WO2023212974A1 - 一种十字交叉变构履带的管道巡检机器人及其控制方法 - Google Patents

一种十字交叉变构履带的管道巡检机器人及其控制方法 Download PDF

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Publication number
WO2023212974A1
WO2023212974A1 PCT/CN2022/092373 CN2022092373W WO2023212974A1 WO 2023212974 A1 WO2023212974 A1 WO 2023212974A1 CN 2022092373 W CN2022092373 W CN 2022092373W WO 2023212974 A1 WO2023212974 A1 WO 2023212974A1
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WIPO (PCT)
Prior art keywords
crawler
track
robot
crawlers
support
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Ceased
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PCT/CN2022/092373
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English (en)
French (fr)
Inventor
宋爱国
王少虎
李会军
缪天缘
季钦杰
徐越锋
徐波
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Southeast University
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Southeast University
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Priority to US18/246,425 priority Critical patent/US12486938B2/en
Publication of WO2023212974A1 publication Critical patent/WO2023212974A1/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

Definitions

  • the invention belongs to the field of robot technology, and specifically relates to a pipeline inspection robot with crisscross modified crawlers and a control method thereof.
  • Pipeline transportation has the advantages of low cost, convenient transportation, and large transportation volume, and plays an important role in many fields. Chemical corrosion, environmental changes, natural disasters and pipeline defects may lead to material leakage, environmental pollution and other accidents, so pipelines must be continuously inspected. The inspection of pipelines is particularly inconvenient. Currently, most inspection methods are manual inspections. For pipeline inspections in harsh environments, this method has the disadvantages of high inspection cost, low detection rate, and high labor intensity. There are three types of walking mechanisms commonly used by pipeline inspection robots: crawler type, leg-foot type and wheel type. Among them, the crawler-type pipeline robot has a large contact area with the wall and strong adaptability.
  • the crawler-type pipeline robot is the most suitable. Excellent walking mechanism.
  • the adjustment of the track inclination and the support of the auxiliary track are required to make the tracked pipeline robot adapt to different types of pipelines.
  • the Chinese patent application number is: CN202111613153.X.
  • the patent document was published on February 18, 2022. It discloses an auxiliary obstacle-crossing robot and its working method.
  • the car body and the second side car body are stretched by electric cylinders to overcome obstacles.
  • this mechanism is greatly affected by the ground environment, has weak gripping ability, and has poor adaptability to complex obstacle environments.
  • the Chinese patent application number is: CN201911234990.4, and the patent document was granted on February 5, 2021. It discloses a fully automatic submarine pipeline inspection robot for marine engineering. It adopts a structure that combines wheeled and crawler types. Inspection in submarine pipelines, but this structure cannot properly adjust the contact positions of the crawler tracks and running wheels with the pipe wall based on the internal conditions of the pipeline, which may lead to wear of the crawler tracks and running wheels.
  • the purpose of the present invention is to solve the problem that pipeline inspection robots cannot adapt to various types of pipelines and cannot flexibly climb over obstacles in the narrow environment of pipelines.
  • a pipeline inspection robot with cross-shaped modified crawlers and Its control method is used to solve the problem that the pipeline inspection robot cannot flexibly climb due to irregular road conditions due to impurities inside the pipeline and the accumulation of impurities inside the pipeline. It also proposes a crawler inclination adjustment control method and an obstacle crossing control method.
  • a pipeline inspection robot with cross-modified crawlers including a robot body, a crawler inclination adjustment mechanism symmetrically arranged on the left and right sides of the robot body, and a cross-modified crawler assembly provided on the crawler inclination adjustment mechanism; the robot body
  • the cross-shaped modified crawler assemblies on its left and right sides are connected through a crawler inclination adjustment mechanism;
  • the crawler inclination adjustment mechanism includes a rotation axis panel connected to the robot body and a support slide rail for adjusting the crawler inclination.
  • a push rod motor is installed on the rail, and the power output shaft of the push rod motor drives a support slider that can reciprocate on the support slide rail.
  • a support rod is installed on the support slider, and one end of the support rod is connected to the support.
  • the cross-shaped modified crawler track assembly includes a main traveling crawler track, an auxiliary traveling crawler track and a cross-shaped traveling crawler track.
  • the main traveling crawler track and the auxiliary traveling crawler track It includes a crawler support plate, a driving wheel, a driven wheel, a drive motor and a crawler track.
  • a slide rail and a screw rod are installed in the middle of the crawler support plate. The screw rod drives the screw rod by engaging with the gear of the stepper motor installed on the crawler support plate.
  • the cross-shaped deformation slider is composed of two small sliders and a high-torque motor.
  • the pipeline inspection robot with cross-shaped modified crawlers has two sets of cross-shaped modified crawler assemblies, which are symmetrically installed on the panels with rotating axes of the crawler inclination adjustment mechanisms on both sides of the robot body;
  • the main traveling crawler includes There are bearings installed inside the center of the driving wheel and driven wheel, and the bearings are installed and fixed with the two track assembly support rods on the panel with the rotating shaft.
  • the two small slide blocks contained in the cross-shaped allomorphic slider are respectively installed on the screw rods in the middle of the main traveling crawler track and the auxiliary traveling crawler track.
  • These two small slide blocks The blocks are connected through high-torque motors; the cross-shaped deformation slide blocks can slide on the screw rods in the main traveling crawler belt and the auxiliary traveling crawler belt under the power of the stepper motors installed inside the main traveling crawler belt and the auxiliary traveling crawler belt respectively.
  • the pipeline inspection robot with cross allomorphic tracks the robot body includes a robot body panel, a depth camera, a battery component, a power supply component, a main control component, a radio component, an IMU sensor, and a single-line laser radar;
  • the single-line laser The radar is installed directly in front of the bottom surface of the robot's main body panel;
  • the depth camera is installed directly in front of the robot's main body panel;
  • the battery component is installed on the bottom surface of the robot's main body panel, and the two sides of the track support slide rail are adjusted; the power supply component and the main control
  • the components, radio components and IMU are installed on the main body of the robot, and the IMU sensor is installed in the center of the main body of the robot.
  • the above-mentioned crawler inclination adjustment control method for a pipeline inspection robot with cross-shaped modified crawlers includes the following steps:
  • Step 1 sample the point cloud information output by the single-line lidar, and calculate the angle ⁇ L , ⁇ R between the curvature radius direction of the road planing surface in contact with the tracks on both sides and the x-axis direction of the robot based on the point cloud information;
  • Step 2 Calculate the distance ⁇ l that the support slide rail needs to move to adjust the inclination of the left crawler track
  • Step 3 Calculate the number of rotations of the push rod motor that adjusts the inclination of the left crawler track ⁇ k;
  • Step 4 Calculate the number of turns ⁇ k that the push rod motor needs to rotate through steps 1-3, and determine whether it is clockwise or counterclockwise based on the relationship between ⁇ L and ⁇ /2. Use a reasonable control algorithm to drive the push rod motor to rotate as specified.
  • the number of turns; the right track also needs to go through steps 1-3 to calculate the movement distance ⁇ l of the right support slider and the number of turns ⁇ k of the right push rod motor, and drive the right push rod motor to rotate the corresponding number of turns; for the left and right
  • the curvature radius of the road surface in contact with the side crawlers is different, and the number of rotations of the push rod motors on the left and right sides will also be different, so the inspection robot can adapt to terrain with different curvature radii on the same road.
  • the above-mentioned obstacle crossing control method of the pipeline inspection robot with cross-shaped modified crawlers includes the following steps:
  • Step 1 sample the y-axis direction angle ⁇ output by the IMU sensor, and the sampling frequency is 100hz. Collect depth camera data and calculate the distance l and obstacle height h of the obstacle ahead;
  • Step 2 Before the inspection robot reaches the obstacle, when l>l s , calculate the distance that the cross-shaped allomorphic slider needs to move on the slide rails of the main traveling track and the auxiliary traveling track, which are ⁇ l f and ⁇ l respectively. s ; and calculate the angle of rotation of the high-torque motor When l ⁇ l s , you need to move backward until l>l s ;
  • the length of the main traveling track is l f
  • the length of the auxiliary traveling track is l s
  • l f l s ;
  • Step 3 The inspection robot's left and right main traveling crawlers move forward until the left and right auxiliary traveling crawlers contact obstacles; calculate the distance ⁇ L f that the left and right main traveling crawlers move forward;
  • Step 4 The main body of the inspection robot climbs upward, and the distance ⁇ l s that the cross-shaped allomorphic slider needs to move on the slide rail of the auxiliary crawler track is calculated, and the angle of rotation of the high-torque motor is calculated.
  • Step 5 Slide the left and right auxiliary crawlers of the inspection robot downward to the bottom of the main body of the inspection robot. Calculate the distance ⁇ l f that the cross-shaped allosteric slider needs to move on the slide rail of the main crawler.
  • the high-torque motor rotates angle
  • Step 6 The left and right auxiliary crawlers of the inspection robot support the robot body downward to the same level as the obstacle; at this time, h ⁇ ( ls -l f tan ⁇ )cos ⁇ is required; calculate the cross-shaped allomorphic slider on the auxiliary crawler The distance that needs to be moved on the slide rail ⁇ l s , the angle of rotation of the high-torque motor The forward travel distance of the left and right auxiliary crawlers of the inspection robot is ⁇ L s ;
  • Step 7 The inspection robot's left and right main traveling crawlers and auxiliary traveling crawlers move forward until the bottom of the left and right auxiliary traveling crawlers reaches the bottom of the obstacle and then stop. Calculate the traveling distance ⁇ L f of the left and right main traveling crawlers and the auxiliary traveling crawlers respectively. and ⁇ L s , the distance ⁇ l s that the cross-shaped allomorphic slider needs to move on the slide rail of the auxiliary crawler track;
  • Step 8 Retract the auxiliary crawler track, calculate the distance ⁇ l f that the cross-transformation slider needs to move on the slide rail of the main crawler track, and the angle of rotation of the high-torque motor
  • Step 9 Calculate the angle of rotation of the high-torque motor calculated in steps 1-8 above.
  • the distance that the cross-shaped allomorphic slider needs to move on the slide rail of the auxiliary crawler track is equal to ⁇ l s , all of which are executed in the specified state by selecting an appropriate control algorithm.
  • the present invention uses a panel with a rotating axis to connect to the main body panel of the robot.
  • Two sets of support slide rails for adjusting the inclination of the crawler tracks are installed at the bottom of the main body panel of the robot.
  • the support slide rails are installed in contact with the panel with a rotating axis through support rods.
  • the connected support slider realizes crawler inclination adjustment through the reciprocating motion of the support slider; each group of crawler inclination adjustment mechanism is independently controlled and can adapt to terrain with different planing curvature radii on the same road.
  • the present invention uses a single-line laser radar installed directly in front of the bottom surface of the robot's main panel. Based on the point cloud information output by the single-line laser radar, the curvature radius of the road planing surface in contact with the crawlers on both sides is calculated, and combined with the crawler inclination angle adjustment control method, it can Realize adaptive adjustment of track inclination.
  • the present invention adopts cross-shaped modified crawlers connected and installed at both ends of the robot body through a crawler inclination adjustment mechanism.
  • Each set of cross-shaped modified crawlers includes main traveling crawlers and auxiliary traveling crawlers with slide rails and screw rods installed inside.
  • the main traveling crawler track and the auxiliary traveling crawler track are connected through a cross-transforming slider; the high-torque motor contained in the cross-transforming slider can realize the 360° auxiliary traveling track when the main traveling crawler track and the crawler inclination adjustment mechanism are fixed.
  • Rotate The rotation of the auxiliary crawler tracks can be used to support the robot body in climbing over obstacles.
  • the present invention adopts a depth camera installed in front of the robot to obtain the distance and height information of the obstacles in front.
  • the IMU installed in the center of the robot body can obtain the road slope information. Combined with the obstacle crossing control method, it can be realized Climbing obstacles on ground with different slopes.
  • the present invention adopts the method of installing the driving wheels on the main traveling crawler belt and the auxiliary traveling crawler belt respectively, which can ensure the driving capability of the crawler belt even if the structure changes.
  • Figure 1 is a side view of the pipeline inspection robot mechanism with crisscross modified crawlers according to the present invention
  • Figure 2 is a schematic diagram of the bottom mechanism of a pipeline inspection robot with crisscross modified crawlers of the present invention
  • Figure 3 is a schematic diagram of the main body mechanism of the robot
  • Figure 4 is a schematic diagram of the track inclination adjustment mechanism
  • Figure 5 is a schematic diagram of the cross modified crawler assembly mechanism
  • Figure 6 is an exploded view of the interior of the criss-cross modified track assembly
  • Figure 7 is a schematic diagram of the state of the inspection robot in the pipeline before the crawler inclination is adjusted
  • Figure 8 is a schematic diagram of the state of the inspection robot in the pipeline after the crawler inclination is adjusted
  • Figure 9 shows the main crawler track of the inspection robot, the auxiliary crawler track, the distance between the front end of the main crawler track and the obstacle, the height of the obstacle measured by the binocular camera, the slope angle of the road surface where the inspection robot travels, and the main crawler track and auxiliary crawler track. The angle between the tracks;
  • Figure 10 is a schematic diagram of the inspection robot when its left and right auxiliary crawlers contact obstacles
  • Figure 11 is a schematic diagram of the main body of the inspection robot climbing upward until the main crawler track contacts an obstacle;
  • Figure 12 is a schematic diagram of the inspection robot’s left and right auxiliary crawlers sliding downward to the bottom of the robot body;
  • Figure 13 is a schematic diagram of the inspection robot's left and right auxiliary crawlers supporting the main body of the robot downward to the same level as above the obstacle;
  • Figure 14 is a schematic diagram of the inspection robot's left and right main traveling crawlers and auxiliary traveling crawlers moving forward until the bottom of the left and right auxiliary traveling crawlers reaches the bottom of the obstacle and then stops;
  • Figure 15 is a schematic diagram of the inspection robot retracting its auxiliary crawler tracks after climbing above the obstacle;
  • Figure 16 is a schematic diagram of the inspection robot when it completely climbs over the obstacle.
  • a cross-shaped modified crawler inspection robot includes a robot body 1, a crawler inclination adjustment mechanism 2 symmetrically arranged on the left and right sides of the robot body, and a cross-shaped crawler inclination adjustment mechanism.
  • Modified crawler assembly 3; the robot body and its left and right criss-crossing modified crawler assemblies are connected through a crawler inclination adjustment mechanism; the crawler inclination adjustment mechanism includes a panel 21 with a rotation axis connected to the robot body and an adjustment mechanism.
  • the support slide rail 24 of the track inclination is installed with a push rod motor 25.
  • the power output shaft of the push rod motor drives a support slide block 23 that can reciprocate on the support slide rail.
  • the support slide block A support rod 22 is installed on the upper body, one end of the support rod is connected to the support slider, and the other end is connected to the support base 211 on the panel with a rotating axis;
  • the cross-shaped modified crawler assembly includes a main traveling crawler track 31 and an auxiliary traveling crawler track. 32 and cross-shaped deformation slider 33.
  • the main traveling crawler track and the auxiliary traveling crawler track include a crawler support plate 313, a driving wheel 311, a driven wheel 312, a driving motor 315 and a crawler track 314.
  • a slider is installed in the middle of the crawler support plate.
  • the screw rod drives the rotation of the screw rod by engaging with the gear of the stepper motor 3131 installed on the track support plate;
  • the cross-shaped allomorphic slider is composed of two small sliders 332 and a large torque motor 331 composition.
  • the main traveling crawler 31 contains bearings installed in the center of the driving wheel and the driven wheel. , installed and fixed through bearings and two track assembly support rods on the panel with the rotating shaft.
  • the two small sliders 332 included in the cross-shaped deformation slider are respectively installed on the screw rod 3132 in the middle of the main traveling track and the auxiliary traveling track.
  • the two small sliding blocks 332 are connected through a high-torque motor 331; the cross
  • the cross-transformation slider 33 can slide on the screw rod 3132 in the main traveling crawler belt 31 and the auxiliary traveling crawler belt 32 under the power of the stepper motor installed inside the main traveling crawler belt 31 and the auxiliary traveling crawler belt 32 respectively.
  • the robot main body includes a robot main body panel 11, a depth camera 12, a battery component 18, a power supply component 13, a main control component 14, a radio component 16, an IMU sensor 15, and a single-line lidar 17; the single-line lidar is installed on the robot main body panel. Directly in front of the bottom; the depth camera is installed on the top and front of the robot's main panel; the battery component is installed on the bottom of the robot's main panel, and the two sides of the track support slide rail are adjusted; the power component, main control component, radio component and IMU It is installed on the main body of the robot, and the IMU sensor is installed in the center of the main body of the robot.
  • a crawler inclination angle adjustment control method for a pipeline inspection robot with cross-shaped modified crawlers which method includes the following steps:
  • Step 1 sample the point cloud information output by the single-line lidar, and calculate the angle ⁇ L , ⁇ R between the curvature radius direction of the road planing surface in contact with the tracks on both sides and the x-axis direction of the robot based on the point cloud information;
  • Step 2 Calculate the distance ⁇ l that the support slide rail needs to move to adjust the inclination of the left crawler track
  • Step 3 Calculate the number of rotations of the push rod motor that adjusts the inclination of the left crawler track ⁇ k;
  • Step 4 Calculate the number of turns ⁇ k that the push rod motor needs to rotate through steps 1-3, and determine whether it is clockwise or counterclockwise based on the relationship between ⁇ L and ⁇ /2.
  • the number of turns; the right track also needs to go through steps 1-3 to calculate the movement distance ⁇ l of the right support slider and the number of turns ⁇ k of the right push rod motor, and drive the right push rod motor to rotate the corresponding number of turns; for the left and right
  • the curvature radius of the road planing surface in contact with the side crawlers is different, and the number of rotations of the push rod motors on the left and right sides will also be different. Therefore, the inspection robot can adapt to terrain with different planing surface curvature radii on the same road.
  • An obstacle-crossing control method for a pipeline inspection robot with criss-crossing modified crawlers includes the following steps:
  • Step 1 sample the y-axis direction angle ⁇ output by the IMU sensor, and the sampling frequency is 100hz. Collect depth camera data and calculate the distance l and obstacle height h of the obstacle ahead.
  • Step 2 Before the inspection robot reaches the obstacle, when l>l s , calculate the distance that the cross-shaped allomorphic slider needs to move on the slide rails of the main traveling track and the auxiliary traveling track, which are ⁇ l f and ⁇ l respectively. s . And calculate the angle of rotation of the high-torque motor When l ⁇ l s , you need to move backward until l>l s .
  • the length of the main traveling crawler track is l f
  • the length of the auxiliary traveling crawler track is l s
  • l f l s ; when ⁇ l f >0, the cross-shaped allomorphic slider moves along the slide rail of the main traveling crawler track away from the main traveling track.
  • the driven wheel on the crawler slides in the direction; when ⁇ l f ⁇ 0, the cross-shaped deformation slider slides on the slide rail of the main crawler track in the direction close to the driven wheel on the main crawler; when ⁇ l s >0 , the cross allomorphic slider slides on the slide rail of the auxiliary traveling track in the direction away from the driving wheel on the auxiliary traveling track; when ⁇ l s ⁇ 0, the cross allomorphic slider slides on the slide rail of the auxiliary traveling track Slide along the direction close to the driving wheel on the auxiliary traveling track; l fc represents the distance from the current position of the cross-transformation slider on the slide rail of the main traveling track to the driven wheel on the main traveling track. l sc represents the distance from the current position of the cross-shaped deformation slider on the slide rail of the auxiliary traveling track to the driving wheel on the auxiliary traveling track.
  • Step 3 The inspection robot's left and right main traveling crawlers move forward until the left and right auxiliary traveling crawlers contact obstacles; calculate the distance ⁇ L f that the left and right main traveling crawlers move forward:
  • Step 4 The main body of the inspection robot climbs upward, and the distance ⁇ l s that the cross-shaped allomorphic slider needs to move on the slide rail of the auxiliary crawler track is calculated, and the angle of rotation of the high-torque motor is calculated.
  • the left and right main crawlers of the inspection robot travel forward distance ⁇ L f .
  • Step 5 Slide the left and right auxiliary crawlers of the inspection robot downward to the bottom of the main body of the inspection robot. Calculate the distance ⁇ l f that the cross-shaped allosteric slider needs to move on the slide rail of the main crawler.
  • the high-torque motor rotates angle
  • Step 6 The left and right auxiliary crawlers of the inspection robot support the robot body downward to the same level as the obstacle; at this time, h ⁇ ( ls -l f tan ⁇ )cos ⁇ is required; calculate the cross-shaped allomorphic slider on the auxiliary crawler The distance that needs to be moved on the slide rail ⁇ l s , the angle of rotation of the high-torque motor The left and right auxiliary crawlers of the inspection robot travel forward distance ⁇ L s .
  • Step 7 The inspection robot's left and right main traveling crawlers and auxiliary traveling crawlers move forward until the bottom of the left and right auxiliary traveling crawlers reaches the bottom of the obstacle and then stop. Calculate the traveling distance ⁇ L f of the left and right main traveling crawlers and the auxiliary traveling crawlers respectively. and ⁇ L s , the distance that the cross-shaped allomorphic slider needs to move on the slide rail of the auxiliary crawler track ⁇ l s :
  • Step 8 Retract the auxiliary crawler track, calculate the distance ⁇ l f that the cross-transformation slider needs to move on the slide rail of the main crawler track, and the angle of rotation of the high-torque motor
  • Step 9 The above steps 1-8 are all the steps for the robot to climb over obstacles on the ground with a slope of tan ( ⁇ ).
  • the angle of rotation of the high-torque motor calculated at each step is And the distance quantity is all in the specified state, and the appropriate control algorithm is selected and executed.
  • the pipeline inspection robot can adapt to different pipeline types and overcome debris accumulated in the pipeline, effectively improving the efficiency of pipeline inspection.

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  • General Engineering & Computer Science (AREA)
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Abstract

本发明公开一种十字交叉变构履带的管道巡检机器人及其控制方法，所述的管道巡检机器人，包括机器人主体、对称设置在机器人主体左右两侧的履带倾角调节机构、设置在履带倾角调节机构上的十字交叉变构履带组件；所述机器人主体与其左右两侧的十字交叉变构履带组件之间通过履带倾角调节机构连接，所述履带倾角调节机构通过机器人主体底部的支撑滑块调节；所述十字交叉变构履带组件包含主行进履带、辅助行进履带和十字交叉变构滑块，主行进履带和辅助行进履带之间通过十字交叉变构滑块连接。本发明可实现对履带结构的改变，每组变构履带结构独立，具有很好的灵活性以爬坡、翻越障碍物来适应管道内的复杂环境。

Description

一种十字交叉变构履带的管道巡检机器人及其控制方法 技术领域
本发明属于机器人技术领域，具体涉及一种十字交叉变构履带的管道巡检机器人及其控制方法。
背景技术
管道输送具有成本低、输送方便、输送量大等优点,在众多领域都发挥着重要作用。而化学腐蚀、环境变化、自然灾害和管道自身缺陷等都有可能导致物质泄漏、环境污染等事故的发生,因此管道必须进行持续巡检工作。而对于管道的巡检尤为不便，目前巡检方法多为人工巡检，对于恶劣环境下的管道巡检该方法具有巡检成本高、检出率低、巡检劳动强度大等缺点。管道巡检机器人常采用的行走机构有履带式、腿足式及轮式三种。其中履带式管道机器人与壁面接触面积大、适应能力强，相较于腿足式管道机器人运动速度慢、运动机构复杂，轮式管道机器人越障能力差、稳定性差的缺点，履带管道机器人是最佳的行走机构。但需要履带倾角的调节和辅助履带的加持才能使履带管道机器人适应不同类型的管道。
中国专利申请号为：CN202111613153.X，公布日为2022年2月18日的专利文献，公开了一种辅助式越障机器人及其工作方法，通过采用在中间车体的两端设置第一侧车体和第二侧车体，并运用电动缸拉伸的方式越障，但这种机构受地面环境的影响大，抓地能力弱，针对复杂障碍物环境自适应能力差。
中国专利申请号为：CN201911234990.4，授权日为2021年2月5日的专利文献，公开了一种海洋工程用全自动海底管道巡检机器人，通过采用轮式和履带式相结合的结构在海底管道内巡检，但这种结构无法结合管道内部情况适当调节履带和行走轮与管壁的接触位置，可导致履带和行走轮的磨损。
目前，如何让管道巡检机器人翻越复杂障碍物，自适应管道环境是亟需解决的问题。
发明内容
本发明的目的是针对管道巡检机器人在管道的狭窄环境下不能够适配多种类型的管道以及不能够灵活翻越障碍物的问题，提出了一种十字交叉变构履带的管道巡检机器人及其控制方法，用于解决管道内部含有杂质以使路况不够规则和管道内部杂质堆积管道巡检机器人不能够灵活翻越的问题，并提出了履带倾角调节控制方法和越障控制方法。
为达到上述目的，本发明的技术方案如下：
一种十字交叉变构履带的管道巡检机器人，包括机器人主体、对称设置在机器人主体左右两侧的履带倾角调节机构、设置在履带倾角调节机构上的十字交叉变构履带组件；所述机器人主体与其左右两侧的十字交叉变构履带组件通过履带倾角调节机构连接；所述履带倾角调节机构包括与所述机器人主体连接的带有旋转轴面板和调节履带倾角的支撑滑轨，所述支撑滑轨上安装推杆电机，所述推杆电机的动 力输出轴驱动一个能在支撑滑轨上往复运动的支撑滑块，所述支撑滑块上安装一个支撑杆，所述支撑杆的一端连接支撑滑块，另一端与带有旋转轴面板上的支撑底座连接；所述十字交叉变构履带组件包括主行进履带、辅助行进履带和十字交叉变构滑块，所述主行进履带和辅助行进履带包括履带支撑板、驱动轮、从动轮、驱动电机和履带，所述履带支撑板的中间装有滑轨和丝杆，丝杆通过与安装在履带支撑板上步进电机的齿轮咬合驱动丝杆的转动；所述十字交叉变构滑块由两个小滑块和一个大扭矩电机组成。
所述的十字交叉变构履带的管道巡检机器人，所述调节履带倾角的支撑滑轨有两组，中心对称安装于机器人主体的底部；所述带有旋转轴面板上有两个履带组件支撑杆，用于十字交叉变构履带组件的安装。
所述的十字交叉变构履带的管道巡检机器人，所述十字交叉变构履带组件有两组，对称安装在机器人主体两边履带倾角调节机构的带有旋转轴面板上；所述主行进履带包含的驱动轮和从动轮中心内部安装有轴承，通过轴承与带有旋转轴面板上的两个履带组件支撑杆安装固定。
所述的十字交叉变构履带的管道巡检机器人，所述十字交叉变构滑块包含的两个小滑块分别安装在主行进履带和辅助行进履带中间的丝杆上，这两个小滑块通过大扭矩电机连接；所述十字交叉变构滑块可以分别在主行进履带和辅助行进履带内部安装的步进电机动力驱动下，在主行进履带和辅助行进履带内的丝杆上滑动。
所述的十字交叉变构履带的管道巡检机器人，所述机器人主体包括机器人主体面板、深度相机、电池组件、电源组件、主控组件、电台组件、IMU传感器、单线激光雷达；所述单线激光雷达安装于机器人主体面板底面正前方；所述深度相机安装于机器人主体面板上面正前方；所述电池组件安装于机器人主体面板底面，调节履带支撑滑轨的两侧；所述电源组件、主控组件、电台组件和IMU安装于机器人主体上面，IMU传感器安装于机器人主体中心。
上述十字交叉变构履带的管道巡检机器人的履带倾角调节控制方法，该方法包括如下步骤：
步骤1，采样单线激光雷达输出的点云信息，根据点云信息计算与两侧履带接触的道路刨面曲率半径方向与机器人x轴方向的夹角θ L,θ R；
步骤2，计算调节左侧履带倾角的支撑滑轨需要移动的距离△l；
Figure PCTCN2022092373-appb-000001
其中，l init为带有旋转轴面板与机器人主体面板相垂直时，即θ L＝π/2时到左侧带有旋转轴面板的距离，l 1为支撑底座到旋转轴的距离，l 2为支撑杆的长度；
步骤3，计算调节左侧履带倾角的推杆电机旋转圈数△k；
根据△l以及推杆电机旋转一周支撑滑块能够行进的距离l o，计算推杆电机旋转的圈数△k；
Figure PCTCN2022092373-appb-000002
当θ L>π/2时，表示左侧履带接触的道路刨面曲率半径方向向右下，此时△l<0，支撑滑块向右移动|△l|，推杆电机顺时针旋转△k圈，履带向内收缩；当θ L<π/2时，表示左侧履带接触的道路刨面曲率半径方向向右上，此时△l>0，支撑滑块向左移动|△l|，推杆电机逆时针旋转△k圈，履带向外张开；
步骤4，经过步骤1-3计算得到推杆电需要转动的圈数△k，并根据θ L与π/2的大小关系判定顺时针还是逆时针，选用合理的控制算法驱动推杆电机旋转指定圈数；右侧履带也需经过步骤1-3计算右侧支撑滑块移动距离△l和右侧推杆电机转动圈数△k，并驱动右侧推杆电机旋转相应的圈数；针对左右侧履带接触的道路刨面曲率半径不同，左右侧的推杆电机旋转圈数也会不同，进而巡检机器人可适应同一道路不同曲率半径的地形。
上述十字交叉变构履带的管道巡检机器人的越障控制方法，该方法包括如下步骤：
步骤1，采样IMU传感器输出的y轴方向角度φ、采样频率为100hz。采集深度相机数据并计算前方障碍物距离l、障碍物高度h；
步骤2，巡检机器人到达障碍物前，当l>l s时，计算十字交叉变构滑块在主行进履带和辅助行进履带中滑轨上需要移动的距离，分别为△l f和△l s；以及计算大扭矩电机旋转的角度
Figure PCTCN2022092373-appb-000003
当l<l s时，需向后退，直至l>l s；
Figure PCTCN2022092373-appb-000004
其中主行进履带长度为l f，辅助行进履带长度为l s,并且l f＝l s；
步骤3，巡检机器人的左右主行进履带向前行进直至左右辅助行进履带接触障碍物；计算左右主行进履带向前移动的距离△L f；
Figure PCTCN2022092373-appb-000005
步骤4，巡检机器人主体向上爬升，计算十字交叉变构滑块在辅助行进履带的滑轨上需要移动的距离△l s，大扭矩电机旋转的角度
Figure PCTCN2022092373-appb-000006
巡检机器人的左右主行进履带向前行进距离△L f；
Figure PCTCN2022092373-appb-000007
步骤5，巡检机器人的左右辅助行进履带向下滑动到巡检机器人主体的底部，计算十字交叉变构滑块在主行进履带的滑轨上需要移动的距离△l f，大扭矩电机旋转的角度
Figure PCTCN2022092373-appb-000008
Figure PCTCN2022092373-appb-000009
步骤6，巡检机器人的左右辅助行进履带向下支撑机器人主体至与障碍物上方同一水平线；此时要求h<(l s-l ftanφ)cosφ；计算十字交叉变构滑块在辅助行进履带的滑轨上需要移动的距离△l s，大扭矩电机旋转的角度
Figure PCTCN2022092373-appb-000010
巡检机器人的左右辅助行进履带向前行进距离△L s；
Figure PCTCN2022092373-appb-000011
步骤7：巡检机器人的左右主行进履带和辅助行进履带向前行进，直至左右辅助行进履带的底部到达障碍物的底部后停止，分别计算左右主行进履带和辅助行进履带的行进距离△L f和△L s，十字交叉变构滑 块在辅助行进履带的滑轨上需要移动的距离△l s；
Figure PCTCN2022092373-appb-000012
步骤8：收回辅助行进履带，计算十字交叉变构滑块在主行进履带的滑轨上需要移动的距离△l f，大扭矩电机旋转的角度
Figure PCTCN2022092373-appb-000013
Figure PCTCN2022092373-appb-000014
步骤9：将上述步骤1-8计算得到的大扭矩电机旋转的角度
Figure PCTCN2022092373-appb-000015
十字交叉变构滑块在辅助行进履带的滑轨上需要移动的距离△l s等距离量全部在规定的状态选择合适的控制算法执行。
本发明的有益效果：
1、本发明采用带有旋转轴面板与机器人主体面板相连接，在机器人主体面板底部安装两组调节履带倾角的支撑滑轨，并在支撑滑轨上安装与带有旋转轴面板通过支撑杆相连接的支撑滑块，通过支撑滑块的往复运动实现履带倾角调节；每组履带倾角调节机构独立控制，可适应同一道路不同刨面曲率半径的地形。
2、本发明采用在机器人主体面板的底面正前方安装有单线激光雷达，根据单线激光雷达输出的点云信息计算与两侧履带接触的道路刨面曲率半径，并结合履带倾角调节控制方法，可实现履带倾角的自适应调节。
3、本发明采用在机器人主体的两端通过履带倾角调节机构连接安装的十字交叉变构履带，每组十字交叉变构履带包含的主行进履带和辅助行进履带内部均安装有滑轨和丝杆，主行进履带和辅助行进履带通过十字交叉变构滑块相连接；十字变构滑块内包含的大扭矩电机可实现在主行进履带与履带倾角调节机构固定的情况下，辅助行进履带360°旋转。辅助行进履带的旋转可用于支撑机器人主体翻越障碍 物。
4、本发明采用在机器人前方安装深度相机可实现对前方障碍物的距离和高度信息的获取，在机器人主体中心安装的IMU可实现对道路坡度信息的获取，并结合越障控制方法，可实现对在具有不同坡度的地面上的障碍物的翻越。
5、本发明采用将驱动轮分别安装在主行进履带和辅助行进履带上，可保证结构变动的情况下仍然保证履带的驱动能力。
附图说明
图1是本发明的一种十字交叉变构履带的管道巡检机器人机构侧视图；
图2是本发明的一种十字交叉变构履带的管道巡检机器人底部机构示意图；
图3是机器人主体机构示意图；
图4是履带倾角调节机构示意图；
图5是十字交叉变构履带组件机构示意图；
图6是十字交叉变构履带组件内部爆炸视图；
图7是履带倾角调节前巡检机器人在管道内的状态示意图；
图8是履带倾角调节后巡检机器人在管道内的状态示意图；
图9是巡检机器人的主行进履带、辅助行进履带、主行进履带前端与障碍物的距离、双目相机测量的障碍物的高度、巡检机器人行进路面的坡角及主行进履带与辅助行进履带的夹角；
图10是巡检机器人的左右辅助行进履带接触障碍物时的示意图；
图11是巡检机器人主体向上爬升至主行进履带接触到障碍物时的示意图；
图12是巡检机器人的左右辅助行进履带向下滑动到机器人主体底部的示意图；
图13是巡检机器人的左右辅助行进履带向下支撑机器人主体至与障碍物上方同一水平线时的示意图；
图14是巡检机器人的左右主行进履带和辅助行进履带向前行进，直至左右辅助行进履带的底部到达障碍物的底部后停止时的示意图；
图15是巡检机器人爬升到障碍物上方后收回辅助行进履带时的示意图；
图16是巡检机器人完整翻越障碍物时的示意图。
附图标识列表：
1：机器人主体；11：机器人主体面板；12：深度相机；13：电源组件；14：主控组件；15：IMU传感器；16：电台组件；17：单线激光雷达；18：电池组件；2：履带倾角调节机构；21：带有旋转轴面板；22：支撑杆；23：支撑滑块；24：支撑滑轨；25：推杆电机；211：支撑底座；212：履带组件支撑杆；3：十字交叉变构履带组件；31：主行进履带；32：辅助行进履带；33：十字交叉变构滑块；311：驱动轮；312：从动轮；313：履带支撑板；314：履带；315：驱动电机；331：大扭矩电机；332：小滑块；3131：步进电机；3132：丝杆。
具体实施方式
下面结合附图和具体实施方式，进一步阐明本发明，应理解下述具体实施方式仅用于说明本发明而不用于限制本发明的范围。
如图1和图2所示，一种十字交叉变构履带巡检机器人，包括机器人主体1、对称设置在机器人主体左右两侧的履带倾角调节机构2、设置在履带倾角调节机构上的十字交叉变构履带组件3；所述机器人主体与其左右两侧的十字交叉变构履带组件通过履带倾角调节机构连接；所述履带倾角调节机构包括与所述机器人主体连接的带有旋转轴面板21和调节履带倾角的支撑滑轨24，所述支撑滑轨上安装推杆电机25，所述推杆电机的动力输出轴驱动一个能在支撑滑轨上往复运动的支撑滑块23，所述支撑滑块上安装一个支撑杆22，所述支撑杆的一端连接支撑滑块，另一端与带有旋转轴面板上的支撑底座211连接；所述十字交叉变构履带组件包括主行进履带31、辅助行进履带32和十字交叉变构滑块33，所述主行进履带和辅助行进履带包括履带支撑板313、驱动轮311、从动轮312、驱动电机315和履带314，所述履带支撑板的中间装有滑轨和丝杆3132，丝杆通过与安装在履带支撑板上步进电机3131的齿轮咬合驱动丝杆的转动；所述十字交叉变构滑块由两个小滑块332和一个大扭矩电机331组成。
所述调节履带倾角的支撑滑轨24有两组，中心对称安装于机器人主体的底部；所述带有旋转轴面板21上有两个履带组件支撑杆212，用于十字交叉变构履带组件的安装。
所述十字交叉变构履带3组件有两组，对称安装在机器人主体两边履带倾角调节机构的带有旋转轴面板21上；所述主行进履带31包含的驱动轮和从动轮中心内部安装有轴承，通过轴承与带有旋转轴面板上的两个履带组件支撑杆安装固定。
所述十字交叉变构滑块包含的两个小滑块332分别安装在主行 进履带和辅助行进履带中间的丝杆3132上，这两个小滑块332通过大扭矩电机331连接；所述十字交叉变构滑块33可以分别在主行进履带31和辅助行进履带32内部安装的步进电机动力驱动下，在主行进履带和辅助行进履带内的丝杆3132上滑动。
所述机器人主体包括机器人主体面板11、深度相机12、电池组件18、电源组件13、主控组件14、电台组件16、IMU传感器15、单线激光雷达17；所述单线激光雷达安装于机器人主体面板底面正前方；所述深度相机安装于机器人主体面板上面正前方；所述电池组件安装于机器人主体面板底面，调节履带支撑滑轨的两侧；所述电源组件、主控组件、电台组件和IMU安装于机器人主体上面，IMU传感器安装于机器人主体中心。
一种十字交叉变构履带的管道巡检机器人的履带倾角调节控制方法，该方法包括如下步骤：
步骤1，采样单线激光雷达输出的点云信息，根据点云信息计算与两侧履带接触的道路刨面曲率半径方向与机器人x轴方向的夹角θ L,θ R；
步骤2，计算调节左侧履带倾角的支撑滑轨需要移动的距离△l；
Figure PCTCN2022092373-appb-000016
其中，l init为带有旋转轴面板与机器人主体面板相垂直时，即θ L＝π/2时到左侧带有旋转轴面板的距离，l 1为支撑底座到旋转轴的距离，l 2为支撑杆的长度；
步骤3，计算调节左侧履带倾角的推杆电机旋转圈数△k；
根据△l以及推杆电机旋转一周支撑滑块能够行进的距离l o，计算推杆电机旋转的圈数△k；
Figure PCTCN2022092373-appb-000017
当θ L>π/2时，表示左侧履带接触的道路刨面曲率半径方向向右下，此时△l<0，支撑滑块向右移动|△l|，推杆电机顺时针旋转△k圈，履带向内收缩；当θ L<π/2时，表示左侧履带接触的道路刨面曲率半径方向向右上，此时△l>0，支撑滑块向左移动|△l|，推杆电机逆时针旋转△k圈，履带向外张开；
步骤4，经过步骤1-3计算得到推杆电需要转动的圈数△k，并根据θ L与π/2的大小关系判定顺时针还是逆时针，选用合理的控制算法驱动推杆电机旋转指定圈数；右侧履带也需经过步骤1-3计算右侧支撑滑块移动距离△l和右侧推杆电机转动圈数△k，并驱动右侧推杆电机旋转相应的圈数；针对左右侧履带接触的道路刨面曲率半径不同，左右侧的推杆电机旋转圈数也会不同，进而巡检机器人可适应同一道路不同刨面曲率半径的地形。
一种十字交叉变构履带的管道巡检机器人的越障控制方法，该方法包括如下步骤：
步骤1，采样IMU传感器输出的y轴方向角度φ、采样频率为100hz。采集深度相机数据并计算前方障碍物距离l、障碍物高度h。
步骤2，巡检机器人到达障碍物前，当l>l s时，计算十字交叉变构滑块在主行进履带和辅助行进履带中滑轨上需要移动的距离，分别为△l f和△l s。以及计算大扭矩电机旋转的角度
Figure PCTCN2022092373-appb-000018
当l<l s时，需向后退，直至l>l s。
Figure PCTCN2022092373-appb-000019
其中主行进履带长度为l f，辅助行进履带长度为l s,并且l f＝l s；△l f>0时，十字交叉变构滑块在主行进履带的滑轨上沿着远离主行进履带上的从动轮的方向滑动；△l f<0时，十字交叉变构滑块在主行进履带的滑轨上沿着接近主行进履带上的从动轮的方向滑动；△l s>0时，十字交叉变构滑块在辅助行进履带的滑轨上沿着远离辅助行进履带上的驱动轮的方向滑动；△l s<0时，十字交叉变构滑块在辅助行进履带的滑轨上沿着接近辅助行进履带上的驱动轮的方向滑动；l fc表示十字交叉变构滑块在主行进履带的滑轨上的当前位置到主行进履带上的从动轮的距离。l sc表示十字交叉变构滑块在辅助行进履带的滑轨上的当前位置到辅助行进履带上的驱动轮的距离。
步骤3，巡检机器人的左右主行进履带向前行进直至左右辅助行进履带接触障碍物；计算左右主行进履带向前移动的距离△L f：
Figure PCTCN2022092373-appb-000020
步骤4，巡检机器人主体向上爬升，计算十字交叉变构滑块在辅助行进履带的滑轨上需要移动的距离△l s，大扭矩电机旋转的角度
Figure PCTCN2022092373-appb-000021
巡检机器人的左右主行进履带向前行进距离△L f。
Figure PCTCN2022092373-appb-000022
步骤5，巡检机器人的左右辅助行进履带向下滑动到巡检机器人主体的底部，计算十字交叉变构滑块在主行进履带的滑轨上需要移动的距离△l f，大扭矩电机旋转的角度
Figure PCTCN2022092373-appb-000023
Figure PCTCN2022092373-appb-000024
步骤6，巡检机器人的左右辅助行进履带向下支撑机器人主体至与障碍物上方同一水平线；此时要求h<(l s-l ftanφ)cosφ；计算十字交叉变构滑块在辅助行进履带的滑轨上需要移动的距离△l s，大扭矩电机旋转的角度
Figure PCTCN2022092373-appb-000025
巡检机器人的左右辅助行进履带向前行进距离△L s。
Figure PCTCN2022092373-appb-000026
步骤7：巡检机器人的左右主行进履带和辅助行进履带向前行进，直至左右辅助行进履带的底部到达障碍物的底部后停止，分别计算左右主行进履带和辅助行进履带的行进距离△L f和△L s，十字交叉变构滑块在辅助行进履带的滑轨上需要移动的距离△l s：
Figure PCTCN2022092373-appb-000027
步骤8：收回辅助行进履带，计算十字交叉变构滑块在主行进履带的滑轨上需要移动的距离△l f，大扭矩电机旋转的角度
Figure PCTCN2022092373-appb-000028
Figure PCTCN2022092373-appb-000029
步骤9：上述步骤1-8为机器人在地面坡度为tan(φ)的地面上翻越障碍物的全部步骤，将每一步骤计算得到的大扭矩电机旋转的角度
Figure PCTCN2022092373-appb-000030
以及距离量全部在规定的状态选择合适的控制算法执行。
采用履带倾角调节控制方法和越障控制方法，可使管道巡检机器人适应不同管道类型，翻越管道内堆积的杂物，使管道巡检的效率有 效提高。
需要说明的是，以上内容仅仅说明了本发明的技术思想，不能以此限定本发明的保护范围，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰均落入本发明权利要求书的保护范围之内。

Claims (7)

  1. 一种十字交叉变构履带的管道巡检机器人，包括机器人主体、对称设置在机器人主体左右两侧的履带倾角调节机构、设置在履带倾角调节机构上的十字交叉变构履带组件；其特征在于，所述机器人主体与其左右两侧的十字交叉变构履带组件通过履带倾角调节机构连接；所述履带倾角调节机构包括与所述机器人主体连接的带有旋转轴面板和调节履带倾角的支撑滑轨，所述支撑滑轨上安装推杆电机，所述推杆电机的动力输出轴驱动一个能在支撑滑轨上往复运动的支撑滑块，所述支撑滑块上安装一个支撑杆，所述支撑杆的一端连接支撑滑块，另一端与带有旋转轴面板上的支撑底座连接；所述十字交叉变构履带组件包括主行进履带、辅助行进履带和十字交叉变构滑块，所述主行进履带和辅助行进履带包括履带支撑板、驱动轮、从动轮、驱动电机和履带，所述履带支撑板的中间装有滑轨和滑丝杆，丝杆通过与安装在履带支撑板上步进电机的齿轮咬合驱动丝杆的转动；所述十字交叉变构滑块由两个小滑块和一个大扭矩电机组成。
  2. 根据权利要求1所述的十字交叉变构履带的管道巡检机器人，其特征在于，所述调节履带倾角的支撑滑轨有两组，中心对称安装于机器人主体的底部；所述带有旋转轴面板上有两个履带组件支撑杆，用于十字交叉变构履带组件的安装。
  3. 根据权利要求1所述的十字交叉变构履带的管道巡检机器人，其特征在于，所述十字交叉变构履带组件有两组，对称安装在机器人主体两边履带倾角调节机构的带有旋转轴面板上；所述主行进履带包含 的驱动轮和从动轮中心内部安装有轴承，通过轴承与带有旋转轴面板上的两个履带组件支撑杆安装固定。
  4. 根据权利要求2所述的十字交叉变构履带的管道巡检机器人，其特征在于，所述十字交叉变构滑块包含的两个小滑块分别安装在主行进履带和辅助行进履带中间的丝杆上，这两个小滑块通过大扭矩电机连接；所述十字交叉变构滑块可以分别在主行进履带和辅助行进履带内部安装的步进电机动力驱动下，在主行进履带和辅助行进履带内的丝杆上滑动。
  5. 根据权利要求1所述的十字交叉变构履带的管道巡检机器人，其特征在于，所述机器人主体包括机器人主体面板、深度相机、电池组件、电源组件、主控组件、电台组件、IMU传感器、单线激光雷达；所述单线激光雷达安装于机器人主体面板底面正前方；所述深度相机安装于机器人主体面板上面正前方；所述电池组件安装于机器人主体面板底面，调节履带支撑滑轨的两侧；所述电源组件、主控组件、电台组件和IMU安装于机器人主体上面，IMU传感器安装于机器人主体中心。
  6. 一种十字交叉变构履带的管道巡检机器人的履带倾角调节控制方法，其特征在于，该方法包括如下步骤：
    步骤1，采样单线激光雷达输出的点云信息，根据点云信息计算与两侧履带接触的道路刨面曲率半径方向与机器人x轴方向的夹角θ L,θ R；
    步骤2，计算调节左侧履带倾角的支撑滑轨需要移动的距离△l；
    Figure PCTCN2022092373-appb-100001
    其中，l init为带有旋转轴面板与机器人主体面板相垂直时，即θ L＝π/2时到左侧带有旋转轴面板的距离，l 1为支撑底座到旋转轴的距离，l 2为支撑杆的长度；
    步骤3，计算调节左侧履带倾角的推杆电机旋转圈数△k；
    根据△l以及推杆电机旋转一周支撑滑块能够行进的距离l o，计算推杆电机旋转的圈数△k；
    Figure PCTCN2022092373-appb-100002
    当θ L>π/2时，表示左侧履带接触的道路刨面曲率半径方向向右下，此时△l<0，支撑滑块向右移动|△l|，推杆电机顺时针旋转△k圈，履带向内收缩；当θ L<π/2时，表示左侧履带接触的道路刨面曲率半径方向向右上，此时△l>0，支撑滑块向左移动|△l|，推杆电机逆时针旋转△k圈，履带向外张开；
    步骤4，经过步骤1-3计算得到推杆电机需要转动的圈数△k，并根据θ L与π/2的大小关系判定顺时针还是逆时针，选用合理的控制算法驱动推杆电机旋转指定圈数；右侧履带也需经过步骤1-3计算右侧支撑滑块移动距离△l和右侧推杆电机转动圈数△k，并驱动右侧推杆电机旋转相应的圈数；针对左右侧履带接触的道路刨面曲率半径不同，左右侧的推杆电机旋转圈数也会不同，进而巡检机器人可适应同一道路不同曲率半径的地形。
  7. 一种十字交叉变构履带的管道巡检机器人的越障控制方法，其特 征在于，该方法包括如下步骤：
    步骤1，采样IMU传感器输出的y轴方向角度φ、采样频率为100hz；采集深度相机数据并计算前方障碍物距离l、障碍物高度h；
    步骤2，巡检机器人到达障碍物前，当l>l s时，计算十字交叉变构滑块在主行进履带和辅助行进履带中滑轨上需要移动的距离，分别为△l f和△l s；以及计算大扭矩电机旋转的角度
    Figure PCTCN2022092373-appb-100003
    当l<l s时，需向后退，直至l>l s；
    Figure PCTCN2022092373-appb-100004
    其中主行进履带长度为l f，辅助行进履带长度为l s,并且l f＝l s；
    步骤3，巡检机器人的左右主行进履带向前行进直至左右辅助行进履带接触障碍物；计算左右主行进履带向前移动的距离△L f；
    Figure PCTCN2022092373-appb-100005
    步骤4，巡检机器人主体向上爬升，计算十字交叉变构滑块在辅助行进履带的滑轨上需要移动的距离△l s，大扭矩电机旋转的角度
    Figure PCTCN2022092373-appb-100006
    巡检机器人的左右主行进履带向前行进距离△L f；
    Figure PCTCN2022092373-appb-100007
    步骤5，巡检机器人的左右辅助行进履带向下滑动到巡检机器人主体的底部，计算十字交叉变构滑块在主行进履带的滑轨上需要移动的距离△l f，大扭矩电机旋转的角度
    Figure PCTCN2022092373-appb-100008
    Figure PCTCN2022092373-appb-100009
    步骤6，巡检机器人的左右辅助行进履带向下支撑机器人主体至 与障碍物上方同一水平线；此时要求h<(l s-l ftanφ)cosφ；计算十字交叉变构滑块在辅助行进履带的滑轨上需要移动的距离△l s，大扭矩电机旋转的角度
    Figure PCTCN2022092373-appb-100010
    巡检机器人的左右辅助行进履带向前行进距离△L s；
    Figure PCTCN2022092373-appb-100011
    步骤7：巡检机器人的左右主行进履带和辅助行进履带向前行进，直至左右辅助行进履带的底部到达障碍物的底部后停止，分别计算左右主行进履带和辅助行进履带的行进距离△L f和△L s，十字交叉变构滑块在辅助行进履带的滑轨上需要移动的距离△l s；
    Figure PCTCN2022092373-appb-100012
    步骤8：收回辅助行进履带，计算十字交叉变构滑块在主行进履带的滑轨上需要移动的距离△l f，大扭矩电机旋转的角度
    Figure PCTCN2022092373-appb-100013
    Figure PCTCN2022092373-appb-100014
    步骤9：将每一步骤计算得到的大扭矩电机旋转的角度
    Figure PCTCN2022092373-appb-100015
    十字交叉变构滑块在辅助行进履带的滑轨上需要移动的距离△l s等距离量全部在规定的状态选择合适的控制算法执行。
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