A wind pressure adjusting method and system of a wall-climbing robot and the wall-climbing robot

Abstract

The application discloses a kind of wall-climbing robot wind pressure adjusting method, system and wall-climbing robot, belong to wall-climbing robot technical field.Method includes the current wind pressure value of acquisition negative pressure cavity;Calculate the center of gravity parameter of wall-climbing robot, and determine the friction coefficient between wall-climbing robot and adsorbed wall surface;Current posture of wall-climbing robot is determined by attitude angle, and total support force of adsorbed wall surface to wall-climbing robot under current posture and overturning moment of total support force are calculated according to pressure value;According to the center of gravity parameter of wall-climbing robot, friction coefficient, total support force and overturning moment of total support force, the required safety wind pressure value of wall-climbing robot under current posture is obtained;According to current wind pressure value and safety wind pressure value, the speed of adjustable speed fan is adjusted, and wall-climbing robot protection mechanism is adopted according to the speed of adjusted adjustable speed fan.The application solves the problem that fan of prior art wall-climbing robot is not adjustable, energy consumption is high and service life is low, and dangerous adsorption state cannot be identified.

Description

Technical Field

[0001] This invention belongs to the field of wall-climbing robot technology, specifically relating to a method, system, and wall-climbing robot for adjusting wind pressure. Background Technology

[0002] Wall-climbing robots are special robots that can climb walls and complete tasks. They are currently used in maintenance and reconnaissance in both civilian and military fields. Specific scenarios include the energy industry (water-cooled walls and cooling towers of thermal power plants, dams and spillways of hydropower stations, wind turbine towers and blades, etc.), the petrochemical industry (oil and gas pipelines, large storage tanks, etc.), the construction industry (residential buildings, bridges, tunnels, etc.), the aviation industry, and the shipbuilding and marine industry.

[0003] Currently, there are five main types of wall-climbing robots that attach to walls: magnetic adsorption, vacuum negative pressure adsorption, biomimetic claw-like gripping adsorption, biomimetic adhesive material adsorption, and electrostatic adsorption. Tracked and sliding suction cup wall-climbing robots using vacuum negative pressure adsorption rely on a negative pressure chamber to generate negative pressure for adsorption; this negative pressure is typically generated by a fan. Factors affecting the adsorption performance of wall-climbing robots under vacuum negative pressure adsorption include fan performance, the sealing performance of the negative pressure chamber, the material of the adsorption wall, the flatness of the adsorption wall, the inclination of the adsorption wall, the robot's posture, the robot's weight and center of gravity, and the weight and center of gravity of the load. For the same wall-climbing robot, the fan performance, the sealing performance of the negative pressure chamber, and the robot's weight and center of gravity remain constant. The other parameters—the material of the adsorption wall, the flatness of the adsorption wall, the inclination of the adsorption wall, the robot's posture, and the weight and center of gravity of the load—varie depending on the operating scenario and the load. Adjusting the fan pressure in real time according to parameter changes has a positive impact on reducing noise, lowering energy consumption, increasing battery life, identifying dangerous adsorption states, improving adsorption safety, and extending the working life of the wall-climbing robot.

[0004] In the prior art, Chinese Patent Application Publication No. CN115837946A discloses a wall surface detection device for a wall-climbing robot, including a wall-climbing robot body and a testing device. The testing device detects the roughness of the wall surface in a timely manner through an angle sensor. By detecting the undulations of the detection component, the data is transmitted to the angle sensor via gears and converted into a value representing the height of the wall surface. Based on the roughness, the airflow of the fan can be adjusted to control the travel speed and ensure that the wall-climbing robot body can pass smoothly. This device removes wall obstacles in advance for the wall-climbing robot body, preventing it from traveling on uneven surfaces, thereby improving the protection effect on the wall-climbing robot body.

[0005] For example, Chinese patent application CN115489632A discloses a pressure control method for a wall-climbing robot. This method obtains the wheel rotation speed of the robot body, calculates the robot body's movement speed based on the wheel rotation speed, compares the robot body's movement speed with a preset target speed, and adjusts the fan speed of the fixed duct according to the calculation result, i.e., adjusts the pressure data, so that the robot body's movement speed reaches the preset target speed. It also obtains pressure data, compares the pressure data with a preset safe pressure range, determines whether the pressure data is within the preset safe pressure range, and adjusts the fan speed of the fixed duct according to the comparison result to keep the pressure data within the preset safe pressure range. By adjusting the fan speed of the fixed duct according to the robot's movement speed, the robot can maintain a stable movement speed on surfaces with different resistance and friction coefficients.

[0006] However, existing wall-climbing robots using vacuum negative pressure adsorption typically have the following drawbacks:

[0007] 1) The air pressure of the fans of existing negative pressure adsorption wall climbing robots is mostly adjusted manually. In order to ensure adsorption stability, the fans are all working at the maximum speed, which results in loud fan noise and high energy consumption. Excessive adsorption force will also cause excessive wear of the sealing structure of the wall climbing robot. Long-term high-speed operation of the fans will also reduce their lifespan.

[0008] 2) Existing fan pressure regulation schemes mainly adjust fan pressure by testing the wall roughness with a testing device. This only uses one parameter related to adsorption performance, which is not very safe.

[0009] 3) The existing fan pressure regulation scheme determines whether the wall-climbing robot can pass by monitoring the height threshold of the wall undulation. This threshold changes with different wall conditions and different load conditions, and needs to be adjusted according to different situations, which is not widely applicable.

[0010] 4) Existing pressure control methods for wall-climbing robots are mainly used for wind-driven wall-climbing robots, and are not suitable for tracked sealed and sliding suction cup wall-climbing robots, because there are more parameters affecting the adsorption performance of tracked sealed and sliding suction cup wall-climbing robots. Summary of the Invention

[0011] One of the objectives of this invention is to provide a method for regulating the air pressure of a wall-climbing robot, which solves the problems of non-adjustable speed, high energy consumption, short service life, and inability to identify dangerous adsorption states in the prior art.

[0012] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0013] A method for regulating the air pressure of a wall-climbing robot, applied to a vacuum negative pressure adsorption wall-climbing robot, wherein the wall-climbing robot has a negative pressure chamber, and an adjustable speed fan is installed in the negative pressure chamber; the method for regulating the air pressure of the wall-climbing robot includes:

[0014] Collect the current wind pressure value of the negative pressure chamber in the wall-climbing robot and the attitude angle of the wall-climbing robot on the adsorption wall surface, and at the same time obtain the pressure value of the adsorption wall surface on the wall-climbing robot;

[0015] Calculate the center of gravity parameters of the wall-climbing robot, and determine the coefficient of friction between the wall-climbing robot and the wall based on the material of the wall surface.

[0016] The current posture of the wall-climbing robot is determined by the posture angle, and the total support force of the adsorption wall surface on the wall-climbing robot and the overturning moment of the total support force are calculated based on the pressure value.

[0017] The required safe wind pressure value for the wall-climbing robot in its current posture is obtained based on the robot's center of gravity parameters, friction coefficient, total support force, and overturning moment of the total support force.

[0018] The speed of the adjustable fan is adjusted according to the current wind pressure value and the safe wind pressure value, and a wall-climbing robot protection mechanism is adopted according to the adjusted speed of the adjustable fan.

[0019] Several alternative methods are provided below, but they are not intended as additional limitations on the overall solution above. They are merely further additions or optimizations. Provided there are no technical or logical contradictions, each alternative method can be combined individually with respect to the overall solution above, or multiple alternative methods can be combined with each other.

[0020] Preferably, the wall-climbing robot includes a wall-climbing robot body and a load disposed on the wall-climbing robot body, and the calculation of the wall-climbing robot's center of gravity parameters includes:

[0021] Obtain the weight and center of gravity of the wall-climbing robot body, as well as the weight and center of gravity of the load, and calculate the weight and center of gravity of the wall-climbing robot as the center of gravity parameter of the wall-climbing robot.

[0022] Preferably, determining the current posture of the wall-climbing robot from the posture angle includes:

[0023] When the attitude angle β is 0°≤β<90°, the wall-climbing robot is determined to be in the first attitude.

[0024] When the attitude angle β is 90°≤β<180°, the wall-climbing robot is determined to be in the second attitude.

[0025] When the attitude angle β is 180°≤β<270°, the wall-climbing robot is determined to be in the third attitude;

[0026] When the attitude angle β is 270°≤β<360°, the wall-climbing robot is determined to be in the fourth attitude.

[0027] Preferably, the step of calculating the total support force of the adsorption wall on the wall-climbing robot and the overturning moment of the total support force based on the pressure value includes:

[0028] The wall-climbing robot includes a left track, a right track, an upper roller, and a lower roller for forming a negative pressure chamber. A rectangle is defined by the maximum contact surface between the left track, right track, upper roller, and lower roller and the adsorption wall. The sides of this rectangle located on the left and right tracks are used as the lateral overturning axes, and the sides of this rectangle located on the upper and lower rollers are used as the longitudinal overturning axes. Based on the current posture of the wall-climbing robot, one of the two lateral overturning axes is determined as the lateral overturning axis to be calculated, and one of the two longitudinal overturning axes is determined as the longitudinal overturning axis to be calculated.

[0029] The sum of the pressure values ​​of the suction wall on the left track, right track, upper roller and lower roller is taken as the total support force of the suction wall on the wall-climbing robot;

[0030] The pressure values ​​of the adsorption wall on the left track, right track, upper roller and lower roller are calculated separately, and the product of the pressure values ​​and the distance from the pressure values ​​to the lateral overturning axis to be calculated is used as the regional lateral overturning moment. The regional lateral overturning moments of the left track, right track, upper roller and lower roller are summed to obtain the total support force and the total lateral overturning moment of the lateral overturning axis to be calculated.

[0031] The pressure values ​​of the adsorption wall on the left track, right track, upper roller, and lower roller are calculated separately, and the product of the pressure values ​​and the distance from the pressure values ​​to the longitudinal overturning axis to be calculated is used as the regional longitudinal overturning moment. The regional longitudinal overturning moments of the left track, right track, upper roller, and lower roller are summed to obtain the total support force and the total longitudinal overturning moment of the longitudinal overturning axis to be calculated.

[0032] Preferably, the step of obtaining the required safe wind pressure value for the wall-climbing robot in its current posture based on the robot's center of gravity parameters, friction coefficient, total support force, and overturning moment of the total support force includes:

[0033] Based on the center of gravity parameters and friction coefficient of the wall-climbing robot, an anti-slip model of the wall-climbing robot on the adsorption wall is established, and the minimum adsorption pressure for anti-slip of the wall-climbing robot is obtained from the anti-slip model.

[0034] Based on the center of gravity parameters and the overturning moment of the total support force, a moment balance formula for the lateral overturning axis to be calculated under the current attitude is established, and the minimum adsorption pressure to prevent lateral overturning is obtained according to the moment balance formula.

[0035] Based on the center of gravity parameters and the overturning moment of the total support force, a moment balance formula for the longitudinal overturning axis to be calculated under the current attitude is established, and the minimum adsorption pressure to prevent longitudinal overturning is obtained according to the moment balance formula.

[0036] The safe adsorption pressure of the wall-climbing robot is obtained based on the minimum adsorption pressure for preventing slippage, the minimum adsorption pressure for preventing lateral overturning, and the minimum adsorption pressure for preventing longitudinal overturning. The ratio of the safe adsorption pressure to the area of ​​the negative pressure chamber is taken as the safe wind pressure value required by the wall-climbing robot in the current posture.

[0037] Preferably, the anti-slip model is as follows:

[0038] μ(F′ P1 -Gsinα)≥Fcosα

[0039] In the formula, F′ P1 G represents the anti-slip adsorption pressure of the wall-climbing robot on the adsorption wall surface, G is the weight value in the center of gravity parameter of the wall-climbing robot, μ is the coefficient of friction, and α is the tilt angle of the adsorption wall surface.

[0040] The minimum adsorption pressure for anti-slip is then obtained as follows:

[0041]

[0042] In the formula, F P1 Minimum adsorption pressure to prevent slippage.

[0043] Preferably, the step of obtaining the safe adsorption pressure of the wall-climbing robot based on the minimum adsorption pressure for preventing slippage, the minimum adsorption pressure for preventing lateral tipping, and the minimum adsorption pressure for preventing longitudinal tipping includes:

[0044] The maximum value among the minimum adsorption pressure for preventing slippage, the minimum adsorption pressure for preventing lateral overturning, and the minimum adsorption pressure for preventing longitudinal overturning is taken as the pressure to be treated. The product of the pressure to be treated and the predefined safety factor is taken as the safe adsorption pressure.

[0045] Preferably, adjusting the speed of the adjustable fan based on the current wind pressure value and the safe wind pressure value includes:

[0046] If the current wind pressure value and the safe wind pressure value are equal, the speed of the adjustable fan remains unchanged;

[0047] Alternatively, if the current wind pressure value is greater than the safe wind pressure value, then reduce the speed of the adjustable fan;

[0048] Alternatively, if the current wind pressure value is less than the safe wind pressure value, the rotational speed of the adjustable fan is increased.

[0049] Preferably, the wall-climbing robot protection mechanism based on the adjusted speed of the adjustable-speed fan includes:

[0050] The ratio of the adjusted speed of the adjustable speed fan to the upper limit of the speed of the adjustable speed fan is taken as the speed ratio.

[0051] If the rotation speed ratio is less than or equal to the first threshold, the wall-climbing robot is in normal working condition and does not perform protective measures.

[0052] Alternatively, if the rotation speed ratio is greater than the first threshold and less than the second threshold, the wall-climbing robot is in a risky working state and generates a warning message.

[0053] Alternatively, if the rotation speed ratio is equal to or greater than the second threshold, the wall-climbing robot is in a dangerous working state and performs emergency braking measures, wherein the second threshold is greater than the first threshold and the second threshold is less than or equal to 1, and the first threshold is greater than 0.5.

[0054] This invention provides a method for regulating the air pressure of a wall-climbing robot. It acquires the negative pressure chamber air pressure value, the robot's posture angle on the adsorption wall, and the tilt angle of the adsorption wall, all related to the robot's adsorption capacity. These parameters are then converted into real-time adjustments to the air pressure of an adjustable-speed fan. The method considers adsorption parameters such as load conditions and wall surface conditions, enabling flexible adaptation to all wall materials and load conditions. The adjustable-speed fan can adjust its own speed according to a safe air pressure value, eliminating the need for manual adjustment or allowing it to operate at maximum speed continuously, reducing energy consumption and noise, preventing excessive adsorption on the wall surface, and extending the service life of the adjustable-speed fan and tracks. By monitoring the speed of the adjustable-speed fan, dangerous adsorption states of the wall-climbing robot are identified, preventing adsorption failure and improving safety.

[0055] The second objective of this invention is to provide a wind pressure regulation system for a wall-climbing robot, which solves the problems of non-adjustable speed, high energy consumption, short service life, and inability to identify dangerous adsorption states in existing wall-climbing robot fans.

[0056] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0057] A wind pressure regulation system for a wall-climbing robot, the wind pressure regulation system of the wall-climbing robot includes a negative pressure measuring sensor, a rotation speed measuring sensor, an angle measuring sensor, a pressure measuring sensor, an adjustable speed fan, and a controller;

[0058] The negative pressure measurement sensor is used to measure the current wind pressure value of the negative pressure chamber in the wall-climbing robot;

[0059] The speed measurement sensor is used to measure the speed of the adjustable speed fan;

[0060] The angle measurement sensor is used to measure the tilt angle of the adsorption wall and the attitude angle of the wall-climbing robot on the adsorption wall.

[0061] The pressure measurement sensor is used to obtain the pressure value of the adsorption wall surface on the wall-climbing robot;

[0062] The controller is used to execute the steps of the wind pressure regulation method for a wall-climbing robot.

[0063] Compared with the prior art, the wind pressure regulation system of the wall-climbing robot of the present invention has the following advantages:

[0064] 1) The wind pressure regulation system of the wall-climbing robot integrates all dynamic parameters related to the wall-climbing robot's adsorption capacity to regulate the wind pressure of the adjustable speed fan. This effectively reduces the time the adjustable speed fan operates at high speed, avoids excessive adsorption, extends the service life of the adjustable speed fan and tracks, reduces working noise, reduces energy consumption, and improves endurance. At the same time, it can identify dangerous adsorption states in advance, improving safety.

[0065] 2) The wind pressure regulation system of the wall-climbing robot can monitor the pressure value of the negative pressure chamber, the robot's attitude angle and tilt angle on the adsorption wall, and the pressure value of the adsorption wall on the wall-climbing robot in real time through negative pressure measurement sensor, angle measurement sensor and pressure measurement sensor. It can accurately reflect the current adsorption state of the wall-climbing robot, and has a fast adjustment speed and high accuracy.

[0066] 3) The wind pressure regulation system of the wall-climbing robot can monitor the speed of the adjustable fan in real time through the speed measurement sensor. When the controller adjusts the adjustable fan to the highest speed working state, it can be considered that the wall-climbing robot is in a dangerous adsorption state. The emergency braking device applies emergency braking to the walking motor to prevent the wall-climbing robot from adsorption failure and improve adsorption safety.

[0067] The third objective of this invention is to provide a wall-climbing robot with a long service life, low energy consumption and noise, and high safety.

[0068] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0069] A wall-climbing robot, comprising a wall-climbing robot body, a load, and a wind pressure regulation system for the wall-climbing robot.

[0070] Preferably, the wall-climbing robot also includes an operable touchscreen.

[0071] Compared with the prior art, the wall-climbing robot of the present invention has the following advantages:

[0072] 1) This wall-climbing robot integrates all dynamic parameters related to its adsorption capacity into the wind pressure regulation of the adjustable speed fan, effectively reducing the high-speed rotation time of the adjustable speed fan, avoiding excessive adsorption, extending the service life of the adjustable speed fan and track, reducing working noise, reducing energy consumption, and improving endurance. At the same time, it can identify dangerous adsorption states in advance, improving safety.

[0073] 2) The wall-climbing robot can monitor the pressure value of the negative pressure chamber, the robot's posture angle and tilt angle on the adsorption wall, and the pressure value of the adsorption wall on the wall-climbing robot in real time through negative pressure measurement sensor, angle measurement sensor, and pressure measurement sensor. It can accurately reflect the current adsorption state of the wall-climbing robot, with fast adjustment speed and high accuracy.

[0074] 3) This wall-climbing robot allows users to input the robot's weight and center of gravity, load weight and center of gravity, wall material (which determines the coefficient of friction between the robot and the wall), and safety factor (an empirical value obtained through experiments, mainly related to the flatness of the wall and the presence of cracks) via an operable touchscreen, based on the wall surface the robot adheres to and the load conditions. It is highly adaptable to different wall surfaces and load conditions and is easy to operate.

[0075] 4) The wall-climbing robot can monitor the fan speed in real time through a speed measurement sensor. When the controller adjusts the fan to the highest speed, the wall-climbing robot is considered to be in a dangerous adsorption state. The emergency braking device applies emergency braking to the walking motor to prevent the wall-climbing robot from failing to adsorb and improve adsorption safety. Attached Figure Description

[0076] Figure 1 A flowchart illustrating a wind pressure regulation method for a wall-climbing robot according to the present invention;

[0077] Figure 2 This is a schematic diagram showing the location of the sealing structure of the present invention;

[0078] Figure 3 This is a schematic diagram of the sealing structure of the present invention;

[0079] Figure 4 This is a schematic diagram showing the distance between the wall-climbing robot body, the load, and the center of gravity of the wall-climbing robot from the lateral overturning axis A1.

[0080] Figure 5 This is a schematic diagram showing the wall-climbing robot body, load, and the height of the robot's center of gravity from the adsorption wall surface.

[0081] Figure 6This is a schematic diagram showing the distance between the wall-climbing robot body, the load, and the center of gravity of the wall-climbing robot from the longitudinal overturning axis A4.

[0082] Figure 7 This is a schematic diagram of the forces acting on the wall-climbing robot of the present invention on the adsorption wall surface;

[0083] Figure 8 This is a force diagram of the wall-climbing robot of the present invention in its first posture;

[0084] Figure 9 This is a force diagram of the wall-climbing robot of the present invention in its second posture;

[0085] Figure 10 This is a force diagram of the wall-climbing robot of the present invention in its third posture;

[0086] Figure 11 This is a force diagram of the wall-climbing robot of the present invention in its fourth posture;

[0087] Figure 12 This is a schematic diagram of the wind pressure regulation system of a wall-climbing robot according to the present invention;

[0088] Figure 13 This is a schematic diagram showing the installation position of the thin-film pressure sensor of the present invention;

[0089] Figure 14 This is a schematic diagram showing the connection between the wind pressure regulation system of the wall-climbing robot of the present invention and the wall-climbing robot body;

[0090] Figure 15 This is a schematic diagram of the wall-climbing robot structure of the present invention.

[0091] In the diagram: 1. Wall-climbing robot body; 11. Top cover; 12. Sealing structure; 121. Left track; 122. Right track; 123. Upper roller; 124. Lower roller; 125. Negative pressure chamber; 2. Load; 3. Operable touch screen; 4. Wall-climbing robot's wind pressure regulation system; 41. Negative pressure measuring sensor; 42. Controller; 43. Rotation speed measuring sensor; 44. Adjustable speed fan; 45. Angle measuring sensor; 46. Pressure measuring sensor; 461. Data acquisition device; 462. Thin-film pressure sensor; 463. Track pressure plate. Detailed Implementation

[0092] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0093] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0094] Example 1

[0095] To address the problems of non-adjustable speed, high energy consumption, short lifespan, and inability to identify dangerous adsorption states in existing wall-climbing robot technologies, this embodiment provides a method for regulating the air pressure of a wall-climbing robot, as follows: Figure 1 As shown, this method can flexibly adjust the adsorption parameters according to the load and adsorption wall conditions of the wall-climbing robot, achieving applicability to adsorption walls of all materials and load conditions. Furthermore, it can control the fan speed in real time based on the wind pressure value, orientation, and attitude information of the current negative pressure chamber of the wall-climbing robot. By monitoring the fan speed, it can identify dangerous adsorption states in advance, avoiding adsorption failure. While ensuring safety, it can also reduce noise and improve human-machine friendliness.

[0096] In terms of the adsorption method, the wind pressure adjustment method for a wall-climbing robot in this embodiment is applied to a vacuum negative pressure adsorption wall-climbing robot, such as... Figure 2 As shown, a typical wall-climbing robot includes a robot body and a load mounted on the robot body, and the robot body is equipped with a sealing structure 12 for achieving vacuum negative pressure adsorption. Figure 3 As shown, the sealing structure 12 is typically composed of a left track 121, a right track 122, an upper roller 123, a lower roller 124, a base plate, and an upper cover. The components are squeezed and sealed against each other to form a negative pressure chamber 125.

[0097] It should be noted that this embodiment mainly provides a method for adjusting the air pressure of a wall-climbing robot for a vacuum negative pressure adsorption type wall-climbing robot. The components mentioned above are the basic components of the vacuum negative pressure adsorption type wall-climbing robot. In other embodiments, other required components may be added, but this embodiment does not limit them.

[0098] Specifically, the wind pressure regulation method for a wall-climbing robot in this embodiment includes the following steps:

[0099] Step 1: Collect the current wind pressure value of the negative pressure chamber in the wall-climbing robot and the attitude angle of the wall-climbing robot on the adsorption wall surface, and at the same time obtain the pressure value of the adsorption wall surface on the wall-climbing robot.

[0100] The wind pressure value is also understood as the pressure value. The wind pressure value in the negative pressure chamber can be measured using sensors, such as negative pressure sensors, micro-pressure sensors, and other negative pressure measurement sensors. In addition to the robot's posture angle, this embodiment also needs to obtain the tilt angle of the adsorption wall surface. This tilt angle can be manually input at the start of use or measured by sensors. To improve flexibility and accuracy, this embodiment uses sensors to measure the tilt angle of the adsorption wall surface.

[0101] The tilt angle of the adsorption wall and the attitude angle of the wall-climbing robot on the adsorption wall can be measured by two independent sensors or by the same sensor. The attitude angle of the wall-climbing robot on the adsorption wall includes the pitch angle θ (rotation around the Y-axis) and the roll angle Φ (rotation around the X-axis), which can be measured using angle measurement sensors such as magnetic sensors, high-speed cameras, gyroscopes, tilt sensors, and IMU attitude sensors.

[0102] The pressure value of the adsorption wall on the wall-climbing robot can be obtained by a pressure measurement sensor. In order to improve the reliability of sensor installation and measurement, this embodiment arranges the pressure measurement sensor in different areas, that is, according to the left track 121, the right track 122, the upper roller 123 and the lower roller 124, the sensor is installed in the contact surface (e.g., pressure plate) between the main structure of the wall-climbing robot and the track timing belt and the roller timing belt.

[0103] In each region, there can be one or more pressure measuring sensors. When there is only one pressure sensor, it can be a point sensor, a line sensor, or a surface sensor. That is, the focus of this embodiment is to obtain the pressure value, and there are no strict limitations on the number or shape of the pressure measuring sensors.

[0104] To improve the accuracy of pressure value acquisition, this embodiment provides a thin-film pressure measurement system as a pressure measurement sensor. The thin-film pressure measurement system includes thin-film pressure sensors installed in various areas and data acquisition devices for acquiring the measured values ​​of the thin-film pressure sensors. Multiple thin-film pressure sensors are installed in each area.

[0105] Step 2: Calculate the center of gravity parameters of the wall-climbing robot, and determine the coefficient of friction between the wall-climbing robot and the wall based on the material of the wall.

[0106] Since the weight of the wall-climbing robot mainly comes from the robot body and its load, this embodiment primarily considers the weight and center of gravity position of the robot body and its load when calculating the robot's center of gravity parameters. For example... Figure 4-6As shown, a rectangle (i.e., the rectangle with length L and width B in the figure) is defined by the maximum contact surface between the left track, right track, upper roller, and lower roller and the adsorption wall. The sides of this rectangle located on the left and right tracks are used as the lateral overturning axes (denoted as the side of the rectangle located on the left track as the lateral overturning axis A1, and the side of the rectangle located on the right track as the lateral overturning axis A2). The sides of this rectangle located on the upper roller and lower roller are used as the longitudinal overturning axes (denoted as the side of the rectangle located on the upper roller as the longitudinal overturning axis A3, and the side of the rectangle located on the lower roller as the longitudinal overturning axis A4).

[0107] Obtain the weight G1 and center of gravity (b1, l1, H1) of the wall-climbing robot body, and the weight G2 and center of gravity (b2, l2, H2) of the load 2. Calculate the weight G and center of gravity (b, l, H) of the wall-climbing robot as follows:

[0108] Gb = G1b1 + G2b2

[0109] Gl=G1l1+G2l2

[0110] GH = G1H1 + G2H2

[0111] G = G1 + G2

[0112]

[0113]

[0114]

[0115] In the formula, b1 is the distance between the center of gravity of the wall-climbing robot and the lateral overturning axis A1, l1 is the distance between the center of gravity of the wall-climbing robot and the longitudinal overturning axis A4, H1 is the height of the center of gravity of the wall-climbing robot from the adsorption wall surface, b2 is the distance between the center of gravity of the load and the lateral overturning axis A1, l2 is the distance between the center of gravity of the load and the longitudinal overturning axis A4, H2 is the height of the center of gravity of the load and the adsorption wall surface, b is the distance between the center of gravity of the wall-climbing robot and the lateral overturning axis A1, l is the distance between the center of gravity of the wall-climbing robot and the longitudinal overturning axis A4, and H is the height of the center of gravity of the wall-climbing robot from the adsorption wall surface.

[0116] To enable the method of this embodiment to be flexibly applied to adsorption walls of various materials, this embodiment also determines the coefficient of friction between the wall-climbing robot and the adsorption wall based on the material of the adsorption wall. The material of the adsorption wall can be measured and identified by sensors, or it can be determined manually, and then the corresponding coefficient of friction is determined based on a preset relationship between the material and the coefficient of friction.

[0117] In this embodiment, adsorption parameters that are difficult to obtain (such as the material type and safety factor of the adsorption wall) and parameters that do not change during the same task (the weight and center of gravity of the climbing robot itself, the weight and center of gravity of the load) are obtained directly through manual input. This manual input can be done through loading from a host computer or through an external control panel; this embodiment does not impose any restrictions.

[0118] Step 3: Determine the current posture of the wall-climbing robot from the posture angle, and calculate the total support force of the adsorption wall on the wall-climbing robot and the overturning torque of the total support force under the current posture based on the pressure value.

[0119] Since the lateral overturning axis and longitudinal overturning axis to be calculated on the wall-climbing robot will change under different postures, it is necessary to first determine the current posture of the wall-climbing robot, and then determine the lateral overturning axis and longitudinal overturning axis to be calculated under the current posture.

[0120] When the attitude angle β is 0°≤β<90°, the wall-climbing robot is determined to be in the first attitude, and the lateral overturning axis to be calculated in the first attitude is A1, and the longitudinal overturning axis to be calculated is A4.

[0121] When the attitude angle β is 90°≤β<180°, the wall-climbing robot is determined to be in the second attitude, and the lateral overturning axis to be calculated in the first attitude is A1, and the longitudinal overturning axis to be calculated is A3.

[0122] When the attitude angle β is 180°≤β<270°, the wall-climbing robot is determined to be in the third attitude, and the lateral overturning axis to be calculated in the first attitude is A2, and the longitudinal overturning axis to be calculated is A3.

[0123] When the attitude angle β is 270°≤β<360°, the wall-climbing robot is determined to be in the fourth attitude, and the lateral overturning axis to be calculated in the first attitude is A2, and the longitudinal overturning axis to be calculated is A4.

[0124] The total support force exerted by the adhesive wall on the wall-climbing robot and the overturning moment of the total support force are calculated as follows:

[0125] The total support force exerted by the suction wall on the left and right tracks, the upper roller, and the lower roller is taken as the sum of the pressure values ​​exerted by the suction wall on the wall-climbing robot. Following the principle of installing pressure measurement sensors in different zones, this embodiment uses the total pressure value of each zone as the total support force. In other embodiments, if the zones are changed, the pressure values ​​of each zone will change, but the total support force will remain constant.

[0126] The pressure values ​​of the adsorption wall on the left track, right track, upper roller, and lower roller are calculated separately, and the product of the pressure values ​​and the distance from the pressure values ​​to the lateral overturning axis to be calculated is used as the regional lateral overturning moment. The regional lateral overturning moments of the left track, right track, upper roller, and lower roller are summed to obtain the total support force and the total lateral overturning moment of the lateral overturning axis to be calculated.

[0127] The pressure values ​​of the adsorption wall on the left track, right track, upper roller, and lower roller are calculated separately, and the product of the pressure values ​​and the distance from the pressure values ​​to the longitudinal overturning axis to be calculated is used as the regional longitudinal overturning moment. The regional longitudinal overturning moments of the left track, right track, upper roller, and lower roller are summed to obtain the total support force and the total longitudinal overturning moment of the longitudinal overturning axis to be calculated.

[0128] This embodiment also uses a partitioning approach when calculating the total overturning moment in the lateral or longitudinal direction. Specifically, it first calculates the regional lateral or longitudinal overturning moment for each region, and then takes the sum as the total lateral or longitudinal overturning moment. According to the moment calculation rules, when calculating the regional lateral or longitudinal overturning moment, the force in each region is multiplied by the corresponding distance value.

[0129] For ease of understanding, taking the thin-film pressure measurement system provided in this embodiment as an example as a pressure measurement sensor, the specific calculation process for the total support force and the total overturning moment is explained as follows:

[0130] ① The support force on the left track, the overturning moment of the support force on the lateral overturning axis to be calculated, and the overturning moment of the longitudinal overturning axis to be calculated are as follows:

[0131]

[0132]

[0133]

[0134] M1 represents the number of measuring points of the diaphragm pressure sensor in the area where the left track is located, and s represents the measuring point area of ​​a single diaphragm pressure sensor. This represents the pressure value measured at the m1-th measuring point. This represents the distance from the m1th measuring point to the lateral overturning axis to be calculated. This represents the distance from the m1th measuring point to the longitudinal overturning axis to be calculated, where m1 ranges from 1 to M1. F nl M represents the supporting force on the left track. nlx M represents the overturning moment on the lateral overturning axis to be calculated, where the supporting force on the left track is M. nly This represents the overturning moment of the longitudinal overturning axis to be calculated, caused by the supporting force on the left track.

[0135] ②The support force on the right track, the overturning moment of the support force on the lateral overturning axis to be calculated, and the overturning moment of the longitudinal overturning axis to be calculated are as follows:

[0136]

[0137]

[0138]

[0139] M2 indicates the number of measuring points of the diaphragm pressure sensor in the area where the right track is located. This represents the pressure value measured at the m2th measuring point. This represents the distance from the m2th measuring point to the lateral overturning axis to be calculated. This represents the distance from the m2th measuring point to the longitudinal overturning axis to be calculated, where m2 ranges from 1 to M2. F nr M represents the supporting force on the right track. nrx M represents the overturning moment on the lateral overturning axis to be calculated, where the supporting force on the right track is M. nry This represents the overturning moment of the longitudinal overturning axis to be calculated, which is caused by the supporting force on the right track.

[0140] ③ The supporting force on the upper roller, the overturning moment of the supporting force on the transverse overturning axis to be calculated, and the overturning moment of the longitudinal overturning axis to be calculated are as follows:

[0141]

[0142]

[0143]

[0144] M3 indicates the number of membrane pressure sensor measurement points in the area where the upper roller is located. This represents the pressure value measured at the m3th measuring point. This represents the distance from the m3rd measuring point to the lateral overturning axis to be calculated. This represents the distance from the m3th measuring point to the longitudinal overturning axis to be calculated, where m3 ranges from 1 to M3. F nu M represents the supporting force on the upper roller. nux M represents the overturning moment on the lateral overturning axis to be calculated, which is the supporting force on the upper roller. nuy This indicates the overturning moment of the longitudinal overturning axis to be calculated, which is caused by the supporting force on the upper roller.

[0145] ④ The supporting force on the lower roller, the overturning moment of the supporting force on the transverse overturning axis to be calculated, and the overturning moment of the longitudinal overturning axis to be calculated are calculated as follows:

[0146]

[0147]

[0148]

[0149] M4 indicates the number of membrane pressure sensor measurement points in the area where the lower roller is located. This represents the pressure value measured at the m4th measuring point. This represents the distance from the m4th measuring point to the lateral overturning axis to be calculated. This represents the distance from the m4th measuring point to the longitudinal overturning axis to be calculated, where m4 ranges from 1 to M4. F nd M represents the supporting force on the lower roller. ndx M represents the overturning moment on the lateral overturning axis to be calculated, which is the supporting force on the lower roller. ndy This indicates the overturning moment of the longitudinal overturning axis to be calculated, which is caused by the supporting force on the lower roller.

[0150] ⑤ Obtain the total support force. The total support force is the total lateral overturning moment of the lateral overturning axis to be calculated, and the total support force is the total longitudinal overturning moment of the longitudinal overturning axis to be calculated, as follows:

[0151] F nl +F nr +F nu +F nd =F N

[0152] M nlx +M nrx +M nux +M ndx =M x

[0153] M nly +M nrv +M nuv +M ndv =M y

[0154] In the formula, F N For total support, M x M is the total lateral overturning moment along the lateral overturning axis to be calculated as the total supporting force. y The total longitudinal overturning moment of the longitudinal overturning axis is calculated as the total supporting force.

[0155] It should be noted that the working principle of the thin-film pressure sensor in this embodiment is as follows: it contains a gridded semiconductor substrate. When subjected to pressure, this substrate undergoes a micro-displacement proportional to the pressure, causing a change in the material's resistance. The data acquisition device measures the resistance data of each sensing element through rapid electronic scanning. The acquired resistance data of the thin-film pressure sensor is then converted into pressure data at each measuring point of the thin-film pressure sensor using distributed pressure calculation software (such as Prime95, Folding@Home, BOINC). Therefore, in this embodiment, the pressure is calculated by multiplying pressure and area. In other embodiments, if the sensor can directly obtain pressure data, the product of pressure and area can be replaced with pressure in the above calculation formula.

[0156] Step 4: Based on the wall-climbing robot's center of gravity parameters, friction coefficient, total support force, and overturning moment of the total support force, obtain the safe wind pressure value required for the wall-climbing robot in its current posture.

[0157] To adjust the speed of the adjustable-speed fan in real time and control the air pressure in the negative pressure chamber, this embodiment calculates the safe air pressure value in real time based on the adsorption parameters, including:

[0158] Step 4.1: Based on the center of gravity parameters and friction coefficient of the wall-climbing robot, establish an anti-slip model of the wall-climbing robot on the adsorption wall surface, and obtain the minimum adsorption pressure for anti-slip of the wall-climbing robot from the anti-slip model.

[0159] like Figure 7 As shown, the anti-slip model is established as follows:

[0160] μ(F′ P1 -Gsinα)≥Gcosα

[0161] In the formula, F′ P1 Let G be the anti-slip adsorption pressure of the wall-climbing robot on the adsorption wall surface, G be the weight value in the center of gravity parameter of the wall-climbing robot, μ be the coefficient of friction, and α be the tilt angle of the adsorption wall surface.

[0162] The minimum adsorption pressure for anti-slip is then obtained as follows:

[0163]

[0164] In the formula, F P1 Minimum adsorption pressure to prevent slippage.

[0165] Step 4.2: Based on the center of gravity parameters and the overturning moment of the total support force, establish the moment balance formula for the lateral overturning axis to be calculated under the current attitude, and obtain the minimum adsorption pressure to prevent lateral overturning according to the moment balance formula.

[0166] like Figure 8 As shown, in the first posture, the torque balance formula for the lateral overturning axis to be calculated is established as follows, where O in the figure is the geometric center of the wall-climbing robot:

[0167]

[0168] Then calculate the minimum adsorption pressure F to prevent lateral overturning. Px for:

[0169]

[0170] like Figure 9 As shown, under the second attitude, the moment balance formula for the lateral overturning axis to be calculated is established as follows:

[0171]

[0172] Then calculate the minimum adsorption pressure F to prevent lateral overturning. Px for:

[0173]

[0174] like Figure 10 As shown, under the third attitude, the moment balance formula for the lateral overturning axis to be calculated is established as follows:

[0175]

[0176] Then calculate the minimum adsorption pressure F to prevent lateral overturning. Px for:

[0177]

[0178] like Figure 11 As shown, under the fourth attitude, the moment balance formula for the lateral overturning axis to be calculated is established as follows:

[0179]

[0180] Then calculate the minimum adsorption pressure F to prevent lateral overturning. Px for:

[0181]

[0182] In the formula, B is the ground contact width of the track and roller.

[0183] Step 4.3: Based on the center of gravity parameters and the overturning moment of the total support force, establish the moment balance formula for the longitudinal overturning axis to be calculated under the current attitude, and obtain the minimum adsorption pressure to prevent longitudinal overturning according to the moment balance formula.

[0184] like Figure 8As shown, under the first attitude, the moment balance formula for the longitudinal overturning axis to be calculated is established as follows:

[0185]

[0186] Then calculate the minimum adsorption pressure F to prevent longitudinal overturning. Py for:

[0187]

[0188] like Figure 9 As shown, under the second attitude, the moment balance formula for the longitudinal overturning axis to be calculated is established as follows:

[0189]

[0190] Then calculate the minimum adsorption pressure F to prevent longitudinal overturning. Py for:

[0191]

[0192] like Figure 10 As shown, under the third attitude, the moment balance formula for the longitudinal overturning axis to be calculated is established as follows:

[0193]

[0194] Then calculate the minimum adsorption pressure F to prevent longitudinal overturning. Py for:

[0195]

[0196] like Figure 11 As shown, under the fourth attitude, the moment balance formula for the longitudinal overturning axis to be calculated is established as follows:

[0197]

[0198] Then calculate the minimum adsorption pressure F to prevent longitudinal overturning. Py for:

[0199]

[0200] In the formula, L is the track ground contact length.

[0201] Step 4.4: Based on the minimum adsorption pressure for anti-slip, the minimum adsorption pressure for anti-lateral overturning, and the minimum adsorption pressure for anti-longitudinal overturning, obtain the safe adsorption pressure of the wall-climbing robot. Take the ratio of the safe adsorption pressure to the area of ​​the negative pressure chamber as the safe wind pressure value required by the wall-climbing robot in the current posture.

[0202] To ensure sufficient adhesion for the wall-climbing robot, this embodiment uses the largest of the minimum adhesion pressures for preventing slippage, lateral tipping, and longitudinal tipping as the pressure to be treated. The product of this pressure and a predefined safety factor is then used as the safe adhesion pressure. The formula is as follows:

[0203] P = F P / S=n*max(F P1 F Px F Py ) / S

[0204] In the formula, P is the safe wind pressure value, and F P For safe adsorption pressure, S is the area of ​​the negative pressure chamber, which is... Figure 3 The area shown in the dashed box is denoted by n, which is the safety factor. The safety factor is an empirical value obtained through experiments and is mainly related to the flatness of the adsorption wall and the presence or absence of cracks.

[0205] Step 5: Adjust the speed of the adjustable fan according to the current wind pressure value and the safe wind pressure value, and take the wall-climbing robot protection mechanism according to the adjusted speed of the adjustable fan.

[0206] This embodiment adjusts the speed of the adjustable fan based on a comparison between the safe wind pressure value and the current wind pressure value, aiming to ensure the wall-climbing robot has sufficient suction force and prevent it from detaching. One adjustment method provided in this embodiment is as follows:

[0207] If the current wind pressure value and the safe wind pressure value are equal, the speed of the adjustable fan will remain unchanged.

[0208] Alternatively, if the current wind pressure value is greater than the safe wind pressure value, reduce the speed of the adjustable fan.

[0209] Alternatively, if the current wind pressure is lower than the safe wind pressure, increase the speed of the adjustable fan.

[0210] In this embodiment, the speed of the adjustable-speed fan is adjusted by directly comparing the current wind pressure value and the safe wind pressure value, so as to achieve the purpose of faster adjustment. In other embodiments, the adjustment strategy of this embodiment can be modified, for example, comparing a multiple or fraction of the current wind pressure value with the safe wind pressure value, or comparing a multiple or fraction of the safe wind pressure value with the current wind pressure value, etc.

[0211] In order to monitor the adhesion status of the wall-climbing robot in real time and to implement protective measures for the robot in a timely manner, this embodiment provides a protection mechanism with the following logic:

[0212] The ratio of the adjusted speed of the adjustable speed fan to its upper speed limit is taken as the speed ratio. The speed of the adjustable speed fan can be obtained using speed measurement sensors such as accelerometers or displacement sensors.

[0213] If the rotational speed ratio is less than or equal to the first threshold, the wall-climbing robot is in normal working condition and does not perform protective measures. Of course, information about the normal working condition can also be displayed as needed.

[0214] Alternatively, if the rotational speed ratio is greater than a first threshold and less than a second threshold, the wall-climbing robot is in a risky operating state, and a warning message is generated. This embodiment generates a warning message when the wall-climbing robot is in a risky operating state, so as to promptly provide feedback to the operator to take appropriate measures and achieve risk warning. It should be noted that the warning message in this embodiment includes information output using various methods that can serve a warning purpose, such as color, patterns, sound, and text.

[0215] Alternatively, if the rotation speed ratio is equal to or greater than the second threshold, the wall-climbing robot is in a dangerous working state and performs emergency braking measures, wherein the second threshold is greater than the first threshold, and the second threshold is less than or equal to 1, and the first threshold is greater than 0.5.

[0216] In this embodiment, the emergency braking measure is to apply emergency braking to the travel motor via an emergency braking device. In other embodiments, the travel motor can be directly stopped. The first threshold can be 0.55, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, etc., and the second threshold can be 0.8, 0.85, 0.9, 0.95, 1, etc., and can be set according to actual needs.

[0217] Example 2

[0218] like Figure 12-14 As shown, this embodiment provides a wind pressure regulation system 4 for a wall-climbing robot, including a negative pressure measuring sensor 41, a rotation speed measuring sensor 43, an angle measuring sensor 45, a pressure measuring sensor 46, an adjustable speed fan 44, and a controller 42.

[0219] Among the components, the adjustable speed fan 44 is installed in the negative pressure chamber 125, and the bottom plate of the negative pressure chamber 125 is provided with an exhaust port. The adjustable speed fan 44 exhausts the air in the negative pressure chamber 125 through the exhaust port, thereby adjusting the air pressure value in the negative pressure chamber 125.

[0220] It is easy to understand that although the left track 121, right track 122, upper roller 123, lower roller 124, bottom plate and top cover are squeezed together to form a sealed structure 12 containing a negative pressure chamber 125, the structures are not completely sealed. Therefore, air enters the negative pressure chamber 125 through the gaps between the structures, and then the variable speed fan 44 enables the sealed structure 12 to maintain a relatively stable air pressure value.

[0221] Negative pressure sensor 41 is used to measure the current wind pressure value of the negative pressure chamber 125 in the wall-climbing robot; rotation speed sensor 43 is used to measure the rotation speed of the adjustable speed fan 44; angle sensor 45 is used to measure the tilt angle of the adsorption wall and the posture angle of the wall-climbing robot on the adsorption wall; pressure sensor 46 is used to obtain the pressure value of the adsorption wall on the wall-climbing robot; controller 42 is used to execute the steps of a wind pressure adjustment method for a wall-climbing robot. For details regarding the sensors and the wind pressure adjustment method for a wall-climbing robot operated by controller 42, please refer to the limitations in Example 1, which will not be repeated in this example.

[0222] For aesthetic and safety reasons, the negative pressure measuring sensor 41, the speed measuring sensor 43, the angle measuring sensor 45, and the controller 42 are installed in a cavity located in the upper cover 11. The measuring head of the negative pressure measuring sensor 41 extends through the upper cover 11 into the negative pressure cavity 125. The communication of the speed measuring sensor 43 first passes through the upper cover 11 and connects to the adjustable speed fan 44 in the negative pressure cavity 125. The controller 42 is connected to the negative pressure measuring sensor 41, the speed measuring sensor 43, the angle measuring sensor 45, and the adjustable speed fan 44 for operation control. The control principle can be set according to the technical requirements of each component, and will not be described in detail in this embodiment.

[0223] In signal acquisition, the negative pressure sensor 41 and the angle sensor 45 acquire parameters that change constantly during the climbing robot's movement and convert them into electrical signals (current or voltage signals) to be fed back to the controller 42. When the sensitive element inside the negative pressure sensor 41 is subjected to pressure, its resistance changes. This change in resistance is amplified and processed by the circuit and converted into a standard electrical signal output. When the hot wire of the sensitive element inside the angle sensor 45 is subjected to acceleration due to tilting, its resistance changes, and it outputs different electrical signals to the controller 42. The speed sensor 43 measures the rotational speed of the adjustable-speed fan 44 and outputs a measurement electrical signal to the controller.

[0224] The pressure measurement sensor 46 consists of a data acquisition device 461 installed in a cavity of the upper cover 11 and thin-film pressure sensors 462 installed in various areas and connected to the data acquisition device 461. The thin-film pressure sensors 462 are arranged between the track pressure plate 463 and the track timing belt, and between the roller pressure plate and the roller timing belt, and can record the changes in the support force on the track and roller in real time. The data acquisition device 461 acquires the resistance value corresponding to the thin-film pressure sensor at the measuring point when the track, roller, and wall contact surface are subjected to pressure, and feeds it back to the controller 42.

[0225] The wind pressure regulation system of the wall-climbing robot in this embodiment can flexibly adjust the adsorption parameters according to the load and adsorption surface of the wall-climbing robot, so as to achieve applicability to all wall materials and load conditions. It can also control the fan speed in real time according to the pressure value, orientation and attitude information of the negative pressure chamber of the wall-climbing robot. By monitoring the fan speed, dangerous adsorption states can be identified in advance to avoid adsorption failure. While ensuring safety, it can also reduce noise and improve human-machine friendliness.

[0226] Example 3

[0227] like Figure 15 As shown, this embodiment provides a wall-climbing robot, which includes a wall-climbing robot body 1, a load 2, and a wall-climbing robot wind pressure regulation system 4.

[0228] The wind pressure regulation system 4 of the wall-climbing robot is as described in Embodiment 2, and will not be repeated here. Furthermore, the wall-climbing robot body 1 in this embodiment is the body of a vacuum negative pressure adsorption type wall-climbing robot, which has a basic sealing structure 12 for achieving vacuum negative pressure adsorption. Typically, the sealing structure 12 consists of a left track 121, a right track 122, an upper roller 123, a lower roller 124, a base plate, and a top cover. The components press and seal against each other to form a negative pressure chamber 125.

[0229] It is easy to understand that the wall-climbing robot body 1 in this embodiment also includes other components for enabling the wall-climbing robot to work normally or improve its performance. The focus of this embodiment is on having a sealing structure 12, and there are no strict restrictions on components other than the sealing structure 12.

[0230] For example, the wall-climbing robot body 1 includes a drive motor for driving the movement of the left track 121, right track 122, upper roller 123, and lower roller 124. The left track 121, right track 122, and upper roller 123 are coaxially connected to the upper rotating shaft, and the left track 121, right track 122, and lower roller 124 are coaxially connected to the lower rotating shaft. The drive motor drives the upper and / or lower rotating shafts to rotate via a chain, thereby realizing the movement of the wall-climbing robot. For example, various detection elements, such as infrared sensors, radar, and cameras, can also be installed on the wall-climbing robot body to assist in the movement of the wall-climbing robot or to acquire environmental information.

[0231] In another embodiment, the wall-climbing robot also includes an operable touchscreen, such as an embedded touchscreen. For parameters that are difficult to obtain (type of wall material and safety factor) and parameters that do not change during the same task (weight and center of gravity of the wall-climbing robot itself, weight and center of gravity of the load), the user can input them through the embedded touchscreen, which will be converted into current or voltage signals and fed back to the controller. The controller can also make real-time adjustments before each task based on different wall conditions and different load conditions.

[0232] With the provision of an operable touchscreen, users can directly control the wall-climbing robot. Communication between the operable touchscreen and the wall-climbing robot can be achieved through either wireless or wired communication, whichever is appropriate.

[0233] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0234] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A method for regulating wind pressure in a wall-climbing robot, applied to a vacuum negative pressure adsorption wall-climbing robot, wherein the wall-climbing robot has a negative pressure chamber, characterized in that... The negative pressure chamber is equipped with an adjustable speed fan, and the air pressure adjustment method of the wall-climbing robot includes: Collect the current wind pressure value of the negative pressure chamber in the wall-climbing robot and the attitude angle of the wall-climbing robot on the adsorption wall surface, and at the same time obtain the pressure value of the adsorption wall surface on the wall-climbing robot; Calculate the center of gravity parameters of the wall-climbing robot, and determine the coefficient of friction between the wall-climbing robot and the wall based on the material of the wall surface. The current posture of the wall-climbing robot is determined by the posture angle, and the total support force of the adsorption wall surface on the wall-climbing robot and the overturning moment of the total support force are calculated based on the pressure value. The required safe wind pressure value for the wall-climbing robot in its current posture is obtained based on the robot's center of gravity parameters, friction coefficient, total support force, and overturning moment of the total support force. The speed of the adjustable-speed fan is adjusted according to the current wind pressure value and the safe wind pressure value, and a wall-climbing robot protection mechanism is adopted according to the adjusted speed of the adjustable-speed fan. The step of obtaining the required safe wind pressure value for the wall-climbing robot in its current posture based on the robot's center of gravity parameters, friction coefficient, total support force, and overturning moment of the total support force includes: Based on the center of gravity parameters and friction coefficient of the wall-climbing robot, an anti-slip model of the robot on the adsorption wall is established, and the minimum adsorption pressure for anti-slip of the wall-climbing robot is obtained from the anti-slip model; the anti-slip model is as follows: In the formula, To prevent slippage and adsorption pressure on the wall-climbing robot's adhesive surface. This refers to the weight value in the center of gravity parameters of the wall-climbing robot. The coefficient of friction, The angle of inclination of the adsorption wall surface; The minimum adsorption pressure for anti-slip is then obtained as follows: In the formula, Minimum adsorption pressure to prevent slippage; Based on the center of gravity parameters and the overturning moment of the total support force, a moment balance formula for the lateral overturning axis to be calculated under the current attitude is established, and the minimum adsorption pressure to prevent lateral overturning is obtained according to the moment balance formula. Based on the center of gravity parameters and the overturning moment of the total support force, a moment balance formula for the longitudinal overturning axis to be calculated under the current attitude is established, and the minimum adsorption pressure to prevent longitudinal overturning is obtained according to the moment balance formula. The safe adsorption pressure of the wall-climbing robot is obtained based on the minimum adsorption pressure for preventing slippage, the minimum adsorption pressure for preventing lateral overturning, and the minimum adsorption pressure for preventing longitudinal overturning. The ratio of the safe adsorption pressure to the area of ​​the negative pressure chamber is taken as the safe wind pressure value required by the wall-climbing robot in the current posture.

2. The wind pressure regulation method for the wall-climbing robot as described in claim 1, characterized in that, The wall-climbing robot includes a wall-climbing robot body and a load disposed on the wall-climbing robot body. The calculation of the wall-climbing robot's center of gravity parameters includes: Obtain the weight and center of gravity of the wall-climbing robot body, as well as the weight and center of gravity of the load, and calculate the weight and center of gravity of the wall-climbing robot as the center of gravity parameter of the wall-climbing robot.

3. The wind pressure regulation method for the wall-climbing robot as described in claim 1, characterized in that, Determining the current posture of the wall-climbing robot from the posture angle includes: When attitude angle for At that time, determine that the wall-climbing robot is in its first posture; When attitude angle for At that time, the wall-climbing robot was determined to be in the second posture; When attitude angle for At that time, the wall-climbing robot was determined to be in the third posture; When attitude angle for At that time, the wall-climbing robot was determined to be in its fourth posture.

4. The wind pressure regulation method for the wall-climbing robot as described in claim 1, characterized in that, The calculation of the total support force of the adsorption wall on the wall-climbing robot and the overturning moment of the total support force under the current posture based on the pressure value includes: The wall-climbing robot includes a left track, a right track, an upper roller, and a lower roller for forming a negative pressure chamber. A rectangle is defined by the maximum contact surface between the left track, right track, upper roller, and lower roller and the adsorption wall. The sides of this rectangle located on the left and right tracks are used as the lateral overturning axes, and the sides of this rectangle located on the upper and lower rollers are used as the longitudinal overturning axes. Based on the current posture of the wall-climbing robot, one of the two lateral overturning axes is determined as the lateral overturning axis to be calculated, and one of the two longitudinal overturning axes is determined as the longitudinal overturning axis to be calculated. The sum of the pressure values ​​of the suction wall on the left track, right track, upper roller and lower roller is taken as the total support force of the suction wall on the wall-climbing robot; The pressure values ​​of the adsorption wall on the left track, right track, upper roller and lower roller are calculated separately, and the product of the pressure values ​​and the distance from the pressure values ​​to the lateral overturning axis to be calculated is used as the regional lateral overturning moment. The regional lateral overturning moments of the left track, right track, upper roller and lower roller are summed to obtain the total support force and the total lateral overturning moment of the lateral overturning axis to be calculated. The pressure values ​​of the adsorption wall on the left track, right track, upper roller, and lower roller are calculated separately, and the product of the pressure values ​​and the distance from the pressure values ​​to the longitudinal overturning axis to be calculated is used as the regional longitudinal overturning moment. The regional longitudinal overturning moments of the left track, right track, upper roller, and lower roller are summed to obtain the total support force and the total longitudinal overturning moment of the longitudinal overturning axis to be calculated.

5. The wind pressure regulation method for the wall-climbing robot as described in claim 1, characterized in that, The method of obtaining the safe adsorption pressure of the wall-climbing robot based on the minimum adsorption pressure for preventing slippage, the minimum adsorption pressure for preventing lateral tipping, and the minimum adsorption pressure for preventing longitudinal tipping includes: The maximum value among the minimum adsorption pressure for preventing slippage, the minimum adsorption pressure for preventing lateral overturning, and the minimum adsorption pressure for preventing longitudinal overturning is taken as the pressure to be treated. The product of the pressure to be treated and the predefined safety factor is taken as the safe adsorption pressure.

6. The wind pressure regulation method for the wall-climbing robot as described in claim 1, characterized in that, The step of adjusting the speed of the adjustable fan based on the current wind pressure value and the safe wind pressure value includes: If the current wind pressure value and the safe wind pressure value are equal, the speed of the adjustable fan remains unchanged; Alternatively, if the current wind pressure value is greater than the safe wind pressure value, then reduce the speed of the adjustable fan; Alternatively, if the current wind pressure value is less than the safe wind pressure value, the rotational speed of the adjustable fan is increased.

7. The wind pressure regulation method for the wall-climbing robot as described in claim 1, characterized in that, The wall-climbing robot protection mechanism based on the adjusted speed of the adjustable-speed fan includes: The ratio of the adjusted speed of the adjustable speed fan to the upper limit of the speed of the adjustable speed fan is taken as the speed ratio. If the rotation speed ratio is less than or equal to the first threshold, the wall-climbing robot is in normal working condition and does not perform protective measures. Alternatively, if the rotation speed ratio is greater than the first threshold and less than the second threshold, the wall-climbing robot is in a risky working state and generates a warning message. Alternatively, if the rotation speed ratio is equal to or greater than the second threshold, the wall-climbing robot is in a dangerous working state and performs emergency braking measures, wherein the second threshold is greater than the first threshold and the second threshold is less than or equal to 1, and the first threshold is greater than 0.

5.

8. A wind pressure regulation system for a wall-climbing robot, characterized in that, The wind pressure regulation system of the wall-climbing robot includes a negative pressure measurement sensor, a rotation speed measurement sensor, an angle measurement sensor, a pressure measurement sensor, an adjustable speed fan, and a controller; The negative pressure measurement sensor is used to measure the current wind pressure value of the negative pressure chamber in the wall-climbing robot; The speed measurement sensor is used to measure the speed of the adjustable speed fan; The angle measurement sensor is used to measure the tilt angle of the adsorption wall and the attitude angle of the wall-climbing robot on the adsorption wall. The pressure measurement sensor is used to obtain the pressure value of the adsorption wall surface on the wall-climbing robot; The controller is used to perform the steps of the wind pressure regulation method for a wall-climbing robot according to any one of claims 1-7.

9. A wall-climbing robot, characterized in that, The wall-climbing robot includes a wall-climbing robot body, a load, and a wind pressure regulation system for a wall-climbing robot as described in claim 8.

10. The wall-climbing robot as described in claim 9, characterized in that, The wall-climbing robot also includes an operable touchscreen.

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