CN110667719B - Marine omnidirectional movement wall climbing robot - Google Patents
Marine omnidirectional movement wall climbing robot Download PDFInfo
- Publication number
- CN110667719B CN110667719B CN201910983947.1A CN201910983947A CN110667719B CN 110667719 B CN110667719 B CN 110667719B CN 201910983947 A CN201910983947 A CN 201910983947A CN 110667719 B CN110667719 B CN 110667719B
- Authority
- CN
- China
- Prior art keywords
- wall
- climbing robot
- robot
- auxiliary mechanism
- forearm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a marine omnidirectional moving wall-climbing robot, which comprises a frame, wheels, a wheel motor, a two-axis electric control holder and a forearm auxiliary mechanism, and is characterized in that: permanent magnets which generate adsorption magnetic force with steel plates on the ship are arranged at the bottom of the periphery of the frame, a ducted propeller for offsetting the gravity of the wall-climbing robot is fixed on the two-axis electric control holder, and a propeller motor for driving the ducted propeller to rotate is fixed on the two-axis electric control holder; the forearm auxiliary mechanism is arranged at the front end of the frame through a connecting shaft, and two sides of the forearm auxiliary mechanism are provided with tracks. The wall-climbing robot can realize the omnidirectional movement, obstacle crossing and wall climbing switching of the wall-climbing robot under the adsorption magnetic force between the permanent magnet and the ship steel plate, the counteraction of the ducted propeller to the gravity and the attaching action of the forearm auxiliary mechanism to the next wall surface or an obstacle, realizes the detection, cabin sweeping or welding operation of any wall surface of a ship, reduces the cost of manpower completion, and has remarkable beneficial effects.
Description
Technical Field
The invention relates to a wall-climbing robot, in particular to a marine omnidirectional mobile wall-climbing robot.
Background
Ships play a very important role in logistics transportation of national economy. As large-scale bearing type mechanical equipment, ships which are already put into use need to regularly clean attachments on the outer surface or perform outer plate detection so as to prolong the service life of the ships. In the case of a large bulk carrier, when the cargo to be carried changes, a cabin sweeping operation is also required. For newly-built ships, the ship body is usually manufactured in a sectional mode and welded. At present, most of the work is finished manually, the labor intensity is high, the work difficulty is high, the operation efficiency is low, the danger is high, and the labor cost is increased year by year. Therefore, it is necessary to design a ship wall-climbing robot to perform these tasks instead of a human.
Because large ships are welded by steel plates, most of the wall-climbing robots for ships adopt a double-wheel differential speed or crawler belt structure, use permanent magnetic materials as the main adsorption force of the wall-climbing robots, and use the friction force between wheels or crawler belts and steel plates as the power for movement or hovering, so that the function of linear movement along a smooth curved surface can be realized. The wheeled robot moves flexibly but has small load, while the crawler-type robot has strong load bearing capacity and capacity of crossing obstacles but has inflexible motion. Since the magnetic attraction force is rapidly attenuated as the gap between the magnet and the steel plate becomes larger, it is difficult for these wall-climbing robots to climb over the weld or the small structural member of the hull. And when the robot is required to move in a fixed posture, the robot can not move.
The omnidirectional-motion wall-climbing robot designed by the invention can move in all directions along the surface of the ship body, can climb over barriers with a certain height and switch climbing walls, and realizes the function of automatically driving along a planned path.
Disclosure of Invention
The invention provides a marine omnidirectional mobile wall-climbing robot for overcoming the defects of the technical problems.
The invention relates to a marine omnidirectional moving wall-climbing robot, which comprises a frame, wheels, wheel motors, a two-axis electric control holder and a forearm auxiliary mechanism, wherein the wheels and the wheel motors are arranged at four corners of the frame, and output shafts of the wheel motors are in transmission connection with wheel shafts of the wheels and used for driving the frame to walk; the two-shaft electric control holder is arranged on the frame; the method is characterized in that: permanent magnets which generate adsorption magnetic force with steel plates on the ship are arranged at the bottom of the periphery of the frame, the two-axis electric control cradle head can rotate within 360 degrees in a plane parallel to the frame and can swing 0-90 degrees relative to the rotating plane of the two-axis electric control cradle head, a ducted propeller for offsetting the gravity of the wall climbing robot is fixed on the two-axis electric control cradle head, and a propeller motor for driving the ducted propeller to rotate is fixed on the two-axis electric control cradle head;
the front arm auxiliary mechanism is arranged at the front end of the frame through a connecting shaft, the two sides of the front arm auxiliary mechanism are provided with tracks, the front end of the frame is provided with a front arm direction motor which drives the front arm auxiliary mechanism to rotate through the connecting shaft, and the two sides of the front arm auxiliary mechanism are both provided with front arm advancing motors which respectively drive the two tracks to rotate.
The marine omnidirectional mobile wall-climbing robot is characterized in that a laser radar and a camera for positioning, path tracking and attitude control of the wall-climbing robot are arranged on the two-axis electric control holder.
The invention relates to a marine omnidirectional moving wall-climbing robot, wherein a negative pressure suction port for sucking a vertical surface or an inclined surface is formed on the lower surface of the front end of a front arm auxiliary mechanism, and a negative pressure pump communicated with the negative pressure suction port is fixed on the front arm auxiliary mechanism.
The invention relates to a marine omnidirectional mobile wall-climbing robot, which comprises an embedded controller, an emergency power supply, an inertial navigation sensor and a power supply conversion circuit, wherein the inertial navigation sensor is arranged on a vehicle frame, a cable interface is arranged on the vehicle frame, and an external power supply is connected through the cable interface and converted by the power supply conversion circuit to be supplied for the embedded controller, a wheel motor, a two-axis electric control pan-tilt, a forearm direction motor, a forearm advancing motor and a negative pressure pump to work.
The invention relates to an operation control method of a marine omnidirectional moving wall-climbing robot, which is realized by the following steps:
a) planning a driving path, planning the driving path of the wall-climbing robot according to the part to be detected, cleaned or welded of the ship, and issuing the planned path to an embedded controller of the wall-climbing robot so as to control the robot to drive according to the planned path;
b) the embedded controller detects the posture of the robot through an inertial navigation sensor, and identifies whether the robot walks on a horizontal plane, a horizontal plane with a smaller inclination angle, a horizontal plane with a larger inclination angle, a vertical plane or the lower surface of the horizontal plane or the inclined plane; if the robot walks on a horizontal plane or a horizontal plane with a smaller inclination angle, the ducted propeller is not started, otherwise, the ducted propeller is started to counteract partial or all gravity of the wall-climbing robot, so that the robot is prevented from falling;
c) the method comprises the following steps of crossing obstacles or switching a crawling wall surface, and when the embedded controller detects that the embedded controller meets the obstacles or needs to switch the crawling wall surface, crossing obstacles or switching the crawling wall surface through the following steps:
c-1), a forearm direction motor on the forearm auxiliary mechanism operates to drive the forearm auxiliary mechanism to lift up, so that the forearm auxiliary mechanism is attached to an obstacle or the next wall surface to be crawled; at the moment, a negative pressure pump on the forearm auxiliary mechanism is started, so that a negative pressure suction port is sucked on the barrier or the next creeping wall;
c-2), a forearm advancing motor on the forearm auxiliary mechanism operates, and under the propelling of a wheel motor on the frame, a front wheel of the wall-climbing robot is lifted, and the forearm direction motor controls the forearm auxiliary mechanism to be always attached to an obstacle or the next wall-climbing surface;
c-3), when the inclination angle of the wall-climbing robot reaches a certain range, starting the ducted propeller to overcome all or part of the gravity of the robot and avoid the robot falling;
c-4), after obstacle crossing or wall surface switching is finished, keeping the forearm auxiliary mechanism close to avoid or lift up according to the current avoiding condition;
d) in the running process of the robot, if an external power supply fails, the emergency battery is used for providing working power supply, and the wall-climbing robot can be moved to a safe position so as to be convenient to recover and repair.
The invention relates to an operation control method of a marine omnidirectional mobile wall-climbing robot, wherein the posture judgment and the gravity offset in the step b) are realized by the following steps:
b-1) acquiring the gesture of the robot, acquiring the gesture of the wall-climbing robot by the embedded controller through the inertial navigation sensor, and recording the acquired included angle delta between the plane of the frame and the horizontal planeCRThe included angle between the axis of the wall-climbing robot and the gradient direction of the plane is etaCR，δCRHas a value range of [ -pi, pi), etaCRThe value range of (a) is [0, 2 π);
the rotational angle of the pan-tilt in the rotational plane is
The rotation angle of the holder relative to the rotation plane is recorded as
Has a value range of
Has a value range of (-2 pi, 2 pi)]；
Thrust generated by ducted propeller
Wherein ω iscIs the rotational angular velocity of the propeller, KTIs a constant coefficient related to the air density;
b-2) when
When the temperature of the water is higher than the set temperature,
at the moment, the wall-climbing robot works on a horizontal plane or an inclined plane with a smaller inclination angle, the working plane supports gravity and adsorbs magnetic force, the friction force generated by the wheels and the working plane provides forward and static acting force for the wall-climbing robot, and the ducted propeller stops working at the moment;
b-3) when
When the temperature of the water is higher than the set temperature,
at the moment, the wall climbing robot works above a horizontal plane, but the inclination angle is large, the friction force between the wheels and the working surface is not enough to enable the wall climbing robot to be still on the working surface, and a wind propulsion device is needed to provide thrust assistance; wherein sigma is a set constant, and sigma is more than or equal to 0 and less than 0.25; the working state of the wind power propulsion device is as follows:
k is 0 or 1 and is determined according to the continuously changing motion state of the robot;
b-4) when
When the temperature of the water is higher than the set temperature,
at the moment, the wall-climbing robot works below a horizontal plane, the direction of the gravity component is opposite to the adsorption force generated by the permanent magnet, and a wind power propulsion device is needed for assistance; the working state of the wind power propulsion device is as follows:
k is 0 or 1 and is determined according to the continuously changing motion state of the robot;
b-5) when pi-sigma < | deltaCRWhen the | is less than or equal to pi,
at the moment, the wall-climbing robot works below a horizontal plane, the direction of the gravity component is opposite to the adsorption force generated by the permanent magnet, and a wind power propulsion device is needed for assistance; the working state of the wind power propulsion device is as follows:
due to the fact that
Working in critical conditions, is subject to drastic changes, and therefore needs to be set to death within this range
It is necessary to keep the original state unchanged.
The invention has the beneficial effects that: according to the wall-climbing robot, the wheels driven by the motor are arranged at the four corners of the frame, and the motor controls the rotating speed of the 4 wheels, so that the wall-climbing robot can correspondingly avoid omnidirectional movement; through set up the permanent magnet all around in frame bottom, realized producing between wall climbing robot and the boats and ships steel sheet and adsorb magnetic force, under the effect of adsorption magnetic force, existing frictional force that does benefit to between increase robot and the boats and ships steel sheet when the robot traveles at the great wall of inclination or when the lower surface of wall, through the effect of adsorption magnetic force, be favorable to again that the robot adsorbs on corresponding avoiding, avoid the robot to fall.
By arranging the two-axis electric control holder on the frame and arranging the ducted propeller on the electric control holder, when the robot runs on a wall surface with a larger inclination angle or the lower surface of the wall surface, partial or all gravity of the robot can be counteracted by opening the ducted propeller, so that the friction force between the robot and the wall surface required when the robot is ensured not to fall is greatly reduced, and the invalid load of the robot in the running process is reduced. The front end of the frame is provided with a front arm auxiliary mechanism, the front arm auxiliary mechanism is provided with a crawler, a negative pressure suction port and a negative pressure pump, a front arm direction motor drives the front arm auxiliary mechanism to rotate so that the front arm auxiliary mechanism can be attached to a barrier to be avoided from crawling or to be traversed next, a front arm advancing motor drives the crawler to rotate so that wheels on the frame can be lifted, and actions of traversing the barrier and switching a crawling wall surface are completed; furthermore, the lower surface of the forearm auxiliary mechanism is provided with the negative pressure suction port, and the forearm auxiliary mechanism can be adsorbed on the next wall surface or an obstacle by starting the negative pressure pump, so that the smooth proceeding of wall surface switching and obstacle crossing is ensured.
The wall-climbing robot can realize the omnidirectional movement, obstacle crossing and wall climbing switching of the wall-climbing robot under the adsorption magnetic force between the permanent magnet and the ship steel plate, the counteraction of the ducted propeller to the gravity and the attaching action of the forearm auxiliary mechanism to the next wall surface or an obstacle, realizes the detection, cabin sweeping or welding operation of any wall surface of a ship, reduces the cost of manpower completion, provides an effective device for the detection, cabin sweeping or welding operation of the ship, and has obvious beneficial effects.
Drawings
Fig. 1 is a top view of the omnidirectional mobile wall-climbing robot for a ship of the present invention;
FIG. 2 is a left side view of the omnidirectional mobile wall-climbing robot for a ship of the present invention;
FIG. 3 is a schematic diagram of the operation of the wall-climbing robot of the present invention during switching for avoiding climbing;
FIG. 4 is a schematic diagram of the forces applied when the wall-climbing robot of the present invention is operating on a horizontal plane;
FIG. 5 is a schematic diagram of the force applied when the wall-climbing robot of the present invention climbs on a vertical surface;
fig. 6 is a schematic view of the wall-climbing robot of the present invention when climbing on an inclined wall surface.
In the figure: the system comprises a frame, 2 wheels, 3 wheel motors, 4 permanent magnets, 5 two-axis electric control pan heads, 6 ducted propellers, 7 laser radars, 8 cameras, 9 forearm auxiliary mechanisms, 10 tracks, 11 connecting shafts, 12 forearm direction motors, 13 forearm advancing motors, 14 negative pressure pumps, 15 suction negative pressure ports, 16 emergency power supplies and 17 cable interfaces.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 1 and fig. 2, a top view and a left view of the omnidirectional mobile wall-climbing robot for a ship of the present invention are respectively given, the illustrated wall-climbing robot is composed of a frame 1, wheels 2, wheel motors 3, a permanent magnet 4, a two-axis electric control pan/tilt 5, a ducted propeller 6, a laser radar 7, a camera 8, a forearm auxiliary mechanism 9, a negative pressure pump 14, an emergency power supply 16 and a cable interface 17, the frame 1 plays a role in fixing and supporting and is used for forming a chassis of the wall-climbing robot, the wheels 2 are arranged at four corners of the frame 1, each wheel 2 is driven by a separate wheel motor 3, so that the wheel motors 3 can realize omnidirectional movement (forward, backward and steering) of the robot on the corresponding wall surface by controlling the rotation speed and steering of the wheels 2. The permanent magnets 4 are fixed on the periphery of the bottom of the frame 1, the adsorption magnetic force is generated between the permanent magnets 4 and the ship steel plate, the adsorption magnetic force increases the friction force between the wall climbing robot and the ship wall surface, and when the robot is located on the lower surface of the inclined plane, the vertical plane and the wall surface with the larger inclination angle, the adsorption magnetic force is used for adsorbing the existence of the magnetic force, so that the robot can be prevented from falling. Moreover, when the wall-climbing robot has an electrical fault and cannot work, the adsorption magnetic force between the robot and the ship steel plate cannot disappear, the robot can be guaranteed to stay on the corresponding wall surface, and the falling accident is avoided.
The two-axis electric control holder 5 is fixed on the central position of the upper surface of the frame 1, and the two-axis electric control holder 5 can rotate for 360 degrees in a plane parallel to the frame 1 and can swing for 0-90 degrees relative to the rotating plane. The ducted propellers 6 are arranged on the two-axis electric control holder 5, the number of the ducted propellers can be 2, and the ducted propellers 6 are driven to rotate by the propeller motor. Like this, when climbing wall robot operation on the great wall of inclination or wall lower surface, two automatically controlled cloud platforms 5 of axis order about duct screw 6 to move to the position of offsetting with gravity on, and duct screw 6 rotates, makes climbing wall robot receive with gravity direction opposite or have the effort of certain contained angle to offset whole or partial gravity, not only can multiplicable climbing wall robot adhesive force when on great angle inclined plane or wall lower surface, still can reduce the work consumption of overcoming gravity.
The forearm auxiliary mechanism 9 is arranged at the front end of the frame 1, two ends of the forearm auxiliary mechanism are arranged at the front end of the frame 1 through the connecting shaft 11, the two sides of the front end of the frame 1 are provided with a forearm direction motor 12 driving the connecting shaft 11 to rotate, and the forearm direction motor 12 can drive the forearm auxiliary mechanism 9 to swing by driving the connecting shaft 11 to enable the forearm auxiliary mechanism 9 to climb up an obstacle or avoid driving. The two sides of the forearm auxiliary mechanism 9 are provided with tracks 10, the tracks 10 are driven by a forearm advancing motor 13, and the forearm advancing motor 13 drives the tracks 10 to rotate, so that the forearm auxiliary mechanism 9 can crawl on an obstacle or the next wall surface. When the forearm auxiliary mechanism 9 is attached to an obstacle or a next wall surface, in order to ensure that the forearm auxiliary mechanism 9 has a large acting force with the obstacle or the wall surface, a negative pressure suction port 15 is formed in the lower surface of the forearm auxiliary mechanism 9, and the negative pressure suction port 15 is connected with a negative pressure pump 14, so that under the negative pressure suction effect of the negative pressure pump 14, the negative pressure suction port 15 can generate a negative pressure suction force.
The frame 1 is also provided with an embedded controller to control the operation of the wheel motor 3, the two-axis electric control holder 5, the propeller motor, the forearm direction motor 12, the forearm advancing motor 13 and the negative pressure pump 14 of the wall-climbing robot. The vehicle frame 1 is provided with an inertial navigation sensor for measuring the attitude of the vehicle frame 1 and the speed and the acceleration in each direction. The frame is also provided with an emergency power supply 16, a cable interface 17 and a power conversion circuit, an external power supply supplies power to the wall climbing robot through the cable interface 17, and the input power supply is converted by the power conversion circuit to form standard voltage for the work of each motor and each module. When running into external power supply trouble, wall climbing robot can utilize inside emergency battery to provide working power supply, guarantees that wall climbing robot can move to safe position to retrieve and repair.
Still be provided with laser radar 7 and camera 8 on the automatically controlled cloud platform of shown two axles 5, navigation control device comprises laser radar 8, camera 7, embedded controller and power supply converting circuit, is the core device of wall climbing robot, accomplishes functions such as robot location, path tracking and attitude control, data acquisition and transmission, the laser scanner who uses constitutes laser SLAM navigation, can provide accurate location data for wall climbing robot.
The invention relates to an operation control method of a marine omnidirectional moving wall-climbing robot, which is realized by the following steps: a) planning a driving path, planning the driving path of the wall-climbing robot according to the part to be detected, cleaned or welded of the ship, and issuing the planned path to an embedded controller of the wall-climbing robot so as to control the robot to drive according to the planned path;
b) the embedded controller detects the posture of the robot through an inertial navigation sensor, and identifies whether the robot walks on a horizontal plane, a horizontal plane with a smaller inclination angle, a horizontal plane with a larger inclination angle, a vertical plane or the lower surface of the horizontal plane or the inclined plane; if the robot walks on a horizontal plane or a horizontal plane with a smaller inclination angle, the ducted propeller is not started, otherwise, the ducted propeller is started to counteract partial or all gravity of the wall-climbing robot, so that the robot is prevented from falling;
c) the method comprises the following steps of crossing obstacles or switching a crawling wall surface, and when the embedded controller detects that the embedded controller meets the obstacles or needs to switch the crawling wall surface, crossing obstacles or switching the crawling wall surface through the following steps:
c-1), a forearm direction motor on the forearm auxiliary mechanism operates to drive the forearm auxiliary mechanism to lift up, so that the forearm auxiliary mechanism is attached to an obstacle or the next wall surface to be crawled; at the moment, a negative pressure pump on the forearm auxiliary mechanism is started, so that a negative pressure suction port is sucked on the barrier or the next creeping wall;
c-2), a forearm advancing motor on the forearm auxiliary mechanism operates, and under the propelling of a wheel motor on the frame, a front wheel of the wall-climbing robot is lifted, and the forearm direction motor controls the forearm auxiliary mechanism to be always attached to an obstacle or the next wall-climbing surface;
c-3), when the inclination angle of the wall-climbing robot reaches a certain range, starting the ducted propeller to overcome all or part of the gravity of the robot and avoid the robot falling;
c-4), after obstacle crossing or wall surface switching is finished, keeping the forearm auxiliary mechanism close to avoid or lift up according to the current avoiding condition;
as shown in fig. 3, a working principle diagram of the wall climbing robot of the present invention when performing the switching of the climbing avoidance is shown, in fig. 3, a diagram a shows that the wall climbing robot needs to be switched from the horizontal avoidance to the vertical avoidance, and in a diagram b, a forearm direction motor is operated to drive a forearm auxiliary mechanism to lift up; in the figure c, a forearm advancing motor runs, and a front wheel of the wall-climbing robot is lifted under the propulsion of a wheel motor on the frame; in fig. d, the wall climbing robot is successfully switched to the vertical wall.
d) In the running process of the robot, if an external power supply fails, the emergency battery is used for providing working power supply, and the wall-climbing robot can be moved to a safe position so as to be convenient to recover and repair.
As shown in fig. 4, which shows a force diagram of the wall-climbing robot of the present invention when it runs on a horizontal plane, a mecanum wheel is used as 4 wheels 2 on the frame 1, and the mecanum wheel is composed of a hub and a plurality of rollers obliquely arranged on a rim, and the envelope surfaces of the generatrices of the rollers form a cylindrical surface, so that the rollers can convert the steering force of the wheels into the axial direction of the wheels during the forward rolling process of the mecanum wheel. The coordinate system of the wall-climbing robot and each wheel and the acting force generated by each wheel are shown in the figure, and it can be seen that the wall-climbing robot can move omnidirectionally on a plane by controlling the rotating speed and the steering of the four wheels. The robot with the structure has the advantages of compact structure, easy control and good bearing capacity of the wheels. Each wheel loses some of its efficiency because the rollers are typically angled at 45 ° to the wheel.
As shown in fig. 5, a schematic diagram of the stress when the wall-climbing robot of the present invention climbs on a vertical surface is shown, where G is the gravity of the wall-climbing robot, Fa is the adsorption force generated by the permanent magnet, f is the friction force generated by the wheels and the wall-climbing surface, and Fp is the thrust generated by the wind-driven propeller. In order to enable the wall-climbing robot to be attached to a working wall surface and not to fall down when electrical faults occur, the required adsorption force is considered to be larger than the self gravity when the wall-climbing robot works on a horizontal bottom surface, and a certain allowance is required to be reserved, for example, the designed adsorption force Fa is more than or equal to 2G.
However, when the wall-climbing robot works on a vertical plane, the friction force generated between the wheels and the wall surface by the adsorption force alone obviously cannot overcome the self gravity of the wall-climbing robot. Further, when the obstacle is crossed or the creeping wall surface is switched, the gap between the permanent magnet and the wall surface is increased, and the attraction force is rapidly reduced. Therefore, the invention adds a wind propulsion device to provide assistance.
As shown in fig. 6, a schematic diagram of the wall-climbing robot when climbing on an inclined wall surface is shown, the plane ABCD is parallel to the horizontal plane, the plane ACEF is an inclined plane, the wall-climbing robot climbs on the inclined plane ACEF, OP is a central axis of the wall-climbing robot, and an included angle η between the central axis OP and a gradient direction line of the inclined plane ACEF is ηCR。
The posture judgment and gravity offset of the step b) are realized by the following steps:
b-1) acquiring the gesture of the robot, acquiring the gesture of the wall-climbing robot by the embedded controller through the inertial navigation sensor, and recording the acquired included angle delta between the plane of the frame and the horizontal planeCRThe included angle between the axis of the wall-climbing robot and the gradient direction of the plane is etaCR，δCRHas a value range of [ -pi, pi), etaCRThe value range of (a) is [0, 2 π);
the rotational angle of the pan-tilt in the rotational plane is
The rotation angle of the holder relative to the rotation plane is recorded as
Has a value range of
Has a value range of (-2 pi, 2 pi)]；
Thrust generated by ducted propeller
Wherein ω iscIs the rotational angular velocity of the propeller, KTIs a constant coefficient related to the air density;
b-2) when
When the temperature of the water is higher than the set temperature,
at the moment, the wall-climbing robot works on a horizontal plane or an inclined plane with a smaller inclination angle, the working plane supports gravity and adsorbs magnetic force, the friction force generated by the wheels and the working plane provides forward and static acting force for the wall-climbing robot, and the ducted propeller stops working at the moment;
b-3) when
When the temperature of the water is higher than the set temperature,
at the moment, the wall climbing robot works above a horizontal plane, but the inclination angle is large, the friction force between the wheels and the working surface is not enough to enable the wall climbing robot to be still on the working surface, and a wind propulsion device is needed to provide thrust assistance; wherein sigma is a set constant, and sigma is more than or equal to 0 and less than 0.25; the working state of the wind power propulsion device is as follows:
k is 0 or 1 and is determined according to the continuously changing motion state of the robot;
b-4) when
When the temperature of the water is higher than the set temperature,
at the moment, the wall-climbing robot works below a horizontal plane, the direction of the gravity component is opposite to the adsorption force generated by the permanent magnet, and a wind power propulsion device is needed for assistance; the working state of the wind power propulsion device is as follows:
k is 0 or 1 and is determined according to the continuously changing motion state of the robot;
b-5) when pi-sigma < | deltaCRWhen the thickness is less than or equal to pi,
at the moment, the wall-climbing robot works below a horizontal plane, the direction of the gravity component is opposite to the adsorption force generated by the permanent magnet, and a wind power propulsion device is needed for assistance; the working state of the wind power propulsion device is as follows:
due to the fact that
Working in critical conditions, is subject to drastic changes, and therefore needs to be set to death within this range
It is necessary to keep the original state unchanged.
According to the omnidirectional mobile wall-climbing robot for the ship, four Mecanum wheels are used as a moving part of the wall-climbing robot, omnidirectional movement of the wall-climbing robot is achieved through different rotating speeds and directions of the four wheels, and in order to increase the friction force between the wheels and a contact surface, small rollers on the circumference of the Mecanum wheels are made of rubber with a high friction coefficient. The propeller wind propulsion device with the cloud deck is installed in the middle of the wall climbing robot, and the gravity of the robot is counteracted by wind power, so that the adsorption force of the robot to the wall surface is greatly reduced, and the invalid load in the moving process of the robot is reduced. 3) The crawler-type front arm is designed, and the function of climbing over barriers or switching wall climbing switching can be realized through the matching of the auxiliary adsorption device and the wind power propulsion device.
Claims (5)
1. A marine omnidirectional mobile wall-climbing robot comprises a frame (1), wheels (2), wheel motors (3), a two-axis electric control pan-tilt (5) and a forearm auxiliary mechanism (9), wherein the wheels and the wheel motors are arranged at four corners of the frame, and output shafts of the wheel motors are in transmission connection with wheel shafts of the wheels and used for driving the frame to walk; the two-shaft electric control holder is arranged on the frame; the method is characterized in that: permanent magnets (4) which generate adsorption magnetic force with steel plates on a ship are arranged at the bottom of the periphery of the frame, a two-axis electric control tripod head (5) can rotate within a plane parallel to the frame (1) by 360 degrees and can swing by 0-90 degrees relative to the rotating plane of the frame, a ducted propeller (6) used for offsetting the gravity of the wall climbing robot is fixed on the two-axis electric control tripod head, and a propeller motor driving the ducted propeller to rotate is fixed on the two-axis electric control tripod head;
the front arm auxiliary mechanism (9) is arranged at the front end of the frame (1) through a connecting shaft (11), two sides of the front arm auxiliary mechanism are provided with tracks (10), the front end of the frame is provided with a front arm direction motor (12) which drives the front arm auxiliary mechanism to rotate through the connecting shaft, and two sides of the front arm auxiliary mechanism are respectively provided with a front arm advancing motor (13) which drives the two tracks to rotate;
the lower surface of the front end of the forearm auxiliary mechanism (9) is provided with a negative pressure suction port (15) for absorbing the vertical surface or the inclined surface, and a negative pressure pump (14) communicated with the negative pressure suction port is fixed on the forearm auxiliary mechanism.
2. The marine omnidirectional mobile wall-climbing robot of claim 1, wherein: and a laser radar (7) and a camera (8) for positioning, path tracking and attitude control of the wall climbing robot are arranged on the two-axis electric control holder (5).
3. The marine omnidirectional moving wall-climbing robot according to claim 1 or 2, wherein: the automatic control device comprises an embedded controller, an emergency power supply (16), an inertial navigation sensor and a power supply conversion circuit, wherein the inertial navigation sensor is installed on a vehicle frame (1), a cable interface (17) is arranged on the vehicle frame, and an external power supply is connected into the vehicle frame through the cable interface and converted through the power supply conversion circuit to supply the embedded controller, a wheel motor (3), a two-axis electric control holder (5), a forearm direction motor (12), a forearm advancing motor (13) and a negative pressure pump (14) to work.
4. An operation control method of the marine omnidirectional moving wall-climbing robot based on the claim 1 is characterized by comprising the following steps:
a) planning a driving path, planning the driving path of the wall-climbing robot according to the part to be detected, cleaned or welded of the ship, and issuing the planned path to an embedded controller of the wall-climbing robot so as to control the robot to drive according to the planned path;
b) the embedded controller detects the posture of the robot through the inertial navigation sensor, and identifies whether the robot walks on a horizontal plane, a horizontal plane with an inclination angle smaller than 45 degrees, a horizontal plane with an inclination angle larger than 45 degrees, a vertical plane or the lower surface of the horizontal plane or the inclined plane; if the robot walks on a horizontal plane or a horizontal plane with a smaller inclination angle, the ducted propeller is not started, otherwise, the ducted propeller is started to counteract partial or all gravity of the wall-climbing robot, so that the robot is prevented from falling;
c) the method comprises the following steps of crossing obstacles or switching a crawling wall surface, and when the embedded controller detects that the embedded controller meets the obstacles or needs to switch the crawling wall surface, crossing obstacles or switching the crawling wall surface through the following steps:
c-1), a forearm direction motor on the forearm auxiliary mechanism operates to drive the forearm auxiliary mechanism to lift up, so that the forearm auxiliary mechanism is attached to an obstacle or the next wall surface to be crawled; at the moment, a negative pressure pump on the forearm auxiliary mechanism is started, so that a negative pressure suction port is sucked on the barrier or the next creeping wall;
c-2), a forearm advancing motor on the forearm auxiliary mechanism operates, and under the propelling of a wheel motor on the frame, a front wheel of the wall-climbing robot is lifted, and the forearm direction motor controls the forearm auxiliary mechanism to be always attached to an obstacle or the next wall-climbing surface;
c-3), when the inclination angle of the wall-climbing robot is larger than 45 degrees or the wall-climbing robot works below the horizontal plane, starting the ducted propeller to overcome all or part of the gravity of the robot and avoid the robot falling;
c-4), after obstacle crossing or wall surface switching is finished, keeping the forearm auxiliary mechanism close to avoid or lift up according to the current avoiding condition;
d) in the running process of the robot, if an external power supply fails, the emergency battery is used for providing working power supply, and the wall-climbing robot can be moved to a safe position so as to be convenient to recover and repair.
5. The operation control method of the omnidirectional moving wall-climbing robot for the ship according to claim 4, wherein the posture judgment and the gravity offset in the step b) are specifically realized by the following steps:
b-1) acquiring the gesture of the robot, acquiring the gesture of the wall-climbing robot by the embedded controller through the inertial navigation sensor, and recording the acquired included angle delta between the plane of the frame and the horizontal planeCRThe included angle between the axis of the wall-climbing robot and the gradient direction of the plane is etaCR，δCRHas a value range of [ -pi, pi), etaCRThe value range of (a) is [0, 2 π);
the rotational angle of the pan-tilt in the rotational plane is
The rotation angle of the holder relative to the rotation plane is recorded as
Has a value range of
Has a value range of (-2 pi, 2 pi)]；
Thrust generated by ducted propeller
Wherein ω iscIs the rotational angular velocity of the propeller, KTIs a constant coefficient related to the air density;
b-2) when
When the temperature of the water is higher than the set temperature,
at the moment, the wall-climbing robot works on a horizontal plane or an inclined plane with a smaller inclination angle, the working plane supports gravity and adsorbs magnetic force, the friction force generated by the wheels and the working plane provides forward and static acting force for the wall-climbing robot, and the ducted propeller stops working at the moment;
b-3) when
When the temperature of the water is higher than the set temperature,
at the moment, the wall climbing robot works above a horizontal plane, but the inclination angle is large, the friction force between the wheels and the working surface is not enough to enable the wall climbing robot to be still on the working surface, and a wind propulsion device is needed to provide thrust assistance; wherein sigma is a set constant, and sigma is more than or equal to 0 and less than 0.25; the working state of the wind power propulsion device is as follows:
k is 0 or 1 and is determined according to the continuously changing motion state of the robot;
b-4) when
When the temperature of the water is higher than the set temperature,
at the moment, the wall-climbing robot works below a horizontal plane, the direction of the gravity component is opposite to the adsorption force generated by the permanent magnet, and a wind power propulsion device is needed for assistance; the working state of the wind power propulsion device is as follows:
k is 0 or 1 and is determined according to the continuously changing motion state of the robot;
b-5) when pi-sigma < | deltaCRWhen the | is less than or equal to pi,
at the moment, the wall-climbing robot works below a horizontal plane, the direction of the gravity component is opposite to the adsorption force generated by the permanent magnet, and a wind power propulsion device is needed for assistance; the working state of the wind power propulsion device is as follows:
due to the fact that
Working in critical conditions, is subject to drastic changes, and therefore needs to be set to death within this range
It is necessary to keep the original state unchanged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910983947.1A CN110667719B (en) | 2019-10-16 | 2019-10-16 | Marine omnidirectional movement wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910983947.1A CN110667719B (en) | 2019-10-16 | 2019-10-16 | Marine omnidirectional movement wall climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110667719A CN110667719A (en) | 2020-01-10 |
| CN110667719B true CN110667719B (en) | 2021-11-30 |
Family
ID=69082776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910983947.1A Active CN110667719B (en) | 2019-10-16 | 2019-10-16 | Marine omnidirectional movement wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110667719B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111283651B (en) * | 2020-03-09 | 2023-05-09 | 余姚市浙江大学机器人研究中心 | Steel box girder inspection method of wall climbing robot |
| CN111252159B (en) * | 2020-03-09 | 2021-05-28 | 浙江大学 | Wall-climbing robot capable of climbing over inner right-angle wall surface |
| CN112319163A (en) * | 2020-11-19 | 2021-02-05 | 西南交通大学 | Climbing robot for monitoring bridge |
| CN112744308B (en) * | 2021-01-18 | 2022-06-21 | 北京博清科技有限公司 | Overturn-preventing wall-climbing robot and control method |
| CN112882475A (en) * | 2021-01-26 | 2021-06-01 | 大连华冶联自动化有限公司 | Motion control method and device of Mecanum wheel type omnibearing mobile robot |
| CN113619702B (en) * | 2021-08-03 | 2023-01-17 | 武汉科技大学 | Two-section wheel foot type pipeline climbing robot |
| CN114002328A (en) * | 2021-11-10 | 2022-02-01 | 大连海洋大学 | Welding seam detection robot for ship oil tank and detection method |
| CN114019986B (en) * | 2022-01-04 | 2022-05-20 | 北京史河科技有限公司 | Path planning method of wall-climbing robot |
| WO2023182337A1 (en) * | 2022-03-23 | 2023-09-28 | 住友重機械工業株式会社 | Wall-traversing vehicle |
| CN114954719B (en) * | 2022-06-15 | 2024-01-23 | 中国建筑第八工程局有限公司 | Automatic press and pressure adjustable wall climbing detection robot |
| CN115261593B (en) * | 2022-07-14 | 2024-06-18 | 江苏科技大学 | Intelligent electromagnetic induction back burning device for ship manufacturing and working method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493707A (en) * | 2016-10-28 | 2017-03-15 | 中国电建集团贵阳勘测设计研究院有限公司 | Hole wall adsorption wall climbing robot and inspection method of diversion power generation holes of hydropower station |
| CN106926912A (en) * | 2017-03-23 | 2017-07-07 | 西北师范大学 | A kind of magnetic force distribution absorption type three-wheel climbing robot |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3372434B2 (en) * | 1996-11-19 | 2003-02-04 | 三菱重工業株式会社 | Wall adsorption type moving device |
| JP3557460B2 (en) * | 2001-07-09 | 2004-08-25 | 東京工業大学長 | Traveling device |
| CN1321781C (en) * | 2005-09-09 | 2007-06-20 | 清华大学 | Non-contact magnetically adsorbed wall climbing robot |
| CN101412415B (en) * | 2008-11-27 | 2010-08-18 | 北京理工大学 | Backward thrust and negative pressure combined adsorption method for wall climbing robot and implementation thereof |
| CN204605990U (en) * | 2015-01-16 | 2015-09-02 | 中国计量学院 | Magnetic force variable duct boosting climbing robot |
| CN106218836B (en) * | 2016-09-06 | 2018-01-30 | 吉林大学 | A kind of multistage crawler type underwater intelligent clears up robot |
| CN106585750B (en) * | 2017-01-10 | 2018-09-28 | 南京林业大学 | A kind of climbing robot being adsorbed on steel wall surface |
| CN207207653U (en) * | 2017-09-14 | 2018-04-10 | 王志成 | Climbing Robot based on four rotor structures |
| CN208627941U (en) * | 2018-06-15 | 2019-03-22 | 山东交通学院 | One kind climbing wall rust removing robot |
| CN109109995B (en) * | 2018-11-06 | 2023-10-27 | 南京林业大学 | Crawler-type wall climbing robot with two-section structure |
| CN110271617A (en) * | 2019-06-24 | 2019-09-24 | 广西科技大学 | A kind of two-segment type crawler belt climbing robot |
-
2019
- 2019-10-16 CN CN201910983947.1A patent/CN110667719B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493707A (en) * | 2016-10-28 | 2017-03-15 | 中国电建集团贵阳勘测设计研究院有限公司 | Hole wall adsorption wall climbing robot and inspection method of diversion power generation holes of hydropower station |
| CN106926912A (en) * | 2017-03-23 | 2017-07-07 | 西北师范大学 | A kind of magnetic force distribution absorption type three-wheel climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110667719A (en) | 2020-01-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110667719B (en) | Marine omnidirectional movement wall climbing robot | |
| CN108819630B (en) | Water, land and air wall multi-purpose robot and control method thereof | |
| CN106976002B (en) | Wall-climbing cleaning robot for ship and naval vessel wall surface | |
| CN108819631B (en) | Amphibious robot with two rotor wing balance cars and control method thereof | |
| CN111845232A (en) | Wheel hub duct shared sea, land and air submersible multi-purpose unmanned platform | |
| CN107140153B (en) | Adaptive strain born of the same parents crawler belt traveling mechanism | |
| CN113844221B (en) | Amphibious three-mode flight adsorption wall climbing robot and control method | |
| CN208021687U (en) | A kind of underwater cleaning robot | |
| CN207058300U (en) | A kind of ship naval vessels wall wall-climbing cleaning robot | |
| WO2016075428A1 (en) | Unmanned vehicle | |
| CN115027191A (en) | Multi-purpose robot capable of climbing wall | |
| CN103712035A (en) | Cage type pipeline aircraft | |
| CN112498512B (en) | Variable-structure robot based on Bernoulli chuck | |
| KR20230165856A (en) | Multi-mode switchable transport | |
| CN113771979A (en) | Reverse thrust adsorption wall-climbing robot | |
| CN114019993A (en) | Control method of portable multi-terrain unmanned aerial vehicle | |
| CN108263572A (en) | A kind of crawler type underwater robot | |
| CN111439078A (en) | Double-layer rotor wing air-sea amphibious unmanned aerial vehicle based on vector propeller | |
| CN114397912A (en) | Control method of sea, land and air three-purpose unmanned aerial vehicle | |
| CN117163260A (en) | Novel crawler-type underwater detection robot and control method thereof | |
| CN217575418U (en) | Remote control scouting trolley | |
| CN111591095A (en) | Multi-rotor flying wall-climbing robot capable of perching | |
| CN116373514A (en) | Caterpillar ROV with dual-mode operation capability | |
| CN216331266U (en) | Health detection and maintenance robot for bridge pier tower | |
| CN110182273B (en) | Wall-climbing robot system with obstacle-crossing function and using method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |