Background
When customs checks container goods at a freight customs site, the inspection is still mainly performed by manpower, and particularly when the quantity of the goods in the container is large, the manpower and material resources for moving the goods are huge.
The customs inspection wall climbing robot is a special robot which needs to be developed based on customs inspection business. The robot realizes inspection work in narrow spaces and severe environments which are difficult to finish or difficult to finish by playing the mechanical characteristics of small and flexible volume, corrosion resistance, toxicity resistance, adaptation to various environments and the like, and realizes auxiliary law enforcement functions such as remote control, instant analysis and the like by playing the system characteristics of intellectualization, visualization and the like.
The wall climbing robot (wall climbing robot) is an automated robot that can climb on a vertical wall and complete work. Wall climbing robots are also known as wall moving robots, and are also known as extreme work robots abroad because the vertical wall work exceeds the limits of a person. The wall climbing robot has two basic functions of adsorption and movement, and the common adsorption mode has two types of negative pressure adsorption and permanent magnetic adsorption. The negative pressure mode can be absorbed on the wall surface by generating negative pressure in the sucker without being limited by the wall surface material, and the magnetic absorption mode is composed of a permanent magnet mode and an electromagnet mode, and is only suitable for absorbing the magnetic permeability wall surface.
The wall climbing robot has the main characteristic that the robot can overcome the action of gravity and has the static and moving capacities on a wall surface with a certain gradient, vertical or inverted. The existing adsorption mode of the wall climbing robot mainly comprises magnetic adsorption, negative pressure adsorption, pushing and pressing by a propeller, glue adsorption and the like. Most of containers and van-type container trucks related to customs supervision are made of magnetic conductive surface materials (such as corrugated color steel plates), negative pressure adsorption cannot provide enough suction force, the situation is suitable for magnetic adsorption wall climbing robots, and the magnetic adsorption mode can generate large adsorption force and is not limited by wall surface convex-concave or cracks. Therefore, the magnetic adsorption wall climbing robot is suitable for checking the interior of a customs container. The interior of a container often has a corrugated design, and possibly is provided with transverse reinforcing ribs, and the robot needs to have certain obstacle crossing capability. The robot checking mode is that the robot is put in from the top of the container entrance, enters the container in a straight path, returns to the entrance after reaching the head, and feeds back video or image information in the container to the control box in a wireless transmission mode for customs personnel to check.
At present, the robot can only work in one plane, and if the robot needs to work on the other plane, the robot must be manually operated to change the plane.
The wall climbing robot is mainly divided into a sucker type, a wheel type and a crawler type according to the movement function. Suction cups can span very small obstacles, but move slowly. The wheel type has high moving speed and flexible control, but it is difficult to maintain a certain adsorption force. The crawler belt has strong adaptability to the wall surface and large footprint, but is not easy to turn. The three moving modes have weak obstacle crossing capability and cannot adapt to crawling operations on the inner and outer wall surfaces and the top of the container.
The special robot structure is provided based on the robot chassis driving technology and the magnetic adsorption method, so that the special robot structure can adapt to the operations of corrugated structures of the inner wall of the container, turning angles of the inner wall and the like.
The inspection method mainly solves the problem that articles in various standard containers are inspected and checked under the condition that the customs containers are inspected without taking out the containers. The container has the functions of crawling the top wall and the side wall of the container and converting crawling between different wall surfaces.
Disclosure of Invention
The invention mainly aims to realize the adsorption inspection of the inner walls of different containers and consider the factors of light weight of the body, convertible wall crawling and the like.
The invention mainly comprises a differential sliding structure chassis containing permanent magnet wheels and a structure of a front-back steerable scull arm, wherein the structure comprises the following components:
the invention comprises the following contents:
1. the light wall climbing robot structure is composed of a two-wheel structure and a turnover scull arm structure.
2. Has the function of wall crawling.
Has the function of climbing from the top surface to the side surface. The specific method comprises the following steps:
when the robot travels on the top surface and is to be transited to the side surface wall surface, the front scull arm has a rotation guiding function according to the distance from the robot to the side surface. When the robot slowly approaches the wall surface to be converted, the scull arm stretches upwards. Guiding the robot to move sideways.
When the robot travels sideways and is to be overturned to the top wall surface, the front scull arm has a rotation guiding function according to the distance of the robot from the side. When the robot slowly approaches the wall surface to be converted, the scull arm stretches upwards. Guiding the robot to move sideways.
The wall climbing robot structure provided by the invention has a light structure formed by combining a two-wheel structure with a reversible scull arm structure, and the wall climbing robot has a wall surface convertible crawling function.
The invention aims at solving the defects of the prior art, provides a magnetic adsorption type wall climbing robot, and aims at solving the technical problem of checking a carriage wall climbing robot by customs in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
A wall climbing robot comprising:
A main body;
A bottom wheel pivotably connected to the body;
one end of the active scull arm can be pivotally connected to the main body, and the other end of the active scull arm is provided with a guide end;
the method is characterized in that:
A driving mechanism is provided at one end of the active scull arm which is pivotably connected to the main body such that the active scull arm can pivot to and remain at an angle with respect to the main body to direct a leading end of the active scull arm in a predetermined direction.
The wall climbing robot drives the active stripping arm to pivot through rotation of the bottom wheel and the driving mechanism so as to realize movement from one wall surface to the other wall surface.
The one wall surface and the other wall surface are two planes intersecting at an angle. The certain angle may be 5 degrees to 179 degrees. The wall climbing robot is particularly suitable for movement between walls with an included angle of 50-130 degrees.
The bottom wheel of the wall climbing robot is pivotably connected to the main body by a differential slide structure chassis.
The bottom wheels of the wall climbing robot are magnetic wheels, and magnetic steel distributed at equal angles is embedded in the circumferential surfaces of the bottom wheels.
The bottom wheel of the wall climbing robot is of a double-wheel structure.
The wall climbing robot further comprises a driven scull arm, the driven scull arm and the driving scull arm are respectively arranged on two opposite sides of the main body, one end of the driven scull arm can be pivotally connected to the main body, and the other end of the driven scull arm is provided with a contact end.
The number of the active scull arms is two, and the two active scull arms are arranged on two opposite sides of the main body.
The guiding end of the active scull arm is provided with a circular section.
The guiding end of the active scull arm comprises a guiding wheel, the guiding wheel is a magnetic wheel, and permanent magnets distributed at equal angles are embedded in the circumferential surface of the magnetic wheel.
The guiding end of the active scull arm comprises a guiding wheel, wherein the guiding wheel is a magnetic wheel, and the magnetic wheel is an electromagnetic wheel.
In the motion process of the robot on each wall surface, the leading end of the active scull arm is always adsorbed on the wall surface.
After the robot is completely transferred from one wall surface to the other wall surface, the leading end of the active scull arm is separated from the wall surface.
The invention has the beneficial effects that wheel-type movable magnetic adsorption wall climbing walking is realized, the wall surface of the container can be climbed, and the wall surface reaches the top wall of the container from the side wall or reaches the side wall of the container from the top wall.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the invention, fall within the scope of protection of the invention.
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 attached vertically upside down to 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.
According to one embodiment, the container wall climbing robot is a lightweight wall climbing robot structure which is composed of a two-wheel structure and 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, and an inspection control device such as a communication antenna, an image antenna, a camera, and the like may be mounted on the wall climbing robot body 1. At the bottom of the wall climbing robot body 1 there are provided casters 2, in this embodiment two casters 2, but in another embodiment one caster 2 is provided, as well as other numbers of casters, as desired.
According to the embodiment of the invention, the bottom wheel 2 is a magnetic wheel and comprises a driving wheel connected with the output shaft of a driving motor, and magnetic steel distributed at equal angles is embedded on the circumferential surface of the driving wheel. 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 to adsorb or de-adsorb to or from the surface of the container.
The wall climbing robot main body 1 is connected with the bottom wheel 2 through a differential sliding structure chassis. The differential slip structure is also referred to as 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 the two wheels are turned in opposite directions at the same speed, the robot will rotate around the centre point of the shaft. Otherwise, depending on the speed of rotation and its direction, the centre of rotation may fall anywhere on the line defined by the two contact points of the tyre. The center of rotation is infinitely distant from the robot as the robot travels in a straight line. Since the direction of the robot depends on the rotation rate and direction of the two driving wheels, these amounts should be accurately sensed and controlled. The differential steering robot is similar to the differential gears used in automobiles, the rotational speeds of the two wheels may be different, but unlike the differential gear drive system, the differential steering system will energize both wheels. Differential wheeled robots are widely used in robotics because their movements are easily programmable and well controlled.
The differential drive is a two-wheel drive system with a separate actuator for each wheel. The linear movement is achieved by rotating the drive wheel in the same direction and at the same speed. The in-situ rotation is accomplished by rotating the drive wheel in opposite directions at the same rate. Any path of movement can be achieved by dynamically modifying the angular speed and/or direction of the drive wheel. In practice, however, the complexity is reduced by implementing the motion path as an alternating sequence of linear translation and in-situ rotation. It may be difficult to drive the robot in a linear motion by a differential. Since the drive wheels are independent, the robot will turn to one side if they do not turn at exactly the same rate. Due to small differences in motors, friction differences in the drive train and friction differences at the wheel-ground interface, it is a challenge to drive the motors to rotate at the same rate. To ensure that the robot is traveling in a straight line, it may be necessary to constantly adjust the motor speed. This may require interrupt-based software and assembly language programming. It is also important to have accurate wheel position information.
The bottom wheel 2 is pivotally connected to the wall climbing robot body 1, and the bottom wheel 2 drives the wall climbing robot body 1 to walk on the inner wall of the container. As shown in fig. 1, the bottom wheel 2 is attached to the top wall of the container by a magnetic wheel, and the wall climbing robot body 1 stands upside down vertically substantially perpendicular to the top wall surface of the container, so that a camera mounted on the wall climbing robot body 1 can inspect the cargo inside the container.
A scull arm is also arranged on the wall climbing robot main body 1. According to the embodiment of the invention, as shown in fig. 1, two scull arms, namely a driving scull arm and a driven scull arm, are arranged on a wall climbing robot main body 1. However, in another embodiment, only one active scull arm may be provided. Other numbers of scull arms can be arranged according to the requirement.
As shown in fig. 1, the driving scull arm and the driven scull arm are symmetrically arranged on the left and right sides of the wall climbing robot body 1.
The active scull arm comprises a guide end 7 of the active scull arm, an arm rod 8 of the active scull arm and a pivoting end 9 of the active scull arm. The pivoting end 9 of the active scull arm can be pivotally arranged on the wall climbing robot main body 1. The pivoting of the pivoting end 9 of the active scull arm can drive the guiding end 7 of the active scull arm and the arm rod 8 of the active scull arm to pivot relative to the wall climbing robot main body 1. The leading end 7 of the active scull arm is arranged at the end of the arm lever 8 of the active scull arm opposite to the pivoting end 9 of the active scull arm. According to the embodiment of the invention, as shown in fig. 1, the leading end 7 of the active scull arm is provided with a circular contact surface, and the contact surface is magnetic, permanent magnetic or electromagnetic.
According to the embodiment of the present invention, the guiding end 7 of the active scull arm may be a guiding wheel, and other shapes of guiding ends, such as a flat slider or a ten-hexagon guiding end, may be used as required.
The driven scull arm comprises a contact end 4 of the driven scull arm, an arm rod 5 of the driven scull arm and a pivoting end 6 of the driven scull arm. The pivoting end 6 of the driven scull arm can be pivotally arranged on the wall climbing robot main body 1. 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 lever 5 of the driven scull arm to pivot relative to the wall climbing robot body 1, and the translation of the pivoting end 6 of the driven scull arm can also drive the contact end 4 and the arm lever 5 to move. The contact end 4 of the driven scull arm is arranged at the end of the arm lever 5 of the driven scull arm opposite to the pivoting end 6 of the driven scull arm. According to the embodiment of the invention, as shown in fig. 1, the contact end 4 of the driven scull arm is provided with a round contact surface, and the contact surface is magnetic, permanent magnetic or electromagnetic.
According to the embodiment of the invention, the contact end 4 of the driven scull arm can be a guide wheel or can be a contact end with other shapes according to the requirement.
According to the embodiment of the invention, the difference between the driving scull arm and the driven scull arm is that the driving scull arm is provided with a driving mechanism, and the driven scull arm is not provided with the driving mechanism. The driving mechanism drives the pivot end 9 of the active scull arm to rotate so as to drive the active scull arm to move, so that when the wall climbing robot body 1 advances from the container top wall 3 to be close to the container side wall 10, the guide end 7 of the active scull arm guides the wall climbing robot body 1 from the container top wall 3 to the container side wall 10.
According to another embodiment, two driving scull arms can be respectively arranged on the left side and the right side of the wall climbing robot main body 1, and no driven scull arm is arranged, so that the wall climbing robot can be guided by the driving scull arms in the left direction and the right direction.
Referring to fig. 2,3,4a and 4B, a process of turning a container wall climbing robot from a top wall to a side wall according to an embodiment of the present invention will be described in detail.
As shown in fig. 2, the bottom wheel 2 of the wall climbing robot body 1 is magnetically attracted to the container top wall 3, and the wall climbing robot body 1 is arranged upside down substantially perpendicularly to the container top wall 3. The pivoting end 9 of the active scull arm arranged on the right side of the wall climbing robot main body 1 rotates through a driving motor to drive the arm rod 8 of the active scull arm and the guide end 7 of the active scull arm to rotate towards the side wall 10 of the container. As shown in fig. 2, the leading end 7 of the active scull arm is magnetically attached to the container sidewall 10. At this time, the wall climbing robot body 1 travels toward the container sidewall 10 together, and the pivot end 6 of the driven scull arm disposed on the left side of the wall climbing robot body 1 drives the arm lever 5 of the driven scull arm and the contact end 4 of the driven scull arm to travel toward the container sidewall 10 together with the wall climbing robot body 1 as indicated by an arrow R. The contact end 4 of the driven scull arm is also magnetic, and the contact end 4 of the driven scull arm is adsorbed on the top wall 3 of the container.
As shown in fig. 3, the bottom contact point of the bottom wheel 2 of the wall climbing robot body 1 is magnetically attracted to the container top wall 3, the side contact point of the bottom wheel 2 of the wall climbing robot body 1 is magnetically attracted to the container side wall 10, and the wall climbing robot body 1 is arranged upside down substantially perpendicularly to the container top wall 3. The guiding end 7 of the active scull arm guides the wall climbing robot main body 1 to travel on the container side wall 10. At this time, as shown in fig. 3, the pivot end 6 of the driven scull arm disposed at the left side of the wall climbing robot body 1 drives the arm lever 5 of the driven scull arm and the contact end 4 of the driven scull arm to travel toward the container sidewall 10 along with the wall climbing robot body 1, and the traveling direction is shown by an arrow R. The contact end 4 of the driven scull arm is still adsorbed on the top wall 3 of the container.
As shown in fig. 4A, the bottom wheel 2 of the wall climbing robot body 1 is magnetically attached to the container side wall 10, the wall climbing robot body 1 is disposed substantially perpendicular to the container side wall 10, and the camera disposed on the wall climbing robot body 1 is still directed toward the direction of the goods in the container, so that the camera mounted on the wall climbing robot body 1 can inspect the goods in the container. The pivoting end 9 of the active scull arm arranged on the right side of the wall climbing robot main body 1 rotates through a driving motor to drive the arm rod 8 of the active scull arm and the guiding end 7 of the active scull arm to rotate towards the bottom wall of the container. As shown in fig. 4A, the leading end 7 of the active scull arm is directed to the bottom wall of the container. At this time, the pivot end 6 of the driven scull arm arranged at the left side of the wall climbing robot body 1 drives the arm lever 5 of the driven scull arm and the contact end 4 of the driven scull arm to travel towards the bottom wall of the container along with the wall climbing robot body 1, and the traveling direction is shown by an arrow R. The contact end 4 of the driven scull arm is also magnetic, and the contact end 4 of the driven scull arm is thus attracted to the container side wall 10. As shown in fig. 4A, the leading end 7 of the active scull arm is separated from the side wall 10, so that the resistance of the wall climbing robot body 1 advancing on the side wall 10 can be reduced.
As shown in fig. 4B, another embodiment is provided in which the climbing from the top wall 3 to the side wall 10 differs from fig. 4A in that after climbing from the top wall 3 to the side wall 10, the leading end 7 of the active stripping arm of the robot in fig. 4B is always attached to the side wall 10, whereas the leading end 7 of the active stripping arm in the embodiment in fig. 4A is detached from the side wall 10. The leading end 7 of the active stripping arm is always attached to the side wall 10 to avoid that the active stripping arm collides with the articles in the container due to the detachment from the side wall 10.
Referring to fig. 5,6a,6B,7a and 7B, a process of turning a container wall climbing robot from a side wall to a top wall according to an embodiment of the present invention will be described in detail.
In this embodiment, the driving scull is provided on the left side of the wall climbing robot body 1, and the driven scull is provided on the right side of the wall climbing robot body 1.
As shown in fig. 5, the bottom wheel 2 of the wall climbing robot body 1 is magnetically attached to the container side wall 10, the wall climbing robot body 1 is arranged substantially perpendicular to the container side wall 10, and the camera arranged on the wall climbing robot body 1 is still directed to the direction of the goods in the container, so that the camera mounted on the wall climbing robot body 1 can inspect the goods in the container. The guiding end 7 of the active scull arm guides the wall climbing robot main body 1 to travel on the top wall 3 of the container. As shown in fig. 5, at this time, the pivot end 6 of the driven scull arm provided on the right side of the wall climbing robot body 1 drives the arm lever 5 of the driven scull arm and the contact end 4 of the driven scull arm to travel toward the container top wall 3 along with the wall climbing robot body 1, and the traveling direction is shown by an arrow R. The contact end 4 of the driven scull arm is still adsorbed on the side wall 10 of the container.
As shown in fig. 6A, the bottom wheel 2 of the wall climbing robot body 1 is magnetically attached to the container top wall 3, the wall climbing robot body 1 is disposed substantially perpendicular to the container top wall 3, and the camera disposed on the wall climbing robot body 1 is still directed toward the direction of the goods in the container, so that the camera mounted on the wall climbing robot body 1 can inspect the goods in the container. The pivoting end 9 of the active scull arm arranged on the left side of the wall climbing robot main body 1 drives the arm rod 8 of the active scull arm and the guiding end 7 of the active scull arm to rotate through the rotation of a driving motor. As shown in fig. 6A, at this time, the pivot end 6 of the driven scull arm disposed on the right side of the wall climbing robot body 1 drives the arm lever 5 of the driven scull arm and the contact end 4 of the driven scull arm to travel along with the wall climbing robot body 1 to the left on the container top wall 3, the traveling direction is shown by an arrow R, and the guide end 7 of the driving scull arm on the left side of the wall climbing robot body 1 can be separated from the top wall 3. The contact end 4 of the driven scull arm is adsorbed at the position of the included angle between the container top wall 3 and the container side wall 10. According to the embodiment that the leading end 7 of the active scull arm is separated from the top wall 3, the resistance of the wall climbing robot body 1 advancing on the top wall 3 can be reduced.
As shown in fig. 6B, another embodiment is provided in which the leading end 7 of the active stripping arm of the robot as shown in fig. 6B is always attached to the top wall 3 after climbing from the side wall 10 to the top wall 3, whereas the embodiment shown in fig. 6A is such that the leading end 7 of the active stripping arm is detached from the top wall 3. For the case of the top wall 3, the leading end 7 of the active stripping arm is always attracted to the top wall 3 to avoid that the leading end 7 of the active stripping arm collides with the articles in the container due to detachment from the top wall 3. In addition, the adsorption force of the robot to the top wall can be enhanced, and the robot is prevented from falling off from the top wall.
As shown in fig. 7A, the bottom wheel 2 of the wall climbing robot body 1 is magnetically attracted to the container top wall 3, and the wall climbing robot body 1 is arranged upside down substantially perpendicularly to the container top wall 3. The pivot end 9 of the active scull arm arranged on the left side of the wall climbing robot main body 1 rotates through a driving motor to drive the arm rod 8 of the active scull arm and the guide end 7 of the active scull arm to rotate towards the side wall on the left side of the container, and the side wall on the left side of the container is opposite to the side wall 10 shown in the drawing. As shown in fig. 7A, the leading end 7 of the active scull arm points in the direction of the left side wall of the container. At this time, the pivot end 6 of the driven scull arm arranged on the right side of the wall climbing robot body 1 drives the arm lever 5 of the driven scull arm and the contact end 4 of the driven scull arm to travel towards the left side wall of the container along with the wall climbing robot body 1, and the traveling direction is shown by an arrow R. The contact end 4 of the driven scull arm is also magnetic, and 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 separated from the top wall 3, so that the resistance of the wall climbing robot body 1 moving forward on the top wall 3 can be reduced.
As shown in fig. 7B, another embodiment is provided in which after climbing from the side wall 10 to the top wall 3, the leading end 7 of the active stripping arm of the robot as shown in fig. 7B is always attached to the top wall 3, while the leading end 7 of the active stripping arm of the embodiment as shown in fig. 7A is detached from the top wall 3. In the case of the top wall 3, the leading end 7 of the active stripping arm is always attracted to the top wall 3, so that the leading end 7 of the active stripping arm can be prevented from hanging down to collide with the articles in the container due to detachment from the top wall 3. In addition, the adsorption force of the robot to the top wall can be enhanced, and the robot is prevented from falling off from the top wall.
According to one embodiment of the invention, ultrasonic and laser ranging sensors are arranged on the left side and the right side of the main body, so that ranging can be performed, and autonomous obstacle avoidance is realized.
The magnetic wheel comprises a driving wheel connected with the output shaft of the driving motor, and magnetic steel distributed at equal angles is embedded in the circumferential surface of the driving wheel.
The main body 1 is provided with a communication antenna and an image antenna, and is remotely controlled by adopting a 2.4G wireless radio frequency signal, so that the data of the robot end can be transmitted back to the remote control end.
The magnetic wheels are attached to the inner wall surface of the container, and magnetic steel made of permanent magnets is uniformly distributed on each magnetic wheel, so that the robot can be well adsorbed on the uneven inner wall surface of the container in the walking process.
The main body is provided with the camera, the image information of each position is recorded, and three paths of images obtained by the camera can be transmitted back to the remote controller end through the G radio frequency signal to assist the examination and examination of a clerk.
The robot main body is made of firm materials, can resist general degree scratch, collision, drop and the like, and does not influence system operation.
The above description is not intended to limit the scope of the invention, but is intended to cover any modifications, equivalents, and improvements within the spirit and principles of the invention.