CN114348139B - Visual inspection wall-climbing robot and control method - Google Patents
Visual inspection wall-climbing robot and control method Download PDFInfo
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- CN114348139B CN114348139B CN202210112062.6A CN202210112062A CN114348139B CN 114348139 B CN114348139 B CN 114348139B CN 202210112062 A CN202210112062 A CN 202210112062A CN 114348139 B CN114348139 B CN 114348139B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
Abstract
The invention discloses a vision inspection wall-climbing robot and a control method thereof. The mechanical structure mainly comprises a main body bearing part, a pneumatic leg driving device and a magnetic foot adsorption module. The wall climbing system mainly comprises a motor head raising mechanism, a pneumatic driving device and an electromagnetic adsorption system, the mechanism can be adsorbed on the wall, and the climbing function is realized through pneumatic driving. The detection system mainly comprises an infrared holder camera at the head, an industrial camera at the bottom and a visual detection light source, has the functions of camera attitude control and automatic detection, and can realize multi-azimuth and high-precision detection of the whole system. The invention has the characteristics of compact and small structure, strong climbing capability, high detection precision and good safety performance, and can be applied to the inspection work of various large port machines.
Description
Technical Field
The invention relates to a vision inspection wall-climbing robot and a control method thereof, belonging to the field of bionic robots and detection.
Background
At present, the daily safety inspection work of the wall surface of a large port machine is mostly finished manually, the inspection process wastes time and labor, the large port machine is large in size and complex in structure, the worker has high potential safety hazards in the inspection process, and the inspection difficulty is high and the labor intensity is high. In addition, the worker often hardly finds out the major defect of the hidden part, so that safety accidents are easily caused, and unnecessary risks are generated. How to complete the inspection work of the wall surface more efficiently and more safely becomes a problem to be solved urgently. The intelligent robot is used for replacing manual inspection, so that the risk of workers in inspection engineering can be effectively reduced, the labor cost is reduced, and the inspection efficiency and quality are improved.
Chinese patent publication No. CN206507902U discloses a wall surface robot, which comprises a first support and a second support symmetrically arranged, and a driving wheel, a suction cup, a fan, a first driving device and a control device respectively and symmetrically arranged on the first support and the second support, and is characterized in that: the first support and the second support are connected with a first guide rail mechanism through a second driving device, and the first support comprises a fixed frame, a driving frame and a driven frame; a scissor type lifting structure is arranged between the fixed frame and the driving frame, the scissor type lifting structure is respectively and fixedly connected with the fixed frame and the driving frame through an upper fixed plate and a lower fixed plate, and the scissor type lifting structure drives the lower fixed plate to move upwards; the driving frame is fixedly connected with the driven frame; the driven frame is connected with the fixed frame through a second guide rail mechanism, the second guide rail mechanism comprises a second guide sliding groove block and a second guide sliding block, the second guide sliding groove block is fixed on the driven frame, and the second guide sliding groove block is movably connected with the second guide sliding block fixed on the fixed frame; the driving wheel, the sucking disc and the first driving device are arranged on the driving frame. However, the climbing of the vertical surface is realized through the relative movement of the fixed frame and the driving frame, the structure is complex, the whole body is heavy, and the control is not facilitated.
In addition, current wall climbing robot is mostly traditional tracked robot, and although bearing weight is big, has nevertheless restricted turning to of robot, can't accomplish the diversified, multi-angle observation to the port machine wall for the adaptability and the flexibility ratio of whole device are high inadequately, have certain limitation in the use.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a visual inspection wall-climbing robot and a control method thereof, and solve the problems in the background technology.
In order to realize the purpose, the invention adopts the technical scheme that: a visual inspection wall-climbing robot comprises a body module, an internal transmission module, a leg module and a foot module; the internal transmission module is arranged in the body module; a plurality of leg modules are symmetrically arranged on two sides of the body module, and foot modules are arranged on the leg modules; the body module comprises a head housing, a connecting buckle, a movable hinge, a body housing, an infrared pan-tilt camera, a visual light source, an industrial camera, a body bottom plate and a head bottom plate; the head and the body of the body module adopt a separated structure, a head cover is arranged on a head bottom plate, and a body cover is arranged on a body bottom plate; the head is connected with the body through a connecting buckle; the head housing is provided with two symmetrically distributed leg connecting holes, the body housing is provided with six symmetrically distributed leg connecting holes, and the sizes of all the leg connecting holes are the same; the infrared pan-tilt camera is arranged on the front side of the head bottom plate, the industrial camera is arranged on the lower side of the head bottom plate, and the visual light source is arranged on the head bottom plate;
the internal transmission module comprises a sliding block, a connecting rod assembly, a motor, a large gear, a small gear, a battery and a turntable; the battery and the motor are connected and fixed on the body bottom plate, the motor is connected with the large gear, a small gear above the turntable is meshed with the large gear and is driven by the large gear, the small gear is fixed in the center of the turntable, one end of the connecting rod assembly is fixed above the turntable, the sliding block is positioned in the sliding groove of the head bottom plate, the other end of the connecting rod assembly is connected with the sliding block on the head bottom plate, and when the turntable rotates, the connecting rod assembly drives the sliding block to move in the sliding groove;
the leg module comprises a fabric protective sleeve D, a sealing cover, an air bag base, an air guide pipe, a first air pump, a single-hole sealing cover and a fixed support;
the fabric protective sleeve D is fixedly provided with a sealing cover and is connected with the right part of an air bag base, the air bag base is fixedly provided with an air bag, the left part of the air bag base is connected with a circular fixing support, the left end of the fixing support is provided with a single-hole sealing cover, an air guide pipe is connected with the air bag base () through the fixing support and is connected with a first air pump, and a cushion block is arranged below the first air pump;
the foot module comprises a square connecting piece, a first air transmission pipe, a second air transmission pipe, an inner air bag, an outer air bag, a foot main body, a proximity sensor, an electromagnet, a power-on contact, a round connecting piece, a right-angle connecting piece and a second air pump;
circular connecting piece have two connecting holes, be first connecting hole from a left side right side respectively, the second connecting hole, two second air pumps are being connected on the connecting hole, circular connecting piece installs on right angle connecting piece, and install in D fabric sheath top, right angle connecting piece passes square connecting piece and is connected with the foot main part, first gas transmission trachea is being connected to first connecting hole below on the circular connecting piece, second gas transmission pipe is being connected to second connecting hole below, first gas transmission pipe passes through right angle connecting piece and penetrates inside the foot main part, the foot main part divide into the three section with the foot main part through individual outer gasbag, first gas transmission pipe gets into and is connected to interior gasbag behind the foot main part, second gas transmission pipe loops through two outer gasbags, interior gasbag below installs an circular telegram contact, circular telegram contact below has three electro-magnets to install in the foot main part from a left side right side in proper order to the left side below, first electro-magnet, the second electro-magnet, the third electro-magnet passes through the wire connection right side, third electro-magnet below is installed and is close the sensor.
The lower leg part in the leg module consists of a D fabric jacket and supports the robot body; the gasbag base adopts flexible base, and size, the size of individual gasbag are the same and communicate each other, and the gasbag combines flexible base structure to control the shank main part, can realize that the shank is crooked fast, and the prediction maximum bend angle is 90.
Furthermore, the eight leg connecting holes are all the same in size and are matched with the leg modules.
Further, the two outer bladders are of the same size to control the fit and separation of the foot from the climbing plane; the foot body is made of flexible rubber material.
Further, when the infrared cloud platform camera of robot detects that the place ahead has step or wall, the new line link when robot climbs the wall first: a battery in the internal transmission module supplies power to a motor, the motor drives a large gear to rotate, the large gear drives a small gear to rotate, the small gear rotates and enables a connecting rod assembly on a turntable to move relatively, and the connecting rod assembly drives a sliding block located in a sliding groove of a bottom plate of the head to move, so that the whole head is lifted; when the head is lifted, the two second air pumps on the foot module convey air, the air pressure in the two outer air bags is changed through the two air conveying pipes, the inner air bag is inflated and then expands to enable the power-on contact to be in contact with the first electromagnet below, so that the electromagnet is electrified to generate adsorption force and can be adsorbed on a plane; the outer air bags are inflated and then expanded, so that the whole foot main body is attached to a working plane, an adsorption link during wall climbing is realized, after the head of the robot is adsorbed on the working surface, the first air pumps in the two front leg and leg modules alternately inflate the air bags, so that the air bags are expanded, the air bag bases are driven to deform and bend, and the two front legs move upwards in a left-right alternating manner;
when the head moves to a distance capable of accommodating the body, the mechanism in the internal transmission module repeats the working process of the head raising link, so that the whole body cover is put down, and six foot modules in the body cover part provide adsorption force to enable the whole body to be adsorbed on a working plane; when the robot normally inspects the wall surface, the first air pump of the leg module controls the expansion and contraction of each air bag through inflation and deflation, the air pressure inside each air bag changes to enable the air bag base to deform in different degrees, so that the leg main body is driven to bend, when the air bags are inflated, the legs begin to bend, and if the air bags are deflated to the original air pressure, the legs recover the original angles; when the robot moves forwards on the wall surface, the outer airbags in the foot modules of the two groups of front legs are deflated to separate the two groups of front legs from the wall surface, meanwhile, the airbags in the leg modules begin to inflate to expand the airbags and drive the airbag bases to deform, the two groups of front legs begin to bend, after a set distance is reached, the outer airbags and the inner airbags of the two groups of front legs inflate simultaneously to enable the front legs to be in contact with and adsorbed by the wall surface, the two groups of rear legs do not adsorb at the moment, then, the first air pumps of the leg modules of the two groups of front legs deflate, the airbags shrink to enable the leg main body to be restored to the unbent state, and the whole body is driven to climb forwards; the backward movement and the turning of the robot can be realized by controlling the inflation and deflation of each first air pump in the eight leg modules and the foot modules; when the robot patrols and examines, can use head below industry camera and vision light source, the industry camera can gather the wall image in real time, when detecting that some point position colour is distinguished with colour on every side or when detecting the position discovery crackle, the time that the industry camera can detailed record defect discovery feeds back to the staff, records the coordinate position and the storage of this point, the robot can realize the accurate location of defect through reading data in the card after surveying work to realize the detection function.
Compared with the background technology, the invention has the following beneficial effects:
1. the head of the robot adopts a split type design, and the head and the body can realize relatively independent motion control. The lifting of the head can help the robot to climb over obstacles and climb on a vertical wall surface in the wall climbing process. An industrial camera and a visual light source are arranged at the bottom of the robot, so that the surface defects of the crane can be detected in 24 hours. The robot head has adopted infrared camera, and the camera cooperation cloud platform can realize multi-angle rotating, gathers the robot surrounding environment image in real time, effectively prevents the emergence of accident.
2. The novel soft pneumatic composite leg structure is designed, climbing and turning can be realized up and down through simple control of the air pump, and the vertical surface can be stably climbed by the aid of the matching raising mechanism. When the air bag is inflated, the degree of integral bending of the leg parts is accurately controlled by controlling the air pressure, the robot is controlled by the front two groups of legs when moving forwards and controlled by the rear two groups of legs when moving backwards; when the user needs to climb up to the vertical plane, the head raising mechanism is matched; when the robot needs to turn, the left and right bending angles of the front two groups of legs are controlled to be different, so that the robot is controlled to turn.
3. Utilize 3D fabric material and have the gasbag base of better intensity and toughness, under the circumstances that guarantees that the mechanical leg has sufficient support nature, still have good flexibility and motion precision, for traditional robot of crawling, simple structure, whole more light.
4. The foot of the robot adopts an electromagnetic-pneumatic combined type adsorption soft body structure, the power on and off of the electromagnet can be realized by flexibly controlling the inflation and deflation of the internal air bag, the foot can be attached to and detached from the plane by the inflation and deflation of the external air bag, and the robot can be stably attached to different metal planes. Compared with the traditional crawler-type wall-climbing robot, the robot has better stability and maneuverability.
5. Compared with other wall-climbing robots which completely use rigid members, the soft structure of the legs and the feet of the robot can greatly reduce the weight of the robot, and the robot is lighter. Because the robot is suitable for high-altitude operation, the safety can be greatly improved by adopting soft materials, and the safety problem caused by rigid parts of the high-altitude operation is solved.
Compared with the prior art, the invention has the advantages of simple control, good stability, good maneuverability, large observation range, high detection precision and the like, and can better meet the requirements of routing inspection work on various different wall surfaces, adaptation to the structural size of large-scale port machines and long-time outdoor work.
Drawings
FIG. 1 is a three-dimensional structure diagram of a vision inspection wall-climbing robot and a control method;
FIG. 2 is a left side view of a vision inspection wall-climbing robot and a control method;
FIG. 3 is a top full cross-sectional view of a vision inspection wall-climbing robot and a control method;
FIG. 4 is a front view of the body module;
FIG. 5 is a block diagram of the internal transmission module;
fig. 6 is a partial cross-sectional view of a leg module;
FIG. 7 is a partial cross-sectional view of the foot module;
FIG. 8 is a left side view of the foot module;
FIG. 9 is a general view of the foot;
FIG. 10 is a flow chart of a control method of the vision inspection wall-climbing robot;
FIG. 11 is a climbing flow chart of a control method of the vision inspection wall-climbing robot;
fig. 12 is a flowchart of a control method retreat of the vision inspection wall-climbing robot;
fig. 13 is a flowchart of a control method of the vision inspection wall-climbing robot for climbing a vertical wall;
fig. 14 is a control method system overall scheme of a vision inspection wall-climbing robot;
fig. 15 is a flow chart of the whole inspection work of the control method of the vision inspection wall-climbing robot.
In the figure: 1. a body module, 2, an internal transmission module, 3, a leg module, 4, a foot module, 101, a head cover, 1011, a leg connection hole, 102, a connection buckle, 103, a movable hinge, 104, a body cover, 105, an infrared pan-tilt camera, 106, a visual light source, 107, an industrial camera, 108, a body base plate, 109, a head base plate, 201, a slider, 202, a connecting rod assembly, 203, a motor, 204, a gear wheel, 205, a pinion, 206, a battery, 207, a dial, 301, a 3D fabric cover, 302, a sealing cover, 303, an airbag, 304, an airbag base, 305, an air duct, 306, a first air pump, 307, a single-hole sealing cover, 308, a fixing bracket, 401, a square connecting piece, 402, a first air duct, 402-2, a second air duct, 403, an inner airbag, 404, an outer airbag, 405, a foot main body, 406, a proximity sensor, 407, a first electromagnet, 407-2, a second electromagnet, 407-3, a third electromagnet, 408, a power-on contact, 409, a round connecting piece, 410, a right-angle connecting piece, an air pump, 411, and a second electromagnet.
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 embodiments described below are some, but not all, embodiments of the present invention. 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.
As shown in fig. 1, 14 and 15, the invention provides a visual inspection wall-climbing robot, which comprises a body module 1, an internal transmission module 2, a leg module 3 and a foot module 4; the visual inspection wall-climbing robot comprises a mechanical structure, a wall-climbing system and a detection system; the mechanical structure mainly comprises a main body bearing part, a pneumatic leg driving device and a magnetic foot adsorption module; the wall climbing system mainly comprises a motor head raising mechanism, a pneumatic driving device and an electromagnetic adsorption system; the detection system mainly comprises an infrared holder camera at the head, an industrial camera at the bottom and a visual detection light source.
As shown in fig. 2, 3, 4 and 5, the head and the body of the body module are in a separated structure, the head cover 101 is mounted on the head base plate 109, and the body cover 104 is mounted on the body base plate 108; the head is connected with the body through a connecting buckle 102; the head cover shell 101 is provided with two symmetrically distributed leg connecting holes 1011, the body cover shell 104 is provided with six symmetrically distributed leg connecting holes 1011, and the eight leg connecting holes 1011 are all provided with proper and same sizes, so that the leg module 3 can be matched and connected with the body module 1; the infrared pan-tilt camera 105 is arranged on the front side of the head bottom plate 109, and the industrial camera 107; the visual light source 106 is arranged at the lower side of the head bottom plate, the battery 206 and the motor 203 are fixed on the body bottom plate 108 from left to right through respective flange connection, the motor 206 is connected with the large gear 204 through a flange, the small gear 205 above the rotary disc (207) is meshed with the large gear 204 and driven by the large gear (204), the small gear (205) is fixed at the center of the rotary disc 207, the upper part of the rotary disc 207 is connected with the connecting rod assembly 202 through a bolt, the other end of the connecting rod assembly 202 is connected with the sliding block 201 on the head bottom plate 109, the sliding block 201 is positioned in the sliding groove of the head bottom plate, and when the rotary disc 207 rotates, the connecting rod assembly 202 drives the sliding block 201 to move in the sliding groove;
as shown in fig. 5 and 13, when the infrared pan/tilt/zoom camera 105 of the robot detects that there is a step or a wall in front of the robot, the battery 206 in the internal transmission module 2 supplies power to the motor 203, the motor 203 drives the large gear 204 to rotate, the large gear 204 and the small gear 205 form a rotation pair to drive the small gear 205 to rotate, the small gear 205 rotates and causes the link assembly 202 on the turntable 207 to move relatively, and the link assembly 202 drives the slider 201 located in the chute of the head bottom plate to move, so that the head of the whole robot is lifted.
As shown in fig. 7, 8 and 9, the foot module 4 comprises a square connector 401, a first air tube 402, a second air tube 402-2, an inner air bag 403, an outer air bag 404, a foot body 405, a proximity sensor 406, an electromagnet 407, a power contact 408, a round connector 409, a right-angle connector 410 and a second air pump 411; the round connecting piece 409 is provided with two connecting holes which are respectively a first connecting hole 4011 and a second connecting hole 4012 from left to right, two second air pumps 411 are connected to the connecting holes, the round connecting piece 409 is installed on a right-angle connecting piece 410, the round connecting piece 409 is installed above a 3D fabric sheath 301, the right-angle connecting piece 410 penetrates through a square connecting piece 401 to be connected with a foot main body 405, a first air transmission pipe 402 is connected below the first connecting hole on the round connecting piece 409, a second air transmission pipe 402-2 is connected below the second connecting hole, the air transmission pipe 402 penetrates into the foot main body 405 through the square connecting piece 410, the foot main body 405 is divided into three sections through 2 outer air bags 404, the first air transmission pipe 402 enters the foot main body 405 and then is connected to an inner air bag 403, the second air transmission pipe 402-2 sequentially passes through the two outer air bags 404, an electrifying contact 408 is installed below the inner air bag 403, and three electromagnets are sequentially arranged below the electrifying contact 408 from left to right; the first electromagnet 407 is arranged in the foot main body 405, the first electromagnet 407, the second electromagnet 407-2 and the third electromagnet 407-3 are connected from left to right through leads, and the three electromagnets can be powered off simultaneously; the first electromagnet 407 does not contact the energized contact 408 at the beginning, and the energized contact 408 and the electromagnet 407 can be contacted and disconnected by the expansion and contraction of the inner air bag 403; a proximity sensor 406 is arranged below the third electromagnet 407-3; the foot main body 405 is made of flexible rubber materials such as silicon rubber, can adapt to various working planes, and meets the requirements of working planes with different inclination degrees in different weathers such as thunderstorm, strong wind, solarization and the like; the first electromagnet 407, the second electromagnet 407-2 and the third electromagnet 407-3 are all of KK-P25/16 type;
as shown in fig. 13, when the head is lifted, two air pumps 411 on the foot module 4 perform air inflation, and the air pressure in the two air bags is changed through two air inflation pipes 402, wherein the inner air bag 403 inflates and expands to make the powered contact 408 contact with the electromagnet 407 below, so that the electromagnet is electrified to generate an adsorption force and can be adsorbed on a plane; the outer air bag 404 is inflated and then expanded, so that the whole foot main body 405 is attached to a working plane, an adsorption link during wall climbing is realized, after the head of the robot is adsorbed on the working surface, the first air pumps 306 in the two front leg and leg modules 3 alternately inflate respective air bags 303, so that the air bags 303 are expanded, thereby driving the air bag base 304 to deform and bend, enabling the two front legs to move upwards left and right alternately, when the head moves to a distance capable of accommodating a body, a mechanism in the internal transmission module repeats a work flow of a first part, so that the whole body cover 104 is put down, and six foot modules 4 in the body cover part provide adsorption force to enable the whole body to be adsorbed on the working plane.
As shown in fig. 6 and 3, the leg module 3 includes a 3D fabric sheath 301, a sealing cover 302, a balloon 303, a balloon base 304, an airway tube 305, a first air pump 306, a single-hole sealing cover 307, and a fixing bracket 308; 3D fabric sheath 301 on be fixed sealed lid 302 to be connected with gasbag base 304 right part, 12 gasbags 303 are being fixed to gasbag base 304, the right part is connected with circular shape fixed bolster 308, the sealed lid 307 of haplopore is installed to the fixed bolster right-hand member, air duct 305 is connected with gasbag base 304 through the fixed bolster, air duct 305 is connected with first air pump 306, be equipped with the cushion under first air pump 306, the cushion mainly prevents that the air pump from deviating from original mounted position in the course of the work, in order to prolong the operation cycle of air pump. The lower leg part in the leg module 3 is composed of a 3D fabric sheath 301 woven by elastic and high-strength threads to provide sufficient supporting force to support the robot body; the airbag base 304 adopts a flexible base, 12 airbags 303 are the same in size and dimension and are communicated with each other, the airbag is combined with the flexible base structure to control the leg main body, rapid bending of the leg can be realized, and the predicted maximum bending angle is 90 degrees;
as shown in fig. 11, when the robot is normally inspecting on the wall surface, the first air pump 306 of the leg module 3 controls the expansion and contraction of 12 air bags 303 through inflation and deflation, the air pressure inside the air bags 303 changes to make the air bag base 304 generate different degrees of deformation, so as to drive the bending of the leg body, when the air bags 303 are inflated, the legs begin to bend, and if the air bags are deflated to the original air pressure, the legs recover to the original angle; when the robot moves forward on the wall surface, the outer air bags 404 in the foot modules 4 of the two groups of front legs are deflated to separate the two groups of front legs from the wall surface, meanwhile, the first air pumps 306 in the leg modules 3 begin to inflate to expand the air bags 303 to drive the air bag bases 304 to deform, the two groups of front legs begin to bend, after a set distance is reached, the outer air bags 404 and the inner air bags 403 of the two groups of front legs are inflated simultaneously to contact and adsorb the front legs with the wall surface, the two groups of rear legs do not adsorb at the moment, then, the first air pumps 306 of the leg modules 3 of the two groups of front legs deflate, the air bags 303 contract to restore the leg main body to the unbent state, and the whole body is driven to climb forward;
as shown in fig. 12, when the robot retreats on the wall surface, the outer air bags 404 in the two sets of foot modules 4 of the rear legs are deflated, and the outer air bags 404 contract to drive the foot main body 405 to separate from the wall surface; meanwhile, the first air pump 306 in the leg module 3 starts to inflate, so that the air bags 303 expand to drive the air bag bases 304 to deform, the two groups of rear legs start to bend, after a set distance is reached, the outer air bags 404 and the inner air bags 403 of the two groups of rear legs inflate simultaneously to enable the rear legs to be in contact with the wall surface and to be adsorbed, and the outer air bags 404 in the foot module of the two groups of front legs at the moment also finish deflation to enable the two groups of front legs not to be adsorbed to the surface; then, the first air pumps 306 of the leg modules 3 of the two groups of rear legs are deflated, and the air bags 303 are contracted, so that the leg main bodies are restored to the unbent state and the whole body is driven to move backwards;
as shown in fig. 10, when the robot encounters an obstacle on the wall surface, at this time, the infrared pan-tilt camera 105 automatically recognizes and makes the entire robot perform steering operation, at this time, the first air pumps 306 of the two sets of leg modules 3 located at the head start to inflate the air bags 303, the air bags 303 expand to bend the air bag bases 304, so that the two legs bend and the bending degrees of the two front legs are different, and meanwhile, the second air pump 411 of the foot module connected to the leg module 3 does not work, and the front feet are not adsorbed on the surface; when two front legs are bent to a designated position, the first air pump 306 in the leg module 3 stops working, the air bag 303 shrinks due to the reduction of air pressure to drive the whole front leg to gradually return to the original state, at the moment, the second air pump 411 of the foot module 4 in the two front legs starts working to respectively inflate the inner air bag 403 and the outer air bag 404 through the first air transmission pipe 402 and the second air transmission pipe 402-2, the outer air bag 404 expands to ensure that the foot main body 405 is attached to a climbing working plane, the climbing plane generally refers to a metal surface of a large-scale port machine, for example, a crane, the inner air bag 403 expands to ensure that the power-on contact 408 is contacted with the first electromagnet 407 to generate adsorption force, so that the two front legs are adsorbed on the wall surface, and then three groups of legs do not adsorb, thereby the whole robot finishes steering.
When the robot is in inspection, the under-head industrial camera 107 and the visual light source 106 are used, and the industrial camera may be a CCD industrial camera or a CMOS industrial camera. The industrial camera can acquire wall images in real time, when the color of a certain point is detected to be different from the color of the periphery (such as rusting or cracks found at the detection position, the industrial camera can record the defect finding time in detail and feed the defect finding time back to a worker, the coordinate position of the point is recorded and stored, and after the detection work of the robot is finished, the robot can realize the accurate positioning of the defect by reading the data in the card, so that the detection function is realized.
The above detailed description is intended to illustrate the present invention, not to limit the present invention, and any modifications and changes made within the spirit of the present invention and the scope of the claims fall within the scope of the present invention.
Claims (4)
1. The utility model provides a wall climbing robot is patrolled and examined to vision which characterized in that: comprises a body module (1), an internal transmission module (2), a leg module (3) and a foot module (4); the internal transmission module (2) is arranged in the body module (1); a plurality of leg modules (3) are symmetrically arranged on two sides of the body module (1), and foot modules (4) are arranged on the leg modules (3); the body module (1) comprises a head cover (101), a connecting buckle (102), a movable hinge (103), a body cover (104), an infrared pan-tilt camera (105), a visual light source (106), an industrial camera (107), a body bottom plate (108) and a head bottom plate (109); the head and the body of the body module (1) adopt a separated structure, a head cover shell (101) is arranged on a head bottom plate (109), and a body cover shell (104) is arranged on a body bottom plate (108); the head is connected with the body through a connecting buckle (102); the head cover (101) is provided with two symmetrically distributed leg connecting holes (1011), the body cover (104) is provided with six symmetrically distributed leg connecting holes (1011), and the sizes of all the leg connecting holes are the same; the infrared pan-tilt camera (105) is installed on the front side of the head bottom plate (109), the industrial camera (107) is installed on the lower side of the head bottom plate (109), and the visual light source (106) is installed on the head bottom plate (109);
the internal transmission module (2) comprises a sliding block (201), a connecting rod assembly (202), a motor (203), a large gear (204), a small gear (205), a battery (206) and a turntable (207); the battery (206) and the motor (203) are fixedly connected to a body bottom plate (108), the motor (203) is connected with a large gear (204), a small gear (205) above the turntable (207) is meshed with the large gear (204) and driven by the large gear (204), the small gear (205) is fixed at the center of the turntable (207), one end of a connecting rod assembly (202) is fixed above the turntable (207), a sliding block (201) is located in a sliding groove of a head bottom plate (109), the other end of the connecting rod assembly (202) is connected with the sliding block (201) on the head bottom plate (109), and when the turntable (207) rotates, the connecting rod assembly (202) drives the sliding block (201) to move in the sliding groove;
the leg module (3) comprises a 3D fabric jacket (301), a sealing cover (302), an air bag (303), an air bag base (304), an air guide pipe (305), a first air pump (306), a single-hole sealing cover (307) and a fixing support (308);
the 3D fabric jacket (301) is fixedly provided with a sealing cover (302) and is connected with the right part of an air bag base (304), 12 air bags (303) are fixedly arranged on the air bag base (304), the left part of the air bag base is connected with a circular fixing support (308), the left end of the fixing support (308) is provided with a single-hole sealing cover (307), an air duct (305) is connected with the air bag base (304) through the fixing support (308), the air duct (305) is connected with a first air pump (306), and a cushion block is arranged below the first air pump (306);
the foot module (4) comprises a square connecting piece (401), a first air transmission pipe (402), a second air transmission pipe (402-2), an inner air bag (403), an outer air bag (404), a foot main body (405), a proximity sensor (406), a first electromagnet (407), a second electromagnet (407-2), a third electromagnet (407-3), an electrified contact (408), a round connecting piece (409), a right-angle connecting piece (410) and a second air pump (411);
the round connecting piece (409) is provided with two connecting holes which are respectively a first connecting hole (4011) and a second connecting hole (4012) from left to right, two second air pumps (411) are connected to the connecting holes, the round connecting piece (409) is installed on a right-angle connecting piece (410) and is installed above a 3D fabric sheath (301), the right-angle connecting piece (410) penetrates through the square connecting piece (401) to be connected with a foot main body (405), a first air conveying pipe (402) is connected below the first connecting hole on the round connecting piece (409), a second air conveying pipe (402-2) is connected below the second connecting hole, the first air conveying pipe (402) penetrates into the foot main body (405) through the right-angle connecting piece (410), the foot main body (405) is divided into three sections through 2 outer air bags (404), the first air conveying pipe (402) is connected to an inner air bag (403) after entering the foot main body (405), the second air conveying pipe (402-2) sequentially passes through the two inner air bags (404), an electrifying contact (408) is installed below the outer air bags (403), the electromagnet (408) is sequentially connected to the right through three second air conveying pipe (407) and is connected with the electromagnet (407-2) through a third electromagnet (407), a proximity sensor (406) is arranged below the third electromagnet (407-3);
the lower leg part in the leg module (3) consists of a 3D fabric jacket (301) and supports the robot body; the airbag base (304) adopts a flexible base, 12 airbags (303) are the same in size and dimension and communicated with each other, the airbags control the leg body by combining with the flexible base structure, the legs can be rapidly bent, and the expected maximum bending angle is 90 degrees.
2. The vision inspection wall climbing robot according to claim 1, wherein: the eight leg connecting holes (1011) have the same size and are matched with the leg modules (3).
3. The vision inspection wall-climbing robot according to claim 1, wherein: the two outer bladders (404) having the same dimensions to control the fit and separation of the foot from the climbing plane; the foot main body (405) is made of flexible rubber material.
4. The control method for the visual inspection wall-climbing robot based on any one of claims 1 to 3, wherein when an infrared pan-tilt camera (105) of the robot detects that a step or a wall is in front, the robot first performs a head-up link during wall climbing: a battery (206) in the internal transmission module (2) supplies power to a motor (203), the motor (203) drives a large gear (204) to rotate, the large gear (204) drives a small gear (205) to rotate, the small gear (205) rotates and enables a connecting rod assembly (202) on a turntable (207) to move relatively, and the connecting rod assembly (202) drives a sliding block (201) located in a sliding groove of a bottom plate of the head to move, so that the whole head is lifted; after the head is lifted, two second air pumps (411) on the foot module (4) carry out air transmission, the air pressure in two outer air bags is changed through two air transmission pipes, wherein the inner air bag (403) expands after being inflated so that an electrified contact (408) is contacted with a first electromagnet (407) below, and the electromagnet is electrified to generate adsorption force and can be adsorbed on a plane; the outer air bag (404) is inflated and then expanded, so that the whole foot main body (405) is attached to a working plane, an adsorption link during wall climbing is realized, after the head of the robot is adsorbed on the working surface, the first air pumps (306) in the two front leg and leg modules (3) alternately inflate the 12 air bags (303), so that the air bags (303) are expanded, the air bag base (304) is driven to deform and bend, and the two front legs move upwards left and right alternately;
when the head moves to a distance capable of accommodating a body, the mechanism in the internal transmission module repeats the working process of the head raising link, so that the whole body cover (104) is put down, and six foot modules (4) in the body cover part provide adsorption force to enable the whole body to be adsorbed on a working plane; when the robot normally inspects the wall surface, the first air pump (306) of the leg module (3) controls the expansion and contraction of 12 air bags (303) through inflation and deflation, the air pressure change in the air bags (303) enables the air bag base (304) to deform in different degrees, so that the leg main body is driven to bend, when the air bags (303) are inflated, the legs begin to bend, and if the air bags are deflated to the original air pressure, the legs recover to the original angle; when the robot moves forwards on the wall surface, the outer air bags (404) in the foot modules (4) of the two groups of front legs are deflated to enable the two groups of front legs to be separated from the wall surface, meanwhile, the air bags (303) in the leg modules (3) start to be inflated to enable the air bags (303) to expand to drive the air bag bases (304) to deform, the two groups of front legs start to bend, after a set distance is reached, the outer air bags (404) and the inner air bags (403) of the two groups of front legs are inflated simultaneously to enable the front legs to be in contact with and adsorbed by the wall surface, the two groups of rear legs do not adsorb at the moment, then the first air pumps (306) of the leg modules (3) of the two groups of front legs are deflated, the air bags (303) are contracted to enable the leg body to be restored to the unbent state, and the whole body is driven to climb forwards; the backward movement and the turning of the robot can be realized by controlling the inflation and deflation of each first air pump (306) in the eight leg modules (3) and the foot modules (4); when the robot patrols and examines, can use industrial camera (107) and vision light source (106) below the head, the industrial camera can gather the wall image in real time, when detecting that some point position colour is different with surrounding colour or when detecting the position and finding the crackle, the time that the industrial camera can detailed record defect discovery feeds back to the staff, the coordinate position and the storage of this point of record, the robot can realize the accurate positioning of defect through reading data in the card after the detection work, thereby realize the detection function.
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