技术领域technical field
本发明涉及一种集装箱检查机器人，属于安检领域。该机器人用于海关集装箱内货品的查看和检测。The invention relates to a container inspection robot, which belongs to the field of security inspection. The robot is used for inspection and detection of goods in customs containers.
背景技术Background technique
海关在货运通关现场对集装箱类货物进行检查时，仍然以依靠人工为主，特别是当箱内货物较多时，搬移货物的人力、物力耗费巨大。When the customs inspects the container goods at the freight clearance site, it still mainly relies on manual work, especially when there are many goods in the box, the manpower and material resources for moving the goods are huge.
海关查验爬壁机器人是基于海关查验业务需要开发的专用机器人。机器人通过发挥其体积小巧灵活、防腐防毒、适应多种环境等机械特性，实现在人不易完成或较难完成的狭小空间、恶劣环境下的查验工作；通过发挥其智能化、可视化等系统特点，实现远程操控、即时分析等辅助执法功能。The customs inspection wall-climbing robot is a special robot developed based on the needs of customs inspection business. By making use of its mechanical characteristics such as small size, flexibility, anti-corrosion and anti-virus, and adapting to various environments, the robot realizes inspection work in small spaces and harsh environments that are difficult or difficult for humans to complete; by making use of its system characteristics such as intelligence and visualization, Realize auxiliary law enforcement functions such as remote control and real-time analysis.
爬壁机器人(wall climbing robot)是可以在垂直墙壁上攀爬并完成作业的自动化机器人。爬壁机器人又称为壁面移动机器人，因为垂直壁面作业超出人的极限，因此在国外又称为极限作业机器人。爬壁机器人必须具备吸附和移动两个基本功能，而常见吸附方式有负压吸附和永磁吸附两种。其中负压方式可以通过吸盘内产生负压而吸附于壁面上，不受壁面材料的限制；磁吸附方式则有永磁体和电磁铁两种方式，只适用于吸附导磁性壁面。A wall climbing robot is an automated robot that can climb and complete tasks on vertical walls. The wall-climbing robot is also called the wall mobile robot. Because the vertical wall operation exceeds the human limit, it is also called the limit operation robot abroad. A wall-climbing robot must have two basic functions of adsorption and movement, and the common adsorption methods include negative pressure adsorption and permanent magnet adsorption. Among them, the negative pressure method can be adsorbed on the wall through the negative pressure generated in the suction cup, and is not limited by the wall material; the magnetic adsorption method has two methods: permanent magnet and electromagnet, which are only suitable for adsorption on the magnetically permeable wall.
爬壁机器人最主要的一个特点是机器人可以克服重力作用，在一定倾斜度、垂直或者倒立的壁面上具有静止及移动的能力。目前爬壁机器人吸附方式主要包括磁吸附、负压吸附、螺旋桨推压、胶吸附等。海关监管所涉及到的集装箱与厢式货柜车大部分为导磁面材料(例如瓦楞彩钢板)制作，负压吸附无法提供足够的吸力，这种情况适合磁吸附爬壁机器人应用，磁吸附方式能产生很大的吸附力，不受壁面凸凹或裂缝的限制。因此磁吸附爬壁机器人适合海关货箱内部查验。货箱内部经常会有瓦楞式设计，且有可能装有横向加强筋，机器人需要具有一定的越障能力。机器人查验的方式为从货箱入口顶部放入，并以直线路径进入货箱内部，到头后再返回入口处，运行过程中将货箱内部的视频或图像信息以无线传输的方式反馈给控制盒供以海关人员查验。One of the most important features of the wall-climbing robot is that the robot can overcome the effect of gravity, and has the ability to stay still and move on a certain inclined, vertical or inverted wall. At present, the adsorption methods of wall-climbing robots mainly include magnetic adsorption, negative pressure adsorption, propeller push, glue adsorption, etc. Most of the containers and van trucks involved in customs supervision are made of magnetically conductive surface materials (such as corrugated color steel plates), and negative pressure adsorption cannot provide sufficient suction. This situation is suitable for the application of magnetic adsorption wall-climbing robots. The magnetic adsorption method It can produce a great adsorption force, not limited by the unevenness or cracks of the wall. Therefore, the magnetic adsorption wall climbing robot is suitable for internal inspection of customs cargo boxes. The interior of the cargo box often has a corrugated design, and may be equipped with transverse ribs, and the robot needs to have a certain ability to overcome obstacles. The inspection method of the robot is to put it into the container from the top of the entrance, enter the interior of the container in a straight line, and return to the entrance after reaching the end. During the operation, the video or image information inside the container is fed back to the control box by wireless transmission. For inspection by customs officers.
目前此类机器人只能在一个平面内工作，如果要换到另一个面工作则必须人工操作进行换面。At present, this type of robot can only work in one plane, and if it needs to switch to another plane, it must be manually operated to change the plane.
爬壁机器人按移动功能分主要是吸盘式、车轮式和履带式。吸盘式能跨越很小的障碍，但移动速度慢。车轮式移动速度快、控制灵活，但维持一定的吸附力较困难。履带式对壁面适应性强，着地面积大，但不易转弯。而这三种移动方式的跨越障碍能力都很弱，不能适应集装箱内外壁面和顶部的爬行作业。Wall-climbing robots are mainly divided into suction cup type, wheel type and crawler type according to the mobile function. Suction cup type can cross very small obstacle, but moving speed is slow. The wheel type has fast moving speed and flexible control, but it is difficult to maintain a certain adsorption force. The crawler type has strong adaptability to the wall and has a large landing area, but it is not easy to turn. However, the obstacle-crossing ability of these three moving modes is very weak, and cannot adapt to the crawling operations on the inner and outer walls and top of the container.
需要基于机器人底盘驱动技术，融合磁吸附方法，提供特殊的机器人结构，以能够适应集装箱内壁的瓦楞结构及内壁的转角转弯等操作。It is necessary to provide a special robot structure based on the robot chassis drive technology, combined with the magnetic adsorption method, so as to be able to adapt to the corrugated structure of the inner wall of the container and the corner turning of the inner wall.
主要解决海关集装箱查验在不掏箱情况下，对各种标准集装箱内的物品的查看、核对。具有集装箱顶壁、侧壁的爬行以及在不同壁面间的转换爬行功能。It mainly solves the inspection and verification of the items in various standard containers without digging out the container for customs container inspection. It has the function of crawling on the top wall and side wall of the container and switching crawling between different walls.
发明内容Contents of the invention
本发明主为了实现对不同集装箱的内壁吸附查验，并考虑到本体重量轻、可转换壁面爬行等因素。The main purpose of the present invention is to realize the adsorption inspection of the inner walls of different containers, and take into account factors such as light weight of the main body, convertible wall surface crawling, and the like.
本发明主要包含：含有永磁轮的差滑结构底盘、前后可转向橹臂的结构：The present invention mainly includes: a chassis with a differential slip structure containing permanent magnet wheels, and a front and rear steerable scull arm structure:
本发明包含以下内容：The present invention includes the following contents:
1、具有两轮结构并结合可翻转的橹臂结构组成的轻量化爬壁机器人结构。1. A lightweight wall-climbing robot structure with a two-wheel structure combined with a reversible scull arm structure.
2、具有可转换壁面爬行功能。2. With convertible wall crawling function.
具有从顶面爬向侧面的功能。具体方法是：It has the function of climbing from the top to the side. The specific method is:
当机器人在顶面行进，并要过度到侧面壁面时，前橹臂具有根据机器人距离侧面的距离转动引导功能。当机器人缓慢靠近要转换的壁面时，橹臂向上伸展。引导机器人向侧面运动。When the robot travels on the top surface and transitions to the side wall, the front scull arm has the function of guiding the rotation according to the distance from the robot to the side. As the robot slowly approaches the wall to be transformed, the scull arms extend upwards. Guide the robot to move sideways.
当机器人在侧面行进，并要过度到顶面壁面时，前橹臂具有根据机器人距离侧面的距离转动引导功能。当机器人缓慢靠近要转换的壁面时，橹臂向上伸展。引导机器人向侧面运动。When the robot is traveling on the side and transitions to the top wall, the front scull arm has the function of guiding the rotation according to the distance from the robot to the side. As the robot slowly approaches the wall to be transformed, the scull arms extend upwards. Guide the robot to move sideways.
本发明的爬壁机器人结构具有两轮结构结合可翻转的橹臂结构组成的轻量化结构；本发明的爬壁机器人具有可转换壁面的爬行功能。The wall-climbing robot structure of the present invention has a lightweight structure composed of a two-wheel structure combined with a reversible scull arm structure; the wall-climbing robot of the present invention has a crawling function that can convert wall surfaces.
本发明的目的在于针对现有技术的上述缺陷，本发明提出一种磁吸附式爬壁机器人，旨在解决现有技术中海关查验车厢爬壁机器人的技术问题。The purpose of the present invention is to address the above-mentioned defects of the prior art, and the present invention proposes a magnetic adsorption wall-climbing robot, which aims to solve the technical problem of the wall-climbing robot in the customs inspection compartment in the prior art.
为实现上述目的，本发明提供如下技术方案：To achieve the above object, the present invention provides the following technical solutions:
一种爬壁机器人，包括：A wall-climbing robot, comprising:
主体；main body;
底轮，所述底轮能够枢转地连接到所述主体；a bottom wheel pivotably connected to the main body;
主动橹臂，所述主动橹臂的一端能够枢转地连接到所述主体，并且所述主动橹臂的另一端设置有引导端；an active scull arm, one end of the active scull arm is pivotably connected to the main body, and the other end of the active scull arm is provided with a leading end;
其特征在于：It is characterized by:
所述主动橹臂的能够枢转地连接到所述主体的一端处设置有驱动机构，使得所述主动橹臂能够相对于所述主体枢转至一定角度且保持在该角度处，以将所述主动橹臂的引导端指向预定方向。A drive mechanism is provided at one end of the active scull arm that is pivotally connected to the main body, so that the active scull arm can pivot to a certain angle relative to the main body and maintain at this angle, so as to turn the active scull arm to the main body. The leading end of the active scull arm points to a predetermined direction.
所述爬壁机器人通过底轮的转动以及驱动机构驱动主动撸臂进行枢转来实现从一个壁面运动到另一个壁面。The wall-climbing robot moves from one wall surface to another wall surface through the rotation of the bottom wheel and the driving mechanism to drive the active arm to pivot.
所述一个壁面和所述另一个壁面是两个相交成一定角度的平面。所述一定角度可以为5度到179度。所述爬壁机器人尤其适用于在夹角为50度到130度之间的壁面间运动。The one wall surface and the other wall surface are two planes intersecting at a certain angle. The certain angle may be 5 degrees to 179 degrees. The wall-climbing robot is especially suitable for moving between walls with an angle between 50 degrees and 130 degrees.
所述爬壁机器人的底轮通过差滑结构底盘能够枢转地连接到所述主体。The bottom wheels of the wall-climbing robot are pivotally connected to the main body through a differential slip structure chassis.
所述述爬壁机器人的底轮是磁性轮，所述底轮的圆周面上均嵌入有等角度分布的磁钢。The bottom wheel of the wall-climbing robot is a magnetic wheel, and the circumferential surface of the bottom wheel is embedded with equiangularly distributed magnetic steel.
所述述爬壁机器人的底轮是双轮结构。The bottom wheel of the wall-climbing robot is a double-wheel structure.
所述爬壁机器人还包括从动橹臂，所述从动橹臂与所述主动橹臂分别设置于所述主体的相对两侧，所述从动橹臂的一端能够枢转地连接到所述主体，并且所述从动橹臂的另一端设置有接触端。The wall-climbing robot also includes a driven scull arm, the driven scull arm and the active scull arm are respectively arranged on opposite sides of the main body, and one end of the driven scull arm can be pivotally connected to the The main body, and the other end of the driven scull arm is provided with a contact end.
所述主动橹臂的数量为两个，所述两个主动撸臂设置在所述主体的相对两侧。There are two active scull arms, and the two active scull arms are arranged on opposite sides of the main body.
所述主动橹臂的引导端具有圆形截面。The leading end of the active scull arm has a circular cross section.
所述主动橹臂的引导端包括引导轮，所述引导轮是磁性轮，在所述磁性轮的圆周面上均嵌入有等角度分布的永磁铁。The leading end of the active scull arm includes a guide wheel, and the guide wheel is a magnetic wheel, and permanent magnets distributed at equal angles are embedded on the circumferential surface of the magnetic wheel.
所述主动橹臂的引导端包括引导轮，所述引导轮是磁性轮，所述磁性轮是电磁轮。The leading end of the active scull arm includes a guide wheel, the guide wheel is a magnetic wheel, and the magnetic wheel is an electromagnetic wheel.
在机器人在各个壁面的运动过程中，所述主动橹臂的引导端始终吸附在壁面上。During the movement of the robot on each wall, the leading end of the active scull arm is always adsorbed on the wall.
在机器人从一个壁面完全转移到另一个壁面之后，所述主动橹臂的引导端从壁面上脱离。After the robot has completely transferred from one wall to the other, the leading end of the active scull arm is detached from the wall.
本发明的有益效果：实现了轮式移动的磁吸附爬壁行走，可以爬越集装箱交接的壁面，从侧壁到达集装箱的顶壁或者从顶壁到达集装箱的侧壁。The beneficial effect of the present invention is that the magnetic adsorption wall-climbing walking of the wheel type movement is realized, and the container can climb over the wall where the container is handed over, and reach the top wall of the container from the side wall or reach the side wall of the container from the top wall.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work.
图1是根据本发明实施例的集装箱爬壁机器人的结构示意图；Fig. 1 is a schematic structural view of a container wall-climbing robot according to an embodiment of the present invention;
图2，3，4A和4B是根据本发明实施例的集装箱爬壁机器人从顶壁转向侧壁的示意图；和2, 3, 4A and 4B are schematic diagrams of a container wall-climbing robot turning from a top wall to a side wall according to an embodiment of the present invention; and
图5，6A，6B，7A和7B是根据本发明实施例的集装箱爬壁机器人从侧壁转向顶壁的示意图。5, 6A, 6B, 7A and 7B are schematic views of a container wall-climbing robot turning from a side wall to a top wall according to an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员所获得的所有其它实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention.
图1是根据本发明实施例的集装箱爬壁机器人的结构示意图。如图1中所示，爬壁机器人倒立地竖直吸附在集装箱顶壁3表面上。爬壁机器人包括主体1，底轮2和橹臂。Fig. 1 is a schematic structural view of a container wall-climbing robot according to an embodiment of the present invention. As shown in FIG. 1 , the wall-climbing robot is upside down and vertically adsorbed on the surface of the container top wall 3 . The wall-climbing robot comprises a main body 1, a bottom wheel 2 and a scull arm.
根据一个实施例，根据本发明实施例的集装箱爬壁机器人是两轮结构并结合可翻转的橹臂结构组成的轻量化爬壁机器人结构。具体地，本发明实施例的集装箱爬壁机器人包括爬壁机器人主体1，在爬壁机器人主体1上可以安装有诸如通讯天线、图像天线和摄像头等的检查控制设备。在爬壁机器人主体1的底部设置有底轮2，在这个实施例中设置有两个底轮2，但是在另一个实施例中设置有一个底轮2，根据需要，也可以设置其他数量的底轮。According to an embodiment, the container wall-climbing robot according to the embodiment of the present invention is a lightweight wall-climbing robot structure composed of a two-wheel structure combined with a reversible scull arm structure. Specifically, the container wall-climbing robot of the embodiment of the present invention includes a wall-climbing robot body 1 on which inspection and control equipment such as communication antennas, image antennas, and cameras can be installed. Bottom wheels 2 are arranged at the bottom of the wall-climbing robot main body 1. In this embodiment, two bottom wheels 2 are provided, but in another embodiment, one bottom wheel 2 is provided. Other numbers of bottom wheels can also be set as required. Bottom wheel.
根据本发明实施例，底轮2是磁性轮，其包括与驱动电机输出轴相连接的驱动轮，驱动轮的圆周面上均嵌入有等角度分布的磁钢。磁性轮可以是永磁轮，也可以是电磁轮。在磁性轮是电磁轮的情况下，可能通过通电和断电来控制所述磁性轮是否具有磁性，以与集装箱表面吸附或者脱开吸附。According to the embodiment of the present invention, the bottom wheel 2 is a magnetic wheel, which includes a driving wheel connected to the output shaft of the driving motor, and the circumferential surface of the driving wheel is embedded with magnets distributed at equal angles. The magnetic wheel can be a permanent magnet wheel or an electromagnetic wheel. In the case that the magnetic wheel is an electromagnetic wheel, it is possible to control whether the magnetic wheel has magnetism by energizing and de-energizing, so as to attract or disengage from the surface of the container.
爬壁机器人主体1与底轮2之间通过差滑结构底盘连接。差滑结构也称为滑差结构或者两轮差速驱动方式。如果两个轮子以相同的方向和速度被驱动，则机器人将沿直线行进。如果两个车轮在相反的方向上以相同的速度转动，机器人将围绕轴的中心点旋转。否则，取决于旋转的速度及其方向，旋转中心可能落在由轮胎的两个接触点限定的线上的任何地方。当机器人在直线上行进时，旋转中心距机器人无限远。由于机器人的方向取决于两个驱动轮的旋转速率和方向，所以这些量应该被精确地感测和控制。差速转向机器人类似于汽车中使用的差速齿轮，两个车轮的转速可以不同，但与差速齿轮传动系统不同的是，差速转向系统将使两个车轮都通电。差速轮式机器人广泛用于机器人技术，因为它们的运动很容易编程，并且可以很好地控制。The main body 1 of the wall-climbing robot and the bottom wheel 2 are connected through a differential slip structure chassis. The differential slip structure is also called a slip structure or a two-wheel differential drive. If both wheels are driven in the same direction and speed, the robot will travel in a straight line. If both wheels turn in opposite directions at the same speed, the robot will rotate around the center point of the axis. Otherwise, depending on the speed of rotation and its direction, the center of rotation may fall anywhere on the line defined by the two contact points of the tire. When the robot is traveling in a straight line, the center of rotation is infinitely far from the robot. Since the orientation of the robot depends on the rate and direction of rotation of the two drive wheels, these quantities should be sensed and controlled precisely. A differential steering robot is similar to a differential gear used in a car, where the two wheels can rotate at different speeds, but unlike a differential gear drive, a differential steering system will energize both wheels. Differential wheeled robots are widely used in robotics because their motion is easily programmed and well controlled.
差速驱动器是一个两轮驱动系统，每个车轮都有独立的执行器。直线运动是通过在同一方向上以相同的速度转动驱动轮来实现的。原地旋转是通过以相同的速率在相反的方向转动驱动轮完成的。可以通过动态修改驱动轮的角速度和/或方向来实现任意的运动路径。然而，实际上，通过将运动路径实现为直线平移和就地旋转的交替序列来降低复杂性。使差速驱动机器人以直线运动可能很困难。由于驱动轮是独立的，如果它们没有以完全相同的速率转动，机器人将转向一侧。由于电机的微小差异，传动系统中的摩擦差异以及车轮接地界面处的摩擦差异，使得驱动电机以相同的速率转动是一个挑战。为确保机器人在直线行驶，可能需要经常调整电机转速。这可能需要基于中断的软件和汇编语言编程。有准确的车轮位置信息也是非常重要的。Differential drive is a two-wheel-drive system with separate actuators for each wheel. Linear motion is achieved by turning the drive wheels in the same direction and at the same speed. Rotation in place is accomplished by turning the drive wheels in opposite directions at the same rate. Arbitrary motion paths can be achieved by dynamically modifying the angular velocity and/or direction of the drive wheels. In practice, however, complexity is reduced by implementing motion paths as alternating sequences of linear translations and in-place rotations. Getting a differential drive robot to move in a straight line can be difficult. Since the drive wheels are independent, if they don't turn at exactly the same rate, the robot will veer to one side. Driving the motors to turn at the same rate is a challenge due to small differences in the motors, differences in friction in the drivetrain, and differences in friction at the wheel's ground contact interface. In order to ensure that the robot travels in a straight line, it may be necessary to adjust the motor speed frequently. This may require interrupt-based software and assembly language programming. It is also very important to have accurate wheel position information.
底轮2可枢转地连接到爬壁机器人主体1，底轮2带动爬壁机器人主体1在集装箱的内壁上行走。如图1所示，底轮2通过磁性轮吸附在集装箱的顶壁上，爬壁机器人主体1在大致垂直于集装箱的顶壁表面竖直地倒立着，使得在爬壁机器人主体1上安装的摄像头可以检查集装箱内的货物。The bottom wheel 2 is pivotably connected to the main body 1 of the wall-climbing robot, and the bottom wheel 2 drives the main body 1 of the wall-climbing robot to walk on the inner wall of the container. As shown in Figure 1, the bottom wheel 2 is adsorbed on the top wall of the container by the magnetic wheel, and the wall-climbing robot main body 1 is vertically upside down on the top wall surface approximately perpendicular to the container, so that the wall-climbing robot main body 1 installed Cameras can inspect the contents of the container.
在爬壁机器人主体1上还设置有橹臂。根据本发明实施例，如图1所示，在爬壁机器人主体1上设置有两个橹臂，分别是主动橹臂和从动橹臂。但是在另一个实施例中，可以仅设置有一个主动橹臂。根据需要，也可以设置其他数量的橹臂。A scull arm is also arranged on the wall-climbing robot main body 1 . According to the embodiment of the present invention, as shown in FIG. 1 , two scull arms are provided on the main body 1 of the wall-climbing robot, which are respectively a driving scull arm and a driven scull arm. But in another embodiment, only one active scull arm may be provided. Other numbers of scull arms may also be provided as required.
如图1所示，主动橹臂和从动橹臂对称地设置在爬壁机器人主体1的左右两侧上。As shown in FIG. 1 , the active scull arms and the driven scull arms are symmetrically arranged on the left and right sides of the main body 1 of the wall-climbing robot.
主动橹臂包括主动橹臂的引导端7、主动橹臂的臂杆8、主动橹臂的枢转端9。主动橹臂的枢转端9能够枢转地设置在爬壁机器人主体1上。主动橹臂的枢转端9的枢转能够带动主动橹臂的主动橹臂的引导端7和主动橹臂的臂杆8相对于爬壁机器人主体1枢转。主动橹臂的引导端7设置在主动橹臂的臂杆8的与主动橹臂的枢转端9相反的一端处。根据本发明实施例，如图1所示，主动橹臂的引导端7具有圆形接触面，该接触面是磁性的，可以是永磁性的，也可以是电磁性的。The active scull arm includes a leading end 7 of the active scull arm, an arm lever 8 of the active scull arm, and a pivot end 9 of the active scull arm. The pivoting end 9 of the active scull arm is pivotably arranged on the main body 1 of the climbing robot. The pivoting of the pivoting end 9 of the active scull arm can drive the leading end 7 of the active scull arm and the arm lever 8 of the active scull arm to pivot relative to the main body 1 of the wall-climbing robot. The leading end 7 of the active scull arm is arranged at the opposite end of the arm lever 8 of the active scull arm to the pivot end 9 of the active scull arm. According to the embodiment of the present invention, as shown in FIG. 1 , the leading end 7 of the active scull arm has a circular contact surface, and the contact surface is magnetic, which may be permanent magnetism or electromagnetic.
根据本发明实施例，主动橹臂的引导端7可以是引导轮，根据需要，也可以采用其他形状的引导端，例如扁平的滑块，或者十六边形的引导端。According to the embodiment of the present invention, the leading end 7 of the driving scull arm may be a guiding wheel, and other shapes of the leading end may also be used as required, such as a flat slider or a hexagonal leading end.
从动橹臂包括从动橹臂的接触端4、从动橹臂的臂杆5、从动橹臂的枢转端6。从动橹臂的枢转端6能够枢转地设置在爬壁机器人主体1上。从动橹臂的枢转端6的枢转允许从动橹臂的接触端4和从动橹臂的臂杆5相对于爬壁机器人主体1枢转，从动橹臂的枢转端6的平移也能够带动接触端4和臂杆5移动。从动橹臂的接触端4设置在从动橹臂的臂杆5的与从动橹臂的枢转端6相反的一端处。根据本发明实施例，如图1所示，从动橹臂的接触端4具有圆形接触面，该接触面是磁性的，可以是永磁性的，也可以是电磁性的。The driven scull arm includes the contact end 4 of the driven scull arm, the arm lever 5 of the driven scull arm, and the pivoting end 6 of the driven scull arm. The pivoting end 6 of the driven scull arm is pivotably arranged on the main body 1 of the wall climbing robot. The pivoting of the pivoting end 6 of the driven scull arm allows the contact end 4 of the driven scull arm and the arm bar 5 of the driven scull arm to pivot relative to the main body 1 of the wall-climbing robot, and the pivoting end 6 of the driven scull arm The translation can also drive the contact end 4 and the arm 5 to move. The contact end 4 of the driven scull arm is arranged at the end of the arm 5 of the driven scull arm opposite the pivot end 6 of the driven scull arm. According to the embodiment of the present invention, as shown in FIG. 1 , the contact end 4 of the driven scull arm has a circular contact surface, and the contact surface is magnetic, which can be permanent magnetism or electromagnetic.
根据本发明实施例，从动橹臂的接触端4可以是引导轮根据需要，也可以采用其他形状的接触端。According to the embodiment of the present invention, the contact end 4 of the driven scull arm may be a guide wheel as required, or a contact end of other shapes may be used.
根据本发明实施例，主动橹臂与从动橹臂的区别在于，主动橹臂具有驱动机构，而从动橹臂不具有驱动机构。驱动机构驱动主动橹臂的枢转端9转动，以带动主动橹臂运动，使得在爬壁机器人主体1从集装箱顶壁3上行进到靠近集装箱侧壁10时，主动橹臂的引导端7将爬壁机器人主体1从集装箱顶壁3上引导向集装箱侧壁10。According to the embodiment of the present invention, the difference between the driving scull arm and the driven scull arm is that the driving scull arm has a driving mechanism, while the driven scull arm does not have a driving mechanism. The driving mechanism drives the pivoting end 9 of the active scull arm to rotate to drive the active scull arm to move, so that when the main body 1 of the wall-climbing robot advances from the container top wall 3 to the container side wall 10, the leading end 7 of the active scull arm will The wall-climbing robot main body 1 guides from the container top wall 3 to the container side wall 10 .
根据另一个实施例，可以在爬壁机器人主体1的左右两侧上分别地设置两个主动橹臂，而不设置从动橹臂，使得爬壁机器人在左右两个方向上都可以通过主动橹臂进行引导。According to another embodiment, two active scull arms can be respectively arranged on the left and right sides of the main body 1 of the wall-climbing robot, and no driven scull arms are provided, so that the wall-climbing robot can pass through the active scull in both left and right directions. arm to guide.
参照图2，3，4A和4B详细说明根据本发明实施例的集装箱爬壁机器人从顶壁转向侧壁的过程。Referring to FIGS. 2, 3, 4A and 4B, the process of the container wall-climbing robot turning from the top wall to the side wall according to the embodiment of the present invention will be described in detail.
如图2所示，爬壁机器人主体1的底轮2通过磁性吸附在集装箱顶壁3上，爬壁机器人主体1大致垂直于集装箱顶壁3倒立设置。设置在爬壁机器人主体1的右侧的主动橹臂的枢转端9通过驱动电机转动，带动主动橹臂的臂杆8和主动橹臂的引导端7朝向集装箱侧壁10转动。如图2所示，主动橹臂的引导端7通过磁性吸附到集装箱侧壁10上。此时，爬壁机器人主体1一起朝向集装箱侧壁10行进，行进方向如箭头R所示，没置在爬壁机器人主体1的左侧的从动橹臂的枢转端6带动从动橹臂的臂杆5和从动橹臂的接触端4跟随着爬壁机器人主体1一起朝向集装箱侧壁10行进。从动橹臂的接触端4也具有磁性，从动橹臂的接触端4因而吸附在集装箱顶壁3上。As shown in FIG. 2 , the bottom wheel 2 of the main body 1 of the wall-climbing robot is magnetically adsorbed on the top wall 3 of the container, and the main body 1 of the wall-climbing robot is set upside down approximately perpendicular to the top wall 3 of the container. The pivoting end 9 of the active scull arm arranged on the right side of the main body 1 of the wall-climbing robot is rotated by the drive motor, driving the arm 8 of the active scull arm and the leading end 7 of the active scull arm to rotate toward the side wall 10 of the container. As shown in FIG. 2 , the leading end 7 of the active scull arm is magnetically attracted to the side wall 10 of the container. At this time, the wall-climbing robot main body 1 is moving toward the container side wall 10 together, and the traveling direction is shown by the arrow R. The pivot end 6 of the driven scull arm placed on the left side of the wall-climbing robot main body 1 drives the driven scull arm. The arm bar 5 and the contact end 4 of the driven scull arm follow the main body 1 of the wall-climbing robot and move toward the side wall 10 of the container. The contact end 4 of the driven scull arm also has magnetism, and thus the contact end 4 of the driven scull arm is adsorbed on the top wall 3 of the container.
如图3所示，爬壁机器人主体1的底轮2的底部接触点通过磁性吸附在集装箱顶壁3上，爬壁机器人主体1的底轮2的侧部接触点通过磁性吸附在集装箱侧壁10上，爬壁机器人主体1大致垂直于集装箱顶壁3倒立设置。主动橹臂的引导端7引导爬壁机器人主体1在集装箱侧壁10上行进。如图3所示，此时，设置在爬壁机器人主体1的左侧的从动橹臂的枢转端6带动从动橹臂的臂杆5和从动橹臂的接触端4跟随着爬壁机器人主体1一起朝向集装箱侧壁10行进，行进方向如箭头R所示。从动橹臂的接触端4仍然吸附在集装箱顶壁3上。As shown in Figure 3, the bottom contact point of the bottom wheel 2 of the wall-climbing robot main body 1 is magnetically adsorbed on the container top wall 3, and the side contact point of the bottom wheel 2 of the wall-climbing robot main body 1 is magnetically adsorbed on the container side wall 10, the main body of the wall-climbing robot 1 is set upside down substantially perpendicular to the top wall 3 of the container. The leading end 7 of the active scull arm guides the main body 1 of the wall-climbing robot to travel on the side wall 10 of the container. As shown in Figure 3, at this time, the pivot end 6 of the driven scull arm arranged on the left side of the main body 1 of the wall-climbing robot drives the arm 5 of the driven scull arm and the contact end 4 of the driven scull arm to follow the climbing The main body of the wall robot 1 travels together towards the side wall 10 of the container, and the traveling direction is shown by the arrow R. The contact end 4 of the driven scull arm is still adsorbed on the top wall 3 of the container.
如图4A所示，爬壁机器人主体1的底轮2通过磁性吸附在集装箱侧壁10上，爬壁机器人主体1大致垂直于集装箱侧壁10设置，设置在爬壁机器人主体1上的摄像头仍然朝向集装箱内的货物的方向，使得在爬壁机器人主体1上安装的摄像头可以检查集装箱内的货物。设置在爬壁机器人主体1的右侧的主动橹臂的枢转端9通过驱动电机转动，带动主动橹臂的臂杆8和主动橹臂的引导端7朝向集装箱底壁转动。如图4A所示，主动橹臂的引导端7指向集装箱底壁。此时，设置在爬壁机器人主体1的左侧的从动橹臂的枢转端6带动从动橹臂的臂杆5和从动橹臂的接触端4跟随着爬壁机器人主体1一起朝向集装箱底壁行进，行进方向如箭头R所示。从动橹臂的接触端4也具有磁性，从动橹臂的接触端4因而吸附在集装箱侧壁10上。如图4A所示，主动橹臂的引导端7与侧壁10脱离，可以减少爬壁机器人主体1在侧壁10上前进的阻力。As shown in Figure 4A, the bottom wheel 2 of the main body 1 of the wall-climbing robot is magnetically adsorbed on the side wall 10 of the container, the main body 1 of the wall-climbing robot is arranged approximately perpendicular to the side wall 10 of the container, and the camera installed on the main body 1 of the wall-climbing robot is still Facing the direction of the goods in the container, the camera installed on the wall-climbing robot main body 1 can check the goods in the container. The pivoting end 9 of the active scull arm arranged on the right side of the main body 1 of the wall-climbing robot is rotated by the drive motor, driving the arm bar 8 of the active scull arm and the leading end 7 of the active scull arm to rotate toward the bottom wall of the container. As shown in Figure 4A, the leading end 7 of the active scull arm points to the bottom wall of the container. At this time, the pivot end 6 of the driven scull arm arranged on the left side of the main body 1 of the wall-climbing robot drives the arm bar 5 of the driven scull arm and the contact end 4 of the driven scull arm to follow the main body 1 of the wall-climbing robot toward The bottom wall of the container travels in the direction shown by the arrow R. The contact end 4 of the driven scull arm is also magnetic, so the contact end 4 of the driven scull arm is attracted to the side wall 10 of the container. As shown in FIG. 4A , the leading end 7 of the active scull arm is separated from the side wall 10 , which can reduce the resistance of the wall-climbing robot body 1 moving forward on the side wall 10 .
如图4B所示，提供从顶壁3爬到侧壁10的另一个实施例，其与图4A不同在于：当从顶壁3爬到侧壁10后，图4B中的机器人的主动撸臂的引导端7是一直吸附在侧壁10上的，而图4A中的实施例中的主动撸臂的引导端7与侧壁10脱开。主动撸臂的引导端7一直吸附在侧壁10上可以避免主动撸臂由于与侧壁10的脱离而撞到集装箱内的物品。As shown in Figure 4B, another embodiment of climbing from the top wall 3 to the side wall 10 is provided, which is different from Figure 4A in that: after climbing from the top wall 3 to the side wall 10, the active rolling arm of the robot in Figure 4B The leading end 7 is always adsorbed on the side wall 10, while the leading end 7 of the active arm in the embodiment in FIG. 4A is disengaged from the side wall 10. The leading end 7 of the active lifting arm is always adsorbed on the side wall 10 to prevent the active lifting arm from colliding with the articles in the container due to the separation from the side wall 10 .
参照图5，6A，6B，7A和7B详细说明根据本发明实施例的集装箱爬壁机器人从侧壁转向顶壁的过程。Referring to FIGS. 5 , 6A, 6B, 7A and 7B, the process of the container wall-climbing robot turning from the side wall to the top wall according to the embodiment of the present invention will be described in detail.
在该实施例中，主动橹臂设置在爬壁机器人主体1的左侧上，而从动橹臂设置在爬壁机器人主体1的右侧上。In this embodiment, the active scull arm is arranged on the left side of the main body 1 of the wall-climbing robot, and the driven scull arm is arranged on the right side of the main body 1 of the wall-climbing robot.
如图5所示，爬壁机器人主体1的底轮2通过磁性吸附在集装箱侧壁10上，爬壁机器人主体1大致垂直于集装箱侧壁10设置，设置在爬壁机器人主体1上的摄像头仍然朝向集装箱内的货物的方向，使得在爬壁机器人主体1上安装的摄像头可以检查集装箱内的货物。主动橹臂的引导端7引导爬壁机器人主体1在集装箱顶壁3上行进。如图5所示，此时，设置在爬壁机器人主体1的右侧的从动橹臂的枢转端6带动从动橹臂的臂杆5和从动橹臂的接触端4跟随着爬壁机器人主体1一起朝向集装箱顶壁3行进，行进方向如箭头R所示。从动橹臂的接触端4仍然吸附在集装箱侧壁10上。As shown in Figure 5, the bottom wheel 2 of the main body 1 of the wall-climbing robot is magnetically adsorbed on the side wall 10 of the container, the main body 1 of the wall-climbing robot is arranged approximately perpendicular to the side wall 10 of the container, and the camera arranged on the main body 1 of the wall-climbing robot is still Facing the direction of the goods in the container, the camera installed on the wall-climbing robot main body 1 can check the goods in the container. The leading end 7 of the active scull arm guides the main body 1 of the wall-climbing robot to travel on the top wall 3 of the container. As shown in Figure 5, at this time, the pivot end 6 of the driven scull arm arranged on the right side of the main body 1 of the wall-climbing robot drives the arm 5 of the driven scull arm and the contact end 4 of the driven scull arm to follow the climbing The main body of the wall robot 1 travels together towards the top wall 3 of the container, and the traveling direction is shown by the arrow R. The contact end 4 of the driven scull arm is still adsorbed on the side wall 10 of the container.
如图6A所示，爬壁机器人主体1的底轮2通过磁性吸附在集装箱顶壁3上，爬壁机器人主体1大致垂直于集装箱顶壁3设置，设置在爬壁机器人主体1上的摄像头仍然朝向集装箱内的货物的方向，使得在爬壁机器人主体1上安装的摄像头可以检查集装箱内的货物。设置在爬壁机器人主体1的左侧的主动橹臂的枢转端9通过驱动电机转动，带动主动橹臂的臂杆8和主动橹臂的引导端7转动。如图6A所示，此时，设置在爬壁机器人主体1的右侧的从动橹臂的枢转端6带动从动橹臂的臂杆5和从动橹臂的接触端4跟随着爬壁机器人主体1一起在集装箱顶壁3上朝左行进，行进方向如箭头R所示，而爬壁机器人主体1的左侧的主动橹臂的引导端7可从顶壁3上脱离。从动橹臂的接触端4吸附在集装箱顶壁3和集装箱侧壁10之间的夹角位置处。根据主动橹臂的引导端7从顶壁3上脱离的实施例，可以减少爬壁机器人主体1在顶壁3上前进的阻力。As shown in Figure 6A, the bottom wheel 2 of the main body 1 of the wall-climbing robot is magnetically adsorbed on the top wall 3 of the container. Facing the direction of the goods in the container, the camera installed on the wall-climbing robot main body 1 can check the goods in the container. The pivoting end 9 of the active scull arm arranged on the left side of the main body 1 of the wall-climbing robot is rotated by the driving motor, which drives the arm bar 8 of the active scull arm and the leading end 7 of the active scull arm to rotate. As shown in Figure 6A, at this time, the pivot end 6 of the driven scull arm arranged on the right side of the main body 1 of the wall-climbing robot drives the arm 5 of the driven scull arm and the contact end 4 of the driven scull arm to follow the climbing The main body 1 of the wall robot moves toward the left together on the top wall 3 of the container, and the direction of travel is shown by the arrow R, and the leading end 7 of the active scull arm on the left side of the main body 1 of the wall climbing robot can be disengaged from the top wall 3 . The contact end 4 of the driven scull arm is adsorbed at the angle between the container top wall 3 and the container side wall 10 . According to the embodiment in which the leading end 7 of the active scull arm is detached from the top wall 3 , the resistance of the wall-climbing robot body 1 moving forward on the top wall 3 can be reduced.
如图6B所示，提供从侧壁10爬到顶壁3的另一个实施例：当从侧壁10爬到顶壁3以后，如图6B所示的机器人的主动撸臂的引导端7一直吸附在顶壁3上，而如图6A所示的实施例是主动撸臂引导端7与顶壁3脱开。对于在顶壁3上的情况，主动撸臂的引导端7一直吸附在顶壁3上可以避免主动撸臂的引导端7由于从顶壁3上脱离下来而撞到集装箱内的物品。另外，还可以增强机器人对顶壁的吸附力，防止机器人从顶壁上掉下来。As shown in Figure 6B, another embodiment of climbing from the side wall 10 to the top wall 3 is provided: after climbing from the side wall 10 to the top wall 3, the leading end 7 of the active arm of the robot shown in Figure 6B has been adsorbed on On the top wall 3, and the embodiment shown in FIG. 6A is that the leading end 7 of the active rolling arm is disengaged from the top wall 3. For the situation on the top wall 3, the leading end 7 of the active lifting arm is always adsorbed on the top wall 3, which can prevent the leading end 7 of the active rolling arm from colliding with the articles in the container due to detaching from the top wall 3. In addition, the adsorption force of the robot to the top wall can be enhanced to prevent the robot from falling off the top wall.
如图7A所示，爬壁机器人主体1的底轮2通过磁性吸附在集装箱顶壁3上，爬壁机器人主体1大致垂直于集装箱顶壁3倒立设置。设置在爬壁机器人主体1的左侧的主动橹臂的枢转端9通过驱动电机转动，带动主动橹臂的臂杆8和主动橹臂的引导端7朝向集装箱的左侧的侧壁转动，集装箱的左侧的侧壁与附图中示出的侧壁10相反地设置。如图7A所示，主动橹臂的引导端7指向集装箱左侧壁的方向。此时，设置在爬壁机器人主体1的右侧的从动橹臂的枢转端6带动从动橹臂的臂杆5和从动橹臂的接触端4跟随着爬壁机器人主体1一起朝向集装箱左侧壁行进，行进方向如箭头R所示。从动橹臂的接触端4也具有磁性，从动橹臂的接触端4因而吸附在集装箱顶壁3上。如图7A所示，主动橹臂的引导端7从顶壁3脱离，可以减少爬壁机器人主体1在顶壁3上前进的阻力。As shown in FIG. 7A , the bottom wheel 2 of the main body 1 of the wall-climbing robot is magnetically adsorbed on the top wall 3 of the container, and the main body 1 of the wall-climbing robot is set upside down approximately perpendicular to the top wall 3 of the container. The pivoting end 9 of the active scull arm arranged on the left side of the main body 1 of the wall-climbing robot rotates through the drive motor, driving the arm lever 8 of the active scull arm and the leading end 7 of the active scull arm to rotate towards the left side wall of the container, The side wall on the left side of the container is arranged opposite to the side wall 10 shown in the figures. As shown in Fig. 7A, the leading end 7 of the active scull arm points to the direction of the left side wall of the container. At this time, the pivoting end 6 of the driven scull arm arranged on the right side of the main body 1 of the wall-climbing robot drives the arm bar 5 of the driven scull arm and the contact end 4 of the driven scull arm to follow the main body 1 of the wall-climbing robot toward The left side wall of the container travels in the direction shown by arrow R. The contact end 4 of the driven scull arm also has magnetism, and thus the contact end 4 of the driven scull arm is adsorbed on the top wall 3 of the container. As shown in FIG. 7A , the leading end 7 of the active scull arm is detached from the top wall 3 , which can reduce the resistance of the wall-climbing robot body 1 moving forward on the top wall 3 .
如图7B所示，提供从侧壁10爬到顶壁3的另一个实施例：当从侧壁10爬到顶壁3以后，如图7B所示的机器人的主动撸臂的引导端7一直吸附在顶壁3上的，而如图7A所示的实施例的主动撸臂的引导端7与顶壁3脱开。对于在顶壁3上的情况，主动撸臂的引导端7一直吸附在顶壁3上可以避免主动撸臂的引导端7由于与顶壁3脱离从而垂下来而撞到集装箱内的物品。另外，还可以增强机器人对顶壁的吸附力，防止机器人从顶壁上掉下来。As shown in Figure 7B, another embodiment of climbing from the side wall 10 to the top wall 3 is provided: after climbing from the side wall 10 to the top wall 3, the leading end 7 of the active arm of the robot shown in Figure 7B has been adsorbed on On the top wall 3, the leading end 7 of the active arm of the embodiment shown in FIG. 7A is disengaged from the top wall 3. For the situation on the top wall 3, the leading end 7 of the active lifting arm is always adsorbed on the top wall 3, which can prevent the leading end 7 of the active rolling arm from hanging down due to being separated from the top wall 3 and bumping into the articles in the container. In addition, the adsorption force of the robot to the top wall can be enhanced to prevent the robot from falling off the top wall.
根据本发明的一个实施例，在主体左右侧设置超声及激光测距传感器，可进行测距，实现自主避障。According to an embodiment of the present invention, ultrasonic and laser ranging sensors are arranged on the left and right sides of the main body, so as to perform ranging and realize autonomous obstacle avoidance.
磁性轮包括与驱动电机输出轴相连接的驱动轮，驱动轮的圆周面上均嵌入有等角度分布的磁钢。The magnetic wheel includes a driving wheel connected with the output shaft of the driving motor, and the circumferential surface of the driving wheel is embedded with magnetic steels distributed at equal angles.
主体1上设有通讯天线和图像天线，采用2.4G无线射频信号进行遥控，可将机器人端的数据传回遥控端。The main body 1 is equipped with a communication antenna and an image antenna, and 2.4G radio frequency signal is used for remote control, and the data from the robot end can be transmitted back to the remote control end.
磁性轮与集装箱内壁表面贴合，每个磁性轮上均匀分布有材料为永磁体的磁钢，进而可以保证机器人在行走过程中很好的吸附在不平整的集装箱铁内壁表面。The magnetic wheels are attached to the surface of the inner wall of the container, and magnetic steel made of permanent magnets is evenly distributed on each magnetic wheel, which can ensure that the robot is well adsorbed on the uneven iron inner wall surface of the container during walking.
主体上设有摄像头，记录各个位置的图像信息，摄像头得到的三路图像均可以通过G射频信号传回到遥控器端，协助关员检查、查验。There is a camera on the main body to record the image information of each position. The three-way images obtained by the camera can be sent back to the remote control end through G radio frequency signals to assist customs officers in inspection and inspection.
机器人主体采用坚固材质，可抗击一般程度刮蹭、碰撞、跌落等，不影响系统作业。The main body of the robot is made of strong materials, which can resist general scratches, collisions, drops, etc., without affecting the system operation.
以上所述，仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。The above description is only a preferred embodiment of the present invention, and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711454912.6ACN107972755B (en) | 2017-12-27 | 2017-12-27 | Container climbing robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711454912.6ACN107972755B (en) | 2017-12-27 | 2017-12-27 | Container climbing robot |
| Publication Number | Publication Date |
|---|---|
| CN107972755Atrue CN107972755A (en) | 2018-05-01 |
| CN107972755B CN107972755B (en) | 2025-02-14 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711454912.6AActiveCN107972755B (en) | 2017-12-27 | 2017-12-27 | Container climbing robot |
| Country | Link |
|---|---|
| CN (1) | CN107972755B (en) |
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