control device 15 controls the 4th electromagnetism
Iron adsorbent equipment 9 unclamps the absorption to container wall surface, and Zu Shi travel mechanisms control device 14 controls all fours type moving machine
Structure 10 moves forwards or backwards a step pitch；After step pitch is moved in place, electromagnet control device 15 controls the 4th electromagnet to inhale
Adsorption device 9 is adsorbed on container wall surface, and the 4th is connected through due to all fours type travel mechanism 10 and robot casing 12
Hinge 13 is connected, and all fours type travel mechanism 10 can adapt to the rough surface of packaging wall surface automatically, while by the
Four electromagnet adsorbent equipments 9 are adsorbed on container wall surface, it is ensured that the stabilization of robot casing 12.
During the present embodiment institute robot system moves forwards or backwards, there are three electromagnet adsorbent equipment absorption to exist
Container wall surface, so that it is guaranteed that the Container inspection system robot system is in stable state all the time；Repeat it is above-mentioned forward or
Motion process backward, the Container inspection system robot system can rough container wall surface advance or after
Move back, while ensure the stabilization of robot casing 12.
The present invention can adapt to the rough surface of container wall, advances or retreats on container wall surface, completion pair
The detection on container wall surface.
Certainly, above is a preferred embodiment of the present invention, the present invention also have other various embodiments, such as change foot
Formula travel mechanism, hinge, electromagnet adsorbent equipment number, can take 6,8 etc., and its principle realized and the present invention are above-mentioned
Embodiment is identical, repeats no more again.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (7)
1. a kind of Container inspection system robot system, it is characterised in that the system includes：Robot casing, sufficient formula moving machine
Structure, electromagnet adsorbent equipment, Zu Shi travel mechanisms control module, magnet control module and power supply, wherein：Zu Shi travel mechanisms
It is connected by hinge with robot casing, electromagnet adsorbent equipment is fixed on Zu Shi travel mechanisms end, the control of Zu Shi travel mechanisms
Molding block, magnet control module and power supply are fixed on robot casing；Zu Shi travel mechanisms control module is used to control foot
The motion of formula travel mechanism；Magnet control module controls the work and stopping of electromagnet adsorbent equipment；Power supply is fixed on machine
On people's casing, carried for Zu Shi travel mechanisms, electromagnet adsorbent equipment, Zu Shi travel mechanisms control module and magnet control module
Power supply source；Zu Shi travel mechanisms can adapt to container wall surface irregularity shape automatically；
The Zu Shi travel mechanisms, hinge, electromagnet adsorbent equipment number are four, i.e.,：First Zu Shi travel mechanisms, first
Hinge, the second Zu Shi travel mechanisms, second hinge, 3-foot travel mechanism, third hinge, all fours type travel mechanism,
Four hinges, the first electromagnet adsorbent equipment, the second electromagnet adsorbent equipment, the 3rd electromagnet adsorbent equipment, the 4th electromagnet are inhaled
Adsorption device, wherein：
First Zu Shi travel mechanisms pass through second hinge, 3-foot moving machine by first axle, the second Zu Shi travel mechanisms
Structure is individually fixed in four Angle Positions of robot casing by third hinge, all fours type travel mechanism by the 4th hinge；
First electromagnet adsorbent equipment, the second electromagnet adsorbent equipment, the 3rd electromagnet adsorbent equipment, the 4th electromagnet absorption dress
Put and be separately fixed at the first Zu Shi travel mechanisms, the second Zu Shi travel mechanisms, 3-foot travel mechanism, all fours type moving machine
The end of structure, the first electromagnet adsorbent equipment, the second electromagnet adsorbent equipment, the 3rd electromagnet adsorbent equipment and the 4th electromagnet
Adsorbent equipment can be adsorbed on container wall surface by electromagnetic force；
The work and stopping of four electromagnet adsorbent equipments of electromagnet control device independent control；Zu Shi travel mechanisms control device
The Ge Zu formulas travel mechanism of independent control four moves forwards or backwards a step pitch；After ensuring that moving step pitch completes, the foot
Formula travel mechanism can adapt to container wall surface irregularity shape, repeating motion step pitch automatically so that the system of robot
System can advance or retreat on the uneven surface of container wall, realize the detection to container wall surface；
The first Zu Shi travel mechanisms, the second Zu Shi travel mechanisms, 3-foot travel mechanism, all fours type travel mechanism energy
It is enough to realize 0~180 along the center of first axle, second hinge, third hinge, the 4th hinge respectively0Rotation, drive and the respectively
The first corresponding Zu Shi travel mechanisms of one hinge, the second Zu Shi travel mechanism corresponding with second hinge and third hinge
Corresponding 3-foot travel mechanism, all fours type travel mechanism corresponding with the 4th hinge move forwards or backwards.
A kind of 2. Container inspection system robot system according to claim 1, it is characterised in that the electromagnet adsorbent equipment
With the electromagnetic adsorption power between container wall surface, and supporting role of the Zu Shi travel mechanisms to robot casing, energy
Enough ensure that robot casing is in stable state at any time.
3. a kind of Container inspection system robot system according to claim 2, it is characterised in that when the Zu Shi travel mechanisms
Forward or backward during a step pitch, robot casing keeps stable, and repeating motion step pitch, realizes Container inspection system forward or backward
Robot system is in corrugated container wall apparent motion.
4. a kind of Container inspection system robot system according to claim 1, it is characterised in that the robot casing is vertical
Cube shape, it is the carrier of other building blocks.
5. according to a kind of any one of claim 1-4 Container inspection system robot systems, it is characterised in that first hinge
Chain, second hinge, third hinge, the 4th hinge are relative to robot casing Central Symmetry.
6. a kind of Container inspection system robot system according to claim 5, it is characterised in that in the Container inspection system machine
During device people's system moves forwards or backwards, there are three electromagnet adsorbent equipment absorption on container wall surface, so that it is guaranteed that
The Container inspection system robot system is in stable state all the time.
7. the control method of any one of a kind of claim 1-6 Container inspection system robot systems, it is characterised in that described
Method is specific as follows：
When the robot system is static：The electromagnet control device control electromagnet adsorbent equipment is adsorbed by electromagnetic force
On container wall, to ensure that robot casing is still in container wall surface；
When the robot system is moved：The electromagnet control device controls one of electromagnet adsorbent equipment release pair
The absorption of container wall, other electromagnet adsorbent equipments are adsorbed on container wall still through electromagnetic force, ensure robot case
Body is stable；
When the first electromagnet adsorbent equipment unclamps the absorption to container wall, Zu Shi travel mechanisms the first foot of control device control
Formula travel mechanism moves forwards or backwards a step pitch；When moving step pitch in place after, electromagnet control device control the first electromagnetism
Iron adsorbent equipment is adsorbed on container wall, while controls the second electromagnet adsorbent equipment to unclamp the absorption to container wall；
When the second electromagnet adsorbent equipment unclamps the absorption to container wall, Zu Shi travel mechanisms the second foot of control device control
Formula travel mechanism is moved forward or rearward a step pitch；When moving step pitch in place after, electromagnet control device control the second electromagnetism
Iron adsorbent equipment is adsorbed on container wall, while controls the 3rd electromagnet adsorbent equipment to unclamp the absorption to container wall；
When the 3rd electromagnet adsorbent equipment unclamps the absorption to container wall, Zu Shi travel mechanisms control device control tripodia
Formula travel mechanism is moved forward or rearward a step pitch；When moving step pitch in place after, electromagnet control device control the 3rd electromagnetism
Iron adsorbent equipment is adsorbed on container wall, while controls the 4th electromagnet adsorbent equipment to unclamp the absorption to container wall；
When the 4th electromagnet adsorbent equipment unclamps the absorption to container wall, Zu Shi travel mechanisms control device control four-footed
Formula travel mechanism is moved forward or rearward a step pitch；When moving step pitch in place after, electromagnet control device control the 4th electromagnetism
Iron adsorbent equipment is adsorbed on container wall；
So far, robot casing follows the first Zu Shi travel mechanisms, the second Zu Shi travel mechanisms, 3-foot travel mechanism,
All fours type travel mechanism is moved forward or rearward a step pitch；During step pitch moves, three electromagnet adsorbent equipment absorption exist
On container wall, ensure the stabilization of robot casing；
The above method is repeated, the robot system can advance or retreat on container wall, using installed in the packaging
Sensor in case detection robot system, realizes the detection to container wall surface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510730749.6A CN105459122B (en) | 2015-10-30 | 2015-10-30 | Container inspection system robot system and its control method |
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| CN201510730749.6A CN105459122B (en) | 2015-10-30 | 2015-10-30 | Container inspection system robot system and its control method |
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| CN105459122B true CN105459122B (en) | 2017-11-14 |
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| CN109174515B (en) * | 2018-09-19 | 2022-04-12 | 安徽工程大学 | Application method of auxiliary spraying device and spraying robot |
| JP2020095313A (en) * | 2018-12-10 | 2020-06-18 | 株式会社ロビックス | robot |
| CN111604306B (en) * | 2020-05-19 | 2022-03-15 | 深圳市南星海洋工程服务有限公司 | Jacket marine organism cleaning robot |
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| CN100469645C (en) * | 2005-09-13 | 2009-03-18 | 北京航空航天大学 | Variable-structure leg wheel type machine insect |
| CN101353064B (en) * | 2008-09-19 | 2010-07-21 | 北京航空航天大学 | Ground to wall transition wall gecko-intimating robot |
| CN102001371B (en) * | 2010-11-23 | 2012-05-23 | 南京航空航天大学 | Hydraulically-driven four-foot robot |
| CN103659815B (en) * | 2012-09-10 | 2015-10-21 | 中国科学院沈阳自动化研究所 | A kind ofly be applicable to narrow inspection robot mechanism of patrolling and examining working space |
| CN203793467U (en) * | 2014-04-24 | 2014-08-27 | 中北大学 | Wall-climbing robot based on the magnetic base principle |
| CN103991487B (en) * | 2014-04-27 | 2016-07-06 | 湘潭大学 | Full Pneumatic vacuum adsorbed wall-climbing robot |
| CN204477709U (en) * | 2015-01-14 | 2015-07-15 | 浙江海洋学院 | A kind of detecting robot of pipe |
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