A device and method for detecting the degree of foot fit of a magnetic wall-climbing robot

Abstract

The present invention provides a device and method for detecting the degree of fit of the foot of a magnetic wall-climbing robot. The device comprises: an outer ring, the outer ring is fixedly mounted on the periphery of the magnet of the foot of the magnetic wall-climbing robot, and the lower edge of the outer ring is flush with the lower edge of the magnet of the foot of the magnetic wall-climbing robot; an AI electrode sheet, the AI ​​electrode sheet is attached to the inner surface of the outer ring; an inner ring, the inner ring is mounted on the periphery of the magnet of the foot of the magnetic wall-climbing robot, and can be accommodated in the gap formed by the outer ring and the magnet of the foot of the magnetic wall-climbing robot; an FEP film, the FEP film is attached to the outer surface of the inner ring, and the FEP film and the AI ​​electrode sheet rub against each other; and a compression spring, the compression spring is connected to the outer ring on one hand and to the inner ring on the other hand. The present invention can fully detect the tightening state of the foot magnet, and can feed back to the control system of the robot through different detection signals and make corresponding controls to make emergency operations.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic wall-climbing robots, and in particular to a device and method for detecting the degree of foot fit of a magnetic wall-climbing robot. Background Art

[0002] Magnetic wall-climbing robots are mainly used to work on metal walls. The magnets must be close to the metal wall to ensure the safe operation of the robot. However, since the wall surface cannot be guaranteed in actual application scenarios, such as testing on the surface of a ship, it is difficult to ensure that the robot's feet can be firmly attached to the metal surface. In addition, robots generally have a certain weight. If the robot's feet cannot fit tightly to the working surface, the magnetic force generated may not be able to bear the robot's weight, causing the robot to slide or fall on the working wall.

[0003] In order to avoid sliding or falling, it is necessary to judge the degree of fit between the robot and the wall, so as to identify the risk of the robot falling and take emergency actions in advance to avoid accidents. However, the existing technology cannot realize real-time judgment of the degree of fit between the robot and the wall. Summary of the invention

[0004] According to the technical problem that the existing technology cannot realize the real-time judgment of the degree of fit between the robot and the wall, a device and method for detecting the degree of fit between the feet of a magnetic wall-climbing robot are provided. The present invention can fully detect the tightness of the foot magnet, and can feed back different detection signals to the robot's control system and make corresponding controls to perform emergency operations.

[0005] The technical means adopted by the present invention are as follows:

[0006] A device for detecting the degree of foot fit of a magnetic wall-climbing robot, the detection comprising:

[0007] An outer ring, wherein the outer ring is fixedly sleeved on the periphery of the foot magnet of the magnetic wall-climbing robot, the lower edge of the outer ring is flush with the lower edge of the foot magnet of the magnetic wall-climbing robot, and there is a gap between the inner surface of the outer ring and the inner surface of the foot magnet of the magnetic wall-climbing robot;

[0008] An AI electrode sheet, the AI ​​electrode sheet being attached to the inner surface of the outer ring;

[0009] An inner ring, which is sleeved on the periphery of the foot magnet of the magnetic wall-climbing robot and can be accommodated in a gap formed by the outer ring and the foot magnet of the magnetic wall-climbing robot;

[0010] FEP film, the FEP film is attached to the outer surface of the inner ring, when the inner ring is accommodated in the gap formed by the outer ring and the foot magnet of the magnetic wall-climbing robot, the FEP film and the AI ​​electrode sheet rub against each other;

[0011] A compression spring is connected to the outer ring on one hand and to the inner ring on the other hand. When the compression spring is in a compressed state, the inner ring is accommodated in the gap formed by the outer ring and the foot magnet of the magnetic wall-climbing robot. When the compression spring is in an extended state, the inner ring is pushed out of the gap formed by the outer ring and the foot magnet of the magnetic wall-climbing robot.

[0012] Furthermore, the detection device includes three AI electrode sheets arranged in parallel longitudinally.

[0013] Furthermore, the detection device also includes a current detection module, which is connected to the AI ​​electrode sheet on one hand and to the FEP film on the other hand, and is used to detect the current signal generated when the AI ​​electrode sheet and the FEP film produce friction.

[0014] Furthermore, the detection device also includes a control module, which is used to receive the current signal acquired by the current detection module, analyze the current signal, and give a control instruction based on the analysis result.

[0015] Furthermore, the control module analyzes the current signal and gives a control instruction based on the analysis result, including:

[0016] When the control module identifies that the degree of fit between the feet of the magnetic wall-climbing robot and the wall surface is qualified according to the current signal, the control detection device is controlled to collect signals for the next cycle;

[0017] When the control module identifies that the degree of fit between the feet of the magnetic wall-climbing robot and the wall surface is unsatisfactory based on the current signal, the control detection device outputs an alarm command.

[0018] The present invention also discloses a method for detecting the degree of foot fit of a magnetic wall-climbing robot, which is implemented based on any one of the above-mentioned devices, and the detection method comprises the following steps:

[0019] When the foot of the magnetic wall-climbing robot is suspended in the air, the inner ring is partially ejected by the compression spring, and the FEP film is not in contact with the AI ​​electrode sheet;

[0020] When the magnetic wall-climbing robot's feet walk and fall,

[0021] If the wall is concave, the foot of the magnetic wall-climbing robot will miss the ground, and the foot magnet will not be in contact with the wall, and the FEP film will not be in contact with the AI ​​electrode sheet or will be partially in contact with it. The detection module will not detect the induced current, or will detect the induced current generated by partial friction. The detection module will then send the detected signal to the control module for analysis.

[0022] If the wall is flat, the feet of the magnetic wall-climbing robot will contact and tighten with the wall, and the compression spring will be compressed to make the inner ring enter the gap. At this time, the FEP film will be in full contact with the AI ​​electrode sheet, and the detection module will detect the induced current generated by the complete friction. Then the detection module will send the detected signal to the control module for analysis.

[0023] When the foot of the magnetic wall-climbing robot is lifted, the inner ring is partially ejected by the compression spring, and the FEP film is completely separated from the AI ​​electrode sheet, entering the next working cycle.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] 1. The main material of the magnetic wall-climbing robot foot fit detection device provided by the present invention is PLA plastic material, which effectively reduces the weight of the sensor. When applied to the magnetic wall-climbing robot, it can minimize the risk of the robot falling due to increased weight.

[0026] 2. The present invention has a simple structure and strong stability. The size of the foot magnets of magnetic robots of different sizes can be redesigned, thereby greatly saving manufacturing costs.

[0027] 3. The magnetic wall-climbing robot foot fit detection device proposed in the present invention can directly contact the surface of an object, greatly improving the perception effect.

[0028] 4. Due to the good stability and adaptability of the friction nanogenerator, it can output electrical signals under different temperatures and humidity. Therefore, the magnetic wall-climbing robot foot fit detection device disclosed in the present invention has stable performance and can continue to work in harsh environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0030] Figure 1 It is a schematic diagram of the structure of the magnetic wall-climbing robot foot fit degree detection device of the present invention.

[0031] Figure 2 This is a diagram of the integrated device of the detection device of the present invention and the magnetic wall-climbing robot.

[0032] Figure 3 This is a schematic diagram of the foot of the magnetic wall-climbing robot of the present invention.

[0033] Figure 4 It is a schematic diagram of the integration of the detection device and the foot of the magnetic wall-climbing robot when the foot of the magnetic wall-climbing robot is tightly attracted to the wall in the present invention.

[0034] Figure 5 It is a schematic diagram of the integration of the detection device and the foot of the magnetic wall-climbing robot when the foot of the magnetic wall-climbing robot is suspended in the air in the present invention.

[0035] Figure 6 This is a schematic diagram of the friction nano-power generation principle of the detection device of the present invention.

[0036] In the figure: 1. Magnetic wall-climbing robot; 2. Foot of magnetic wall-climbing robot; 3. Magnetic wall-climbing robot foot fit detection device; 3-1. Outer ring; 3-2. Compression spring; 3-3. 3 annular aluminum electrodes; 3-4. Inner ring; 4. Electromagnet of the foot of magnetic wall-climbing robot. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] like Figure 1-6 As shown, the present invention provides a device for detecting the degree of foot fit of a magnetic wall-climbing robot, and the detection includes:

[0040] An outer ring, wherein the outer ring is fixedly sleeved on the periphery of the foot magnet of the magnetic wall-climbing robot, the lower edge of the outer ring is flush with the lower edge of the foot magnet of the magnetic wall-climbing robot, and there is a gap between the inner surface of the outer ring and the inner surface of the foot magnet of the magnetic wall-climbing robot;

[0041] An AI electrode sheet, the AI ​​electrode sheet being attached to the inner surface of the outer ring;

[0042] An inner ring, which is sleeved on the periphery of the foot magnet of the magnetic wall-climbing robot and can be accommodated in a gap formed by the outer ring and the foot magnet of the magnetic wall-climbing robot;

[0043] FEP film, the FEP film is attached to the outer surface of the inner ring, when the inner ring is accommodated in the gap formed by the outer ring and the foot magnet of the magnetic wall-climbing robot, the FEP film and the AI ​​electrode sheet rub against each other;

[0044] A compression spring is connected to the outer ring on one hand and to the inner ring on the other hand. When the compression spring is in a compressed state, the inner ring is accommodated in the gap formed by the outer ring and the foot magnet of the magnetic wall-climbing robot. When the compression spring is in an extended state, the inner ring is pushed out of the gap formed by the outer ring and the foot magnet of the magnetic wall-climbing robot.

[0045] Furthermore, as a preferred embodiment of the present invention, the detection device includes three AI electrode sheets arranged in parallel longitudinally.

[0046] The present invention is based on the principle of sliding separation friction nanogenerator, mainly using friction electrification and electrostatic induction to generate electrical signals. The sensor structure is two annular structures connected together by a compression spring, wherein the outer ring is sleeved on the robot foot magnet and fixedly connected to the robot foot, and three annular Al electrodes are attached to the inner side of the outer ring; the inner ring is sleeved on the robot foot magnet, located between the outer ring and the foot magnet, and the outer surface of the inner ring is attached with a FEP film. At the bottom of the outer ring, there is a compression spring fixedly connected to the inner ring of the sensor. When the robot foot is suspended at a sufficient height, the inner and outer rings are relatively static, and no friction or electrical signals are generated; when the robot foot gradually contacts the wall, the FEP film on the surface of the inner ring will move relative to the three annular aluminum electrodes of the outer ring and rub. Due to the difference in electronegativity between the Al electrode and the FEP film, the Al electrode loses electrons and becomes positively charged, and the FEP film gains electrons and becomes negatively charged, thereby generating an electrical signal, and the different friction degrees of the three annular Al electrodes can generate different electrical signals, so that the gap distance between the robot foot and the wall can be judged. When the robot's foot lifts off the metal wall, the inner ring will be completely separated from the Al electrode under the elastic force of the compression spring, so that the next detection can be carried out.

[0047] Specifically, in the normal wall-climbing walking state of the wall-climbing robot, the working process of the detection device of the present invention is as follows: when the robot foot 2 is suspended in the air, the inner ring 3-4 in the detection device 3 is partially ejected under the action of the compression spring 3-2, and is not in contact with the three-ring Al electrode 3-3, such as Figure 5As shown. When the robot foot 2 walks and falls, the foot magnet 4 is tightly attracted to the metal surface. Figure 4 As shown, at this time, the inner ring 3-4 overcomes the elastic force of the compression spring and is compressed, and the inner ring 3-4 and the foot magnet 4 are in contact with the metal surface. At this time, the FEP film on the surface of the sensor inner ring 3-4 rubs against the three-ring Al electrode 3-3, thereby generating electrostatic induction and sending out an electrical signal, which is fed back to the control system. When the robot lifts the foot 2, the inner ring 3-4 in the detection 3 is partially ejected under the action of the compression spring 3-2, and enters the next working cycle.

[0048] When the climbing foot of the wall-climbing robot does not completely touch the metal wall, the working process of the detection device of the present invention is as follows: when the robot foot 2 is suspended in the air, the inner ring 3-4 in the detection 3 is partially ejected under the action of the compression spring 3-2, and does not contact the three-ring Al electrode 3-3, such as Figure 5 As shown. When the robot foot 2 walks and falls, the metal wall surface is dented, the robot foot steps on nothing, and the foot magnet 4 is not in contact with the metal surface, at this time, the inner ring is not in contact with or partially in contact with the three-ring Al electrode 3-3, and the FEP film on the surface of the sensor inner ring 3-4 is not rubbed or not completely rubbed with the three-ring Al electrode 3-3, thereby generating an electrical signal different from the electrical signal of complete friction, and feeding it back to the control system. When the robot lifts the foot 2, the inner ring 3-4 in the detection device 3 is partially ejected under the action of the compression spring 3-2, and is completely separated from the three-ring Al electrode 3-3, entering the next working cycle.

[0049] The working principle of friction nano power generation in the present invention is: Figure 6 As shown in the normal working process, when the robot foot is suspended in the air and then attracted by the magnet to the metal surface, the power generation process is as follows: arrive <iii>The FEP film on the inner ring surface contacts the first, second, and third rings of the three-ring Al electrode on the inner wall of the outer ring in turn. Due to the different electronegativity of the two materials, during friction, the Al electrode loses electrons and becomes positively charged, while the FEP film gains electrons and becomes negatively charged, generating an induced current. <ii> <iii>In the working state, the contact degree between the robot's foot and the metal wall can be measured according to the difference in induced current, thus achieving the function of a sensor.

[0050] Furthermore, the detection device also includes a current detection module, which is connected to the AI ​​electrode sheet on one hand and to the FEP film on the other hand, and is used to detect the current signal generated when the AI ​​electrode sheet and the FEP film produce friction.

[0051] Furthermore, the detection device also includes a control module, which is used to receive the current signal acquired by the current detection module, analyze the current signal, and give a control instruction based on the analysis result.

[0052] Furthermore, the control module analyzes the current signal and gives a control instruction based on the analysis result, including:

[0053] When the control module identifies that the degree of fit between the feet of the magnetic wall-climbing robot and the wall surface is qualified according to the current signal, the control detection device is controlled to collect signals for the next cycle;

[0054] When the control module identifies that the degree of fit between the feet of the magnetic wall-climbing robot and the wall surface is unsatisfactory based on the current signal, the control detection device outputs an alarm command.

[0055] The present invention also discloses a method for detecting the degree of foot fit of a magnetic wall-climbing robot, which is implemented based on any one of the above-mentioned devices, and the detection method comprises the following steps:

[0056] When the foot of the magnetic wall-climbing robot is suspended in the air, the inner ring is partially ejected by the compression spring, and the FEP film is not in contact with the AI ​​electrode sheet;

[0057] When the magnetic wall-climbing robot's feet walk and fall,

[0058] If the wall is concave, the foot of the magnetic wall-climbing robot will miss the ground, and the foot magnet will not be in contact with the wall, and the FEP film will not be in contact with the AI ​​electrode sheet or will be partially in contact with it. The detection module will not detect the induced current, or will detect the induced current generated by partial friction. The detection module will then send the detected signal to the control module for analysis.

[0059] If the wall is flat, the feet of the magnetic wall-climbing robot will contact and tighten with the wall, and the compression spring will be compressed to make the inner ring enter the gap. At this time, the FEP film will be in full contact with the AI ​​electrode sheet, and the detection module will detect the induced current generated by the complete friction. Then the detection module will send the detected signal to the control module for analysis.

[0060] When the foot of the magnetic wall-climbing robot is lifted, the inner ring is partially ejected by the compression spring, and the FEP film is completely separated from the AI ​​electrode sheet, entering the next working cycle.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.< / iii> < / ii> < / iii>

Claims

1. A device for detecting the degree of foot fit of a magnetic wall-climbing robot, characterized in that: The detection includes: An outer ring, wherein the outer ring is fixedly sleeved on the periphery of the foot magnet of the magnetic wall-climbing robot, the lower edge of the outer ring is flush with the lower edge of the foot magnet of the magnetic wall-climbing robot, and there is a gap between the inner surface of the outer ring and the inner surface of the foot magnet of the magnetic wall-climbing robot; An AI electrode sheet, the AI ​​electrode sheet being attached to the inner surface of the outer ring; An inner ring, which is sleeved on the periphery of the foot magnet of the magnetic wall-climbing robot and can be accommodated in a gap formed by the outer ring and the foot magnet of the magnetic wall-climbing robot; FEP film, the FEP film is attached to the outer surface of the inner ring, when the inner ring is accommodated in the gap formed by the outer ring and the foot magnet of the magnetic wall-climbing robot, the FEP film and the AI ​​electrode sheet rub against each other; A compression spring is connected to the outer ring on one hand and to the inner ring on the other hand. When the compression spring is in a compressed state, the inner ring is accommodated in the gap formed by the outer ring and the foot magnet of the magnetic wall-climbing robot. When the compression spring is in an extended state, the inner ring is pushed out of the gap formed by the outer ring and the foot magnet of the magnetic wall-climbing robot.

2. The device for detecting the degree of foot fit of a magnetic wall-climbing robot according to claim 1, characterized in that: The detection device comprises three AI electrode sheets arranged in parallel longitudinally.

3. The device for detecting the degree of foot fit of a magnetic wall-climbing robot according to claim 1, characterized in that: The detection device also includes a current detection module, which is connected to the AI ​​electrode sheet on one hand and to the FEP film on the other hand, and is used to detect the current signal generated when the AI ​​electrode sheet and the FEP film produce friction.

4. The device for detecting the degree of foot fit of a magnetic wall-climbing robot according to claim 3, characterized in that: The detection device further includes a control module, which is used to receive the current signal acquired by the current detection module, analyze the current signal, and give a control instruction based on the analysis result.

5. The device for detecting the degree of foot fit of a magnetic wall-climbing robot according to claim 4, characterized in that: The control module analyzes the current signal and gives a control instruction based on the analysis result, including: When the control module recognizes that the degree of fit between the feet of the magnetic wall-climbing robot and the wall surface is qualified according to the current signal, the control detection device is controlled to collect signals for the next cycle; When the control module identifies that the degree of fit between the feet of the magnetic wall-climbing robot and the wall surface is unsatisfactory based on the current signal, the control detection device outputs an alarm command.

6. A method for detecting the degree of foot fit of a magnetic wall-climbing robot, implemented based on the device described in any one of claims 1 to 5, characterized in that: The detection method comprises the following steps: When the foot of the magnetic wall-climbing robot is suspended in the air, the inner ring is partially ejected by the compression spring, and the FEP film is not in contact with the AI ​​electrode sheet; When the magnetic wall-climbing robot's feet walk and fall, If the wall is concave, the foot of the magnetic wall-climbing robot will miss the ground, and the foot magnet will not be in contact with the wall, and the FEP film will not be in contact with the AI ​​electrode sheet or will be partially in contact with it. The detection module will not detect the induced current, or will detect the induced current generated by partial friction. The detection module will then send the detected signal to the control module for analysis. If the wall is flat, the feet of the magnetic wall-climbing robot will contact and tighten with the wall, and the compression spring will be compressed to make the inner ring enter the gap. At this time, the FEP film will be in full contact with the AI ​​electrode sheet, and the detection module will detect the induced current generated by the complete friction. Then the detection module will send the detected signal to the control module for analysis. When the foot of the magnetic wall-climbing robot is lifted, the inner ring is partially ejected by the compression spring, and the FEP film is completely separated from the AI ​​electrode sheet, entering the next working cycle.

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