CN106802656B - Cambered surface posture adjusting method of tunnel cleaning robot - Google Patents
Cambered surface posture adjusting method of tunnel cleaning robot Download PDFInfo
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 104
- 238000005259 measurement Methods 0.000 claims abstract description 33
- 239000012636 effector Substances 0.000 claims description 14
- 238000007790 scraping Methods 0.000 claims description 3
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 238000011086 high cleaning Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 5
- 238000005406 washing Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 239000000758 substrate Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
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- 241000238586 Cirripedia Species 0.000 description 1
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- 238000009530 blood pressure measurement Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 235000015170 shellfish Nutrition 0.000 description 1
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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Abstract
The invention discloses a cambered surface posture adjusting method of a tunnel cleaning robot, which comprises the following steps: the highest contact of the ball is projected on the equivalent diameter of the tunnel along the axial direction of the tunnel; the ball contacts the arc inner wall of the tunnel and compresses the elastic element to generate deformation, the guide rod connected with the elastic element slides relatively along a sleeve, and a displacement sensor in the sleeve acquires a measurement value of the relative displacement of the guide rod relative to the sleeve; acquiring the direction of the tail end execution device of the tunnel cleaning robot deviating from the wall surface of the tunnel and/or the relative state between the tail end execution device of the tunnel cleaning robot and the arc wall surface of the tunnel according to the deviation degree between the measured value acquired by the displacement sensor and the stored reference value; and adjusting the tail end execution device of the tunnel cleaning robot to restore the tail end execution device to the optimal posture. By implementing the cambered surface posture adjusting method of the tunnel cleaning robot, the posture can be automatically adjusted according to the feedback result when the tail end executing device deviates from the optimal posture; high cleaning efficiency, high stability, safety and reliability.
Description
Technical Field
The invention relates to the field of tunnel robots, in particular to a cambered surface posture adjusting method of a tunnel cleaning robot.
Background
In the prior art, clean seawater is introduced into a power station from a water source through a water intake tunnel of a nuclear power station, and seacreatures such as shellfish and barnacles can be attached to the inner wall of the water intake tunnel. Marine life that adheres to on the inner wall can make the tunnel area of overflowing reduce thereby the water delivery capacity of tunnel has been reduced, consequently needs to clear up the marine life who adheres to.
The traditional manual cleaning mode has the problems of poor working environment, low working efficiency, potential danger and the like, and the tunnel marine organism cleaning robot is born at the same time. The existing cambered surface posture adjusting method of the tunnel cleaning robot mainly has the following technical defects:
1. the arc surface attitude adjusting method adopting infrared distance measurement has low precision and poor directivity.
2. The cambered surface attitude adjustment method adopting laser ranging has the advantages of high manufacturing cost, poor pollution resistance and need of keeping an optical system clean; when a substance with high laser absorption rate exists in the air, the precision is easy to be low; laser light can cause harm to humans. In addition, the laser precision measurement needs target emission light, even needs total emission, and the tunnel surface does not have total reflection ability, and it is unrealistic to install a reflecting prism on the tunnel surface.
3. The cambered surface attitude adjustment method adopting ultrasonic ranging has low precision and poor stability and directivity.
4. The cambered surface attitude adjustment method adopting visual ranging has poor effect when more dust or fog exists in the air.
In summary, the emission and reflection of sound waves and light waves require a certain time, and are suitable for the measurement of two relative fixed points, and if the measuring device is in a motion (vibration, shake) state, the requirement of precise measurement cannot be met.
Disclosure of Invention
The invention aims to solve the technical problem of providing a cambered surface posture adjusting method of a tunnel cleaning robot, which can automatically adjust the posture according to a feedback result when a tail end executing device deviates from the optimal posture; high cleaning efficiency, high stability, safety and reliability.
In order to solve the technical problem, an embodiment of the present invention provides a method for adjusting an arc-surface posture of a tunnel cleaning robot, including the following steps: the highest contact of the balls is projected on the equivalent diameter of the tunnel along the axial direction of the tunnel, and the balls are arranged into a plurality of groups; the ball contacts the arc inner wall of the tunnel and compresses the elastic element to generate deformation, the guide rod connected with the elastic element slides relatively along a sleeve, and a displacement sensor in the sleeve acquires a measurement value of the relative displacement of the guide rod relative to the sleeve; acquiring the direction of the tail end execution device of the tunnel cleaning robot deviating from the wall surface of the tunnel and/or the relative state between the tail end execution device of the tunnel cleaning robot and the arc wall surface of the tunnel according to the deviation degree between the measured value acquired by the displacement sensor and the stored reference value; and adjusting the tail end execution device of the tunnel cleaning robot to recover the optimal posture according to the deviation value between the measured value and the reference value acquired by the displacement sensor.
Wherein, the step of obtaining a deviation value between the measurement value and the reference value according to the displacement sensor further comprises: the deviation value is transmitted to a control system through a pressure sensor, and the control system adjusts the posture of the tail end execution device of the cleaning robot correspondingly.
Wherein, the step of adjusting the terminal final actuating device of tunnel cleaning robot so that it resumes best posture includes: and superposing the cylindrical surface where the contact point of the ball and the arc inner wall of the tunnel is positioned with the cylindrical surface of the tunnel, and enabling the measured value obtained by the displacement sensor to be equal to the stored reference value.
Wherein the control system is a closed-loop negative feedback system for gradually decreasing the deviation value until the measured value obtained by the displacement sensor is equal to the stored reference value.
The tunnel cleaning robot end adjusting device comprises a base plate, a pressure sensor, a displacement sensor, a guide rod, a ball and a control unit, wherein the tunnel cleaning robot end adjusting device is connected to the base plate; the elastic element is sleeved outside the guide rod, and two opposite ends of the elastic element are respectively pressed on the pressure sensor and the displacement sensor.
Wherein, be used for acquireing the guide arm and include for sleeve displacement sensor of relative displacement measured value: first displacement sensor, second displacement sensor and third displacement sensor, first displacement sensor and third displacement sensor arrange the both sides at the second displacement sensor, wherein: according to the deviation degree between the measured value obtained by the displacement sensor and the stored reference value, the step that the obtained terminal execution device of the tunnel cleaning robot deviates the direction of the wall surface of the tunnel comprises the following steps: and judging whether the tail end execution device of the tunnel cleaning robot deviates from the tunnel cambered surface in the pitching direction or the left-right swinging direction according to the comparison value between the measurement value acquired by the first displacement sensor, the second displacement sensor and the third displacement sensor and the reference value.
The method comprises the following steps of acquiring the relative state between the tail end execution device of the tunnel cleaning robot and the circular arc wall surface of the tunnel according to the deviation degree between the measured value acquired by the displacement sensor and the stored reference value: according to the comparison value between the measurement value acquired by the first displacement sensor, the second displacement sensor and the third displacement sensor and the reference value, whether the end executing device of the tunnel cleaning robot rotates in the radial direction of the tunnel or is too close to the arc wall surface of the tunnel or too far away from the arc wall surface of the tunnel is judged.
And the stored reference value of the relative displacement of the guide rod relative to the sleeve acquired by the displacement sensor can be adjusted and calibrated.
And a scraping and washing shell is arranged around the highest contact point of the ball and is used for scraping and washing the surface of the rolling ball when the ball rolls.
The cambered surface posture adjusting method of the tunnel cleaning robot provided by the invention has the following beneficial effects:
the tunnel cleaning robot can acquire the direction of a tail end execution device of the tunnel cleaning robot deviating from the wall surface of a tunnel and/or the relative state between the tail end execution device of the tunnel cleaning robot and the arc wall surface of the tunnel according to the deviation degree between a measured value acquired by a displacement sensor and a stored reference value; and the tail end execution device of the tunnel cleaning robot can be adjusted to recover the optimal posture according to the deviation value between the measured value and the reference value acquired by the displacement sensor. When the carrier of the tail end executing device deviates from the theoretical optimal posture due to deviation or jitter and the like, the posture of the tail end executing device can be automatically adjusted to be close to the theoretical optimal posture.
Secondly, pressure between the ball and the inner wall of the tunnel can be fed back to the control system in real time, the control system correspondingly adjusts the posture of the tail end executing device of the cleaning robot, overload protection can be realized through the contact force, and the contact force between the tail end executing device and the inner wall of the tunnel is kept in a stable range.
Thirdly, the cleaning is efficient, the stability is high, and the cleaning is safe and reliable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a posture adjustment device of a tunnel cleaning robot arc posture adjustment method according to an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a tunnel cleaning robot end execution device for cleaning the inner wall of a tunnel according to the tunnel cleaning robot arc-surface posture adjustment method of the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, a first embodiment of the arc-surface posture adjustment method of the tunnel cleaning robot of the present invention is shown.
The cambered surface posture adjusting method of the tunnel cleaning robot in the embodiment is applied to the tunnel cleaning robot, and the tunnel cleaning robot is used for cleaning marine organisms, sludge and other impurities in the tunnel. When specifically implementing, tunnel clearance robot includes: the tunnel wall posture detection device comprises an end executing device 1 and a posture adjusting device 2 which is connected to the end executing device 1 and used for detecting the posture of the end executing device 1 relative to the tunnel wall.
Further, the posture adjusting device 2 includes a base plate 21, and a plurality of sets of detection contacts are disposed on the base plate 21, and in the present embodiment, the detection contacts have the same structure and are provided in three sets, and are arranged on the base plate 21 in a triangular shape. Any set of sensing contacts includes: the pressure sensor 22 is integrated on the substrate 21, the guide rod 23 is connected to the pressure sensor 22, one end of the guide rod is sleeved on the guide rod 23, the other opposite end of the guide rod is connected with a sleeve 25 of a ball 24, and the elastic element 26 is sleeved outside the guide rod 23, and the two opposite ends of the elastic element are respectively pressed on the pressure sensor 22 and the sleeve 25. Wherein: a displacement sensor is arranged inside the sleeve 25 and the elastic element 26 is a compression spring. In specific implementation, the ball 24 contacts the tunnel arc inner wall T and compresses the elastic element 26 to deform, and the displacement sensor in the sleeve 25 obtains a measurement value of the relative displacement of the guide rod 23 with respect to the sleeve. For example: when cleaning, the ball 24 of the posture detection module 2 contacts and presses on the cleaned tunnel arc inner wall T, and when the ball 24 contacts the tunnel arc inner wall T and compresses the elastic element 26 to deform to the stored setting value, it indicates that the pose of the actuator is correct, otherwise other mechanisms of the robot need to be cleaned through the tunnel, for example: the mechanical arm, the telescopic oil cylinder and the like are cleaned to adjust the posture of the tail end executing device.
Preferably, the displacement sensor for obtaining the relative displacement measurement of the guide rod 23 with respect to the sleeve 25 in the present embodiment includes: the first displacement sensor R1, the second displacement sensor R2, or the third displacement sensor R3, the first displacement sensor R1, and the third displacement sensor R3 are arranged on both sides of the second displacement sensor R2.
The arc surface posture adjusting method of the tunnel cleaning robot comprises the following steps of:
and S10, projecting the highest contact O of the ball 24 on the equivalent diameter of the tunnel along the axial direction of the tunnel, wherein the number of the ball 24 corresponding to the group of the detection contacts is three, and the three balls are in contact with different tunnel sections during operation.
S20, the ball 24 contacts the tunnel arc inner wall T and compresses the elastic element 26 to deform, the guide rod 23 connected with the elastic element 26 slides relatively along the sleeve 25, and the displacement sensor in the sleeve 25 acquires the measurement value of the relative displacement of the guide rod 23 relative to the sleeve 25.
And S30, acquiring the direction of the tail end execution device 1 of the tunnel cleaning robot deviating from the tunnel wall surface T and/or the relative state between the tail end execution device 1 of the tunnel cleaning robot and the tunnel arc wall surface T according to the deviation degree between the measured value acquired by the displacement sensor and the stored reference value.
And S40, adjusting the tunnel cleaning robot end effector 1 to restore the tunnel cleaning robot end effector to the optimal posture according to the deviation value between the measured value and the reference value acquired by the displacement sensor.
In specific implementation, the tail end executing device 1 of the tunnel cleaning robot is adjusted to be connected to the base plate 21, and when the posture of the tail end executing device 1 deviates from the theoretically optimal posture due to some reasons, the posture of the base plate 21 is inevitably changed along with the fixed connection of the base plate 21 and the tail end executing device 1.
In step S30, the step of acquiring the deviation degree between the measured value acquired by the displacement sensor and the stored reference value, wherein the step of deviating the end effector 1 of the tunnel cleaning robot from the direction of the tunnel wall surface, includes: and judging whether the tunnel cleaning robot tail end executing device 1 deviates from the tunnel cambered surface in the pitching direction or the left-right rolling direction according to the comparison value between the measurement value acquired by the first displacement sensor R1, the second displacement sensor R2 or the third displacement sensor R3 and the reference value. For example: when the measurement value of the first displacement sensor R1 is significantly greater than the reference value and the measurement value of the third displacement sensor R3 is significantly less than the reference value, or the measurement value of the third displacement sensor R3 is significantly greater than the reference value and the measurement value of the first displacement sensor R1 is significantly less than the reference value, it indicates that the substrate 21 is deviated from the arc wall surface of the tunnel in the pitching direction, i.e., the end effector 1 is deviated from the optimum posture in the pitching direction;
when the measurement values of the first displacement sensor R1 and the third displacement sensor R3 are significantly larger than the reference value and the measurement value of the second displacement sensor R2 is significantly smaller than the reference value, or when the pressure measurement values of the first displacement sensor R1 and the third displacement sensor R3 are significantly smaller than the reference value and the measurement value of the second displacement sensor R2 is significantly larger than the reference value, it is said that the base plate 21 deviates from the optimum attitude in the yaw direction, that is, the end effector 1 deviates from the optimum attitude in the pitch direction.
Further, the step of obtaining the relative state between the end execution device 1 of the tunnel cleaning robot and the circular arc wall surface of the tunnel according to the deviation degree between the measured value obtained by the displacement sensor and the stored reference value comprises the following steps: and judging whether the tunnel cleaning robot end executing device 1 rotates in the radial direction of the tunnel or is too close to the arc wall surface of the tunnel or too far away from the arc wall surface of the tunnel according to the comparison value between the measurement value acquired by the first displacement sensor R1, the second displacement sensor R2 or the third displacement sensor R3 and the reference value. For example: when the measurement value of the second displacement sensor R2 is close to the reference value, and the measurement values of the first displacement sensor R1 and the third displacement sensor R3 are both significantly greater or both significantly less than the reference value, it indicates that the substrate 21 has rotated in the direction with the tunnel radial direction as the axis; when the measured values of the three displacement sensors R1, R2 and R3 are all obviously greater than the reference values, the end effector 1 is indicated to be too close to the arc wall surface of the tunnel; conversely, when the measured values of the three displacement sensors R1, R2 and R3 are all significantly smaller than the reference values, it indicates that the end effector 1 is too far away from the arc wall of the tunnel.
Step S30 is followed by: the deviation value is transmitted via the pressure sensor 22 to the control system, which adjusts the attitude of the cleaning robot end effector 1 accordingly. In specific implementation, the degree of deviation from the optimal posture can be quantified through the degree of deviation of the measurement values of the displacement sensors from the reference values, the deviation values are transmitted to the control system through the pressure sensors 22, the control system sends out corresponding instructions to adjust the posture of the actuator, the control system is a closed-loop negative feedback system and gradually reduces the deviation values until the measurement values of the three displacement sensors are close to the reference values, and the end effector 1 is proved to restore the optimal posture. Meanwhile, the pressure of the rolling ball 24 in contact with the wall surface of the tunnel can be fed back to the control system in real time, even if the rolling ball moves, the measurement result also follows the posture change of the tail end execution device 1 in real time, and the overload protection function can be realized through the contact force.
In step S40, the step of adjusting the tunnel cleaning robot end effector 1 to restore the optimal posture includes: and (3) superposing the cylindrical surface where the contact point of the ball 24 and the arc inner wall of the tunnel is positioned with the cylindrical surface of the tunnel, and enabling the measured value obtained by the displacement sensor to be equal to the stored theoretical reference value.
In other embodiments, a wiper housing 241 is provided around the highest contact point O of the ball 24 to wipe the surface of the ball as the ball 24 rolls. During the concrete implementation, under the condition of spin 24 and tunnel contact, when the automobile body removed along tunnel axis direction, spin 24 can roll under the frictional force effect, if spin 24 is by tunnel surface contamination, spin 24 surface and scrape the relative motion of washing shell 241 can scrape the washing to spin 24 surface when rolling, realize the self-cleaning function, and great granule can both be rinsed, and remaining particle is also not enough to influence measurement accuracy yet.
In addition, if the theoretical optimal attitude of the end effector 1 changes, the installation of the mechanism does not need to be changed, and only the reference value of the measurement value of the displacement sensor needs to be calibrated again. That is, the stored reference value of the relative displacement of the guide rod with respect to the sleeve obtained by the displacement sensor can be calibrated.
The method for adjusting the arc-surface posture of the tunnel cleaning robot has the following beneficial effects:
the tunnel cleaning robot can acquire the direction of a tail end execution device of the tunnel cleaning robot deviating from the wall surface of a tunnel and/or the relative state between the tail end execution device of the tunnel cleaning robot and the arc wall surface of the tunnel according to the deviation degree between a measured value acquired by a displacement sensor and a stored reference value; and the tail end execution device of the tunnel cleaning robot can be adjusted to recover the optimal posture according to the deviation value between the measured value and the reference value acquired by the displacement sensor. When the carrier of the tail end executing device deviates from the theoretical optimal posture due to deviation or jitter and the like, the posture of the tail end executing device can be automatically adjusted to be close to the theoretical optimal posture.
Secondly, pressure between the ball and the inner wall of the tunnel can be fed back to the control system in real time, the control system correspondingly adjusts the posture of the tail end executing device of the cleaning robot, overload protection can be realized through the contact force, and the contact force between the tail end executing device and the inner wall of the tunnel is kept in a stable range.
Thirdly, the cleaning is efficient, the stability is high, and the cleaning is safe and reliable.
Claims (9)
1. A cambered surface posture adjusting method of a tunnel cleaning robot is characterized by comprising the following steps:
the highest contact of the balls is projected on the equivalent diameter of the tunnel along the axial direction of the tunnel, and the balls are arranged into a plurality of groups;
the ball contacts the arc inner wall of the tunnel and compresses the elastic element to deform, the guide rod connected with the elastic element slides relatively along a sleeve, and a displacement sensor in the sleeve acquires a measurement value of the relative displacement of the guide rod relative to the sleeve;
acquiring the direction of the tail end execution device of the tunnel cleaning robot deviating from the wall surface of the tunnel and/or the relative state between the tail end execution device of the tunnel cleaning robot and the arc wall surface of the tunnel according to the deviation degree between the measured value acquired by the displacement sensor and the stored reference value;
and adjusting the tail end execution device of the tunnel cleaning robot to recover the optimal posture according to the deviation value between the measured value and the reference value acquired by the displacement sensor.
2. The method for adjusting the attitude of the arc surface of the tunnel cleaning robot according to claim 1, wherein the step of adjusting the attitude of the arc surface according to the deviation between the measured value obtained by the displacement sensor and the reference value further comprises the following steps: and transmitting the deviation value to a control system through a pressure sensor, and correspondingly adjusting the posture of the tail end execution device of the cleaning robot by the control system.
3. The method for adjusting the attitude of the cambered surface of the tunnel cleaning robot according to claim 2, wherein the step of adjusting the end effector of the tunnel cleaning robot to restore the optimal attitude comprises:
and the cylindrical surface where the contact point of the ball and the arc inner wall of the tunnel is located is superposed with the cylindrical surface of the tunnel, and the measured value obtained by the displacement sensor is equal to the stored reference value.
4. The method of adjusting the pose of the cambered surface of a tunnel cleaning robot of claim 3, wherein the control system is a closed-loop negative feedback system for gradually decreasing the deviation value until the measured value obtained by the displacement sensor is equal to a stored reference value.
5. The method for adjusting the arc-surface posture of the tunnel cleaning robot according to the claim 2, 3 or 4, wherein the end-effector of the tunnel cleaning robot is connected to a base plate, the pressure sensor is integrated on the base plate, one end of the displacement sensor is connected to the guide rod, and the other opposite end is connected to the ball;
the elastic element is sleeved outside the guide rod, and two opposite ends of the elastic element are respectively pressed against the pressure sensor and the displacement sensor.
6. The method of claim 1, wherein the displacement sensor for obtaining a measurement of the relative displacement of the guide rod with respect to the sleeve comprises: a first displacement sensor, a second displacement sensor, and a third displacement sensor, the first and third displacement sensors being disposed on both sides of the second displacement sensor, wherein:
the step of acquiring the deviation degree between the measured value acquired by the displacement sensor and the stored reference value, wherein the terminal execution device of the tunnel cleaning robot deviates from the direction of the wall surface of the tunnel, comprises the following steps:
and judging whether the tail end execution device of the tunnel cleaning robot deviates from the tunnel arc surface in the pitching direction or the left-right swinging direction according to the comparison values between the measurement values acquired by the first displacement sensor, the second displacement sensor and the third displacement sensor and the reference value.
7. The method for adjusting the attitude of the arc surface of the tunnel cleaning robot according to claim 6, wherein the step of obtaining the relative state between the end effector of the tunnel cleaning robot and the arc wall surface of the tunnel according to the deviation degree between the measurement value obtained by the displacement sensor and the stored reference value comprises:
and judging whether the end executing device of the tunnel cleaning robot rotates in the radial direction of the tunnel or is too close to or too far away from the arc wall surface of the tunnel according to the comparison values between the measurement values acquired by the first displacement sensor, the second displacement sensor and the third displacement sensor and the reference values.
8. The method for adjusting the posture of the cambered surface of the tunnel cleaning robot as claimed in claim 1, wherein the stored reference value of the relative displacement of the guide rod with respect to the sleeve obtained by the displacement sensor can be calibrated by adjustment.
9. The method for adjusting the attitude of the cambered surface of the tunnel cleaning robot as claimed in claim 1, wherein a scraping shell is arranged around the highest contact point of the ball to scrape the surface of the ball when the ball rolls.
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| 小型岩孔检测机器人结构设计及其动力学研究;李思宇;《万方数据库》;20161231;全文 * |
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