Design method of magnetic attraction system and mobile platform

Abstract

The invention discloses a design method of a magnetic attraction system and a mobile platform, and the design method of the magnetic attraction system comprises the steps: in the process of transferring the mobile platform from a vertical wall surface to an inclined wall surface, obtaining an inequality group between each magnetic attraction module and the gravity of a whole machine according to the relation between force balance and moment balance under the condition that the mobile platform does not overturn; when each magnetic suction module is designed, judging whether the magnetic suction force provided by each magnetic suction module can meet the requirements of the inequality group; if the requirements are met, the design of each magnetic suction module is completed; and if the requirements are not met, adjusting the structure or parameters of at least one of the three magnetic suction modules. The magnetic attraction system designed by adopting the design method provided by the invention can provide enough attraction force, so that the mobile platform is not easy to fall off in the process of transferring the vertical wall surface to the inclined wall surface above the vertical wall surface.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile platforms, and in particular to a design method of a magnetic attraction system and a mobile platform. Background Art

[0002] The magnetic mobile platform includes a body and a track mechanism arranged on both sides of the fuselage. Magnetic blocks are arranged on the outer side surfaces of each link of the track mechanism, so that the magnetic mobile platform can be adsorbed on the iron wall surface, such as the inner wall of the cabin of a ship, through the magnetic blocks; in the related art, a plurality of auxiliary magnetic suction components for auxiliary adsorption are also arranged on the front and rear sides of the bottom of the fuselage to increase the magnetic attraction force to the wall surface, thereby reducing the risk of falling; however, due to the complexity of the working environment, the magnetic mobile platform often needs to be transferred from the vertical wall surface to the inclined wall surface above, and in the process of transferring the wall surface, part of the track surface needs to be detached from the wall surface, so there is still a greater risk of falling. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a design method for a magnetic suction system, which can provide sufficient suction force so that the mobile platform is not likely to fall during the process of transferring from a vertical wall to an inclined wall above it.

[0004] The present invention also provides a mobile platform having a magnetic attraction system designed by adopting the above-mentioned design method.

[0005] According to the design method of the magnetic suction system of the first aspect of the embodiment of the present invention, the magnetic suction system is applied to a mobile platform, and the mobile platform also includes a body and a walking system; the walking system includes two track mechanisms symmetrically arranged on opposite sides of the body, each track mechanism includes multiple links, and the multiple links are connected end to end to form a ring; the magnetic suction system includes a first magnetic suction module, a second magnetic suction module and a third magnetic suction module, a plurality of first magnetic suction modules are provided, and the plurality of first magnetic suction modules are arranged one by one on the outside of each link, the second magnetic suction module and the third magnetic suction module are both arranged in an arc shape, and are respectively arranged at the front bottom and the rear bottom of the body, the center of the circle corresponding to the second magnetic suction module is collinear with the center of the circle corresponding to the semicircular part on the front side of the two track mechanisms, and the third magnetic suction module The corresponding center of the circle is collinear with the center of the circle corresponding to the semicircular part on the rear side of the two crawler mechanisms; two second magnetic modules and two third magnetic modules are each provided, and the two second magnetic modules and the two third magnetic modules are symmetrically arranged about the central axis plane of the fuselage; the weight of the entire mobile platform is set to G1, the angle between the inclined wall surface to be transferred by the mobile platform and the vertical wall surface is α, the angle between the center line of the mobile platform and the vertical wall surface is β, the friction coefficient between each wall surface and the first magnetic module is μ, the magnetic attraction force of the first magnetic module on the wall surface is Fc1, the magnetic force of the second magnetic module on the wall surface is Fe1, and the magnetic force of the third magnetic module on the wall surface is Fe2; wherein μ is greater than 0, α is greater than 0 degrees and less than 90 degrees, and β is greater than or equal to 0 degrees and less than α; Design methods include: In the process of the mobile platform being transferred from the vertical wall to the inclined wall above the vertical wall, under the condition that the mobile platform does not overturn, the inequality group between Fc1, Fe1, Fe2 and G1 is obtained according to the relationship between force balance and moment balance; When designing the first magnetic module, the second magnetic module and the third magnetic module, determine whether the magnetic attraction forces provided by the first magnetic module, the second magnetic module and the third magnetic module can meet the requirements of the inequality group; if the requirements are met, complete the design of the first magnetic module, the second magnetic module and the third magnetic module; if the requirements are not met, adjust the structure or parameters of at least one of the first magnetic module, the second magnetic module and the third magnetic module until the magnetic attraction forces provided by the first magnetic module, the second magnetic module and the third magnetic module meet the requirements of the inequality group.

[0006] The design method of the magnetic system according to the first aspect of the present invention has at least the following beneficial effects: The present invention firstly performs a mechanical analysis on the process of transferring a mobile platform from a vertical wall surface to an inclined wall surface, so as to obtain a group of inequalities between the magnetic attraction forces of the three magnetic attraction modules and the gravity, which can enable the mobile platform to maintain stable operation without overturning during the transfer process. Therefore, in the subsequent design process of each magnetic attraction module, the structure or parameters of each magnetic attraction module can be designed and adjusted according to the requirements of the inequality group, so that the magnetic attraction forces of the three magnetic attraction modules can all meet the requirements of the inequality group, so that the mobile platform of the magnetic attraction system obtained by the design method of the present invention is not easy to fall during the actual operation when transferring from the vertical wall surface to the inclined wall surface above it, which is beneficial to improve the safety of the mobile platform.

[0007] According to the design method of the magnetic system of some embodiments of the first aspect of the present invention, the contact point between the rear semicircular part of the crawler mechanism and the vertical wall is set as point A, the contact point between the front semicircular part of the crawler mechanism and the inclined wall is set as point B, the center of mass of the magnetic mobile platform is set as point C, the direction parallel to the center line of the magnetic mobile platform and inclined upward is the x-axis direction, and the direction perpendicular to the bottom planes of the two crawler mechanisms and inclined downward is the y-axis direction; Under the condition that the mobile platform does not overturn, according to the relationship between force balance and moment balance, the inequality group between Fc1, Fe1, Fe2 and G1 is obtained, including: Assuming that the vehicle does not tip over around point A, we can obtain inequality (1): (1); In inequality (I), is the distance from point C to point A in the y-axis direction, is the distance from point B to point A in the y-axis direction, is the distance from point C to point A in the x-axis direction, is the distance from point B to point A in the x-axis direction.

[0008] According to the design method of the magnetic system of some embodiments of the first aspect of the present invention, under the condition that the mobile platform does not overturn, according to the relationship between force balance and moment balance, a group of inequalities between Fc1, Fe1, Fe2 and G1 is obtained, including: Under the condition of not tipping over point B, we can obtain inequality (2): (2); In inequality (2), is the distance from point B to point C in the y-axis direction, is the distance from point B to point A in the y-axis direction, is the distance from point C to point B in the x-axis direction, is the distance from point B to point A in the x-axis direction.

[0009] According to the design method of the magnetic system of some embodiments of the first aspect of the present invention, under the condition that the mobile platform does not overturn, according to the relationship between force balance and moment balance, a group of inequalities between Fc1, Fe1, Fe2 and G1 is obtained, including: Under the condition of force balance in the horizontal and vertical directions, inequality (3) is obtained: (3).

[0010] According to the design method of the magnetic system of some embodiments of the first aspect of the present invention, under the condition that the mobile platform does not overturn, according to the relationship between force balance and moment balance, a group of inequalities between Fc1, Fe1, Fe2 and G1 is obtained, including: Under the condition of force balance in the horizontal and vertical directions, inequality (4) is obtained: (4).

[0011] According to the design method of the magnetic system of some embodiments of the first aspect of the present invention, under the condition that the magnetically attracted mobile platform does not overturn, according to the relationship between force balance and moment balance, a group of inequalities between Fc1, Fe1, Fe2 and G1 is obtained, including: Combining inequalities (1) to (4), we obtain the following inequality group (5): (5).

[0012] According to the design method of the magnetic system of some embodiments of the first aspect of the present invention, any one of the first magnetic attraction module, the second magnetic attraction module and the third magnetic attraction module includes at least one magnet; Adjusting the structure or parameters of at least one of the first magnetic module, the second magnetic module, and the third magnetic module includes: For at least one of the first magnetic attraction module, the second magnetic attraction module and the third magnetic attraction module, the magnetic pole area of ​​the magnet is increased or decreased, the air gap area is increased or decreased, the magnetic field strength of the magnet is adjusted, and the magnetization method of the magnet is changed.

[0013] According to some embodiments of the second aspect of the present invention, the mobile platform includes a magnetic attraction system, and the magnetic attraction system is designed using the magnetic attraction system design method of the above-mentioned first aspect embodiment.

[0014] The mobile platform according to some embodiments of the second aspect of the present invention has at least the following beneficial effects: The magnetic attraction system designed by adopting the magnetic attraction system design method of the first embodiment can make the mobile platform less likely to fall during the process of transferring from the vertical wall to the inclined wall above it, which is beneficial to improving the safety of the mobile platform.

[0015] The mobile platform of some embodiments according to the second aspect of the present invention further includes a body and a walking mechanism, the walking system includes two track mechanisms symmetrically arranged on opposite sides of the body, each track mechanism includes a plurality of chain links, and the plurality of chain links are connected end to end to form a ring.

[0016] According to the mobile platform of some embodiments of the second aspect of the present invention, any one of the first magnetic module, the second magnetic module and the third magnetic module includes at least one magnet.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 A schematic diagram of the structure of a mobile platform according to an embodiment of the present invention; Figure 2 for Figure 1 A schematic diagram of the structure of the mobile platform shown in another perspective; Figure 3 It is a schematic diagram of the force analysis of the mobile platform under the condition of not overturning; Figure 4 This is a schematic diagram of the force analysis of the mobile platform under the condition of balanced forces in the horizontal and vertical directions.

[0019] Reference numerals: The fuselage 10 ; the track mechanism 20 ; the chain link 21 ; the first magnetic attraction module 31 ; the second magnetic attraction module 32 ; and the third magnetic attraction module 33 . DETAILED DESCRIPTION

[0020] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0021] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, left, right, front, back, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0022] In the description of the present invention, if there is a description of first and second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0023] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0024] The design method of the magnetic attraction system according to some embodiments of the present invention is applied to the design process of the magnetic attraction system in a magnetic attraction type mobile platform; Figure 1 and Figure 2 The mobile platform includes a body 10, a walking system and a magnetic system, wherein the walking system is used to drive the mobile platform to move on the working wall, and the magnetic system can make the mobile platform stick to the wall through magnetic attraction. The interior of the body 10 is used to set functional components such as a control module or a power supply module, and the top of the body 10 can be used to carry working tools, etc.

[0025] Reference Figure 1 and Figure 2 Specifically, the walking system includes two crawler mechanisms 20 symmetrically arranged on opposite sides of the fuselage 10, each crawler mechanism 20 includes a plurality of chain links 21, and the plurality of chain links 21 are connected end to end to form a ring, so that when the ring-shaped crawler mechanism 20 is driven by a motor or other driver to rotate, it will be able to drive the entire mobile platform to move and turn.

[0026] Reference Figure 1 and Figure 2 Specifically, the magnetic attraction system includes a first magnetic attraction module 31, a second magnetic attraction module 32 and a third magnetic attraction module 33. A plurality of first magnetic attraction modules 31 are provided, and the plurality of first magnetic attraction modules 31 are arranged one by one on the outside of each chain link 21. The second magnetic attraction module 32 and the third magnetic attraction module 33 are both arranged in an arc shape and are arranged at the front bottom and the rear bottom of the fuselage 10, respectively. The center of the circle corresponding to the second magnetic attraction module 32 is collinear with the center of the circle corresponding to the semicircular part of the front side of the two crawler mechanisms 20, and the center of the circle corresponding to the third magnetic attraction module 33 is collinear with the center of the circle corresponding to the two semicircular parts of the front side of the crawler mechanisms 20. The centers of the semicircular parts on the rear side of the track mechanism 20 are collinear; two second magnetic modules 32 and two third magnetic modules 33 are provided, and the two second magnetic modules 32 and the two third magnetic modules 33 are symmetrically arranged with respect to the central axis plane of the fuselage 10, so that the magnetic system can be regarded as including two groups of magnetic function units symmetrically distributed with respect to the central axis plane of the mobile platform, and each group of magnetic function units includes a plurality of first magnetic modules 31 on a track mechanism 20, as well as a second magnetic module 32 and a third magnetic module 33.

[0027] For the convenience of description below, the weight of the entire magnetic mobile platform is set to G1, the angle between the inclined wall to be transferred by the mobile platform and the vertical wall is α (α is greater than 0 degrees and less than 90 degrees), and the angle between the center line of the mobile platform and the vertical wall is β (because the angular posture of the mobile platform will change during the transfer of the mobile platform from the vertical wall to the inclined wall above it, β will also change accordingly, and gradually change from 0 degrees to α, so β ​​is greater than or equal to 0 degrees and less than α), the friction coefficient between each wall surface and the first magnetic module 31 is μ (μ is greater than 0), the magnetic attraction force of the first magnetic module 31 on the wall surface is Fc1, the magnetic force of the second magnetic module 32 on the wall surface is Fe1, and the magnetic force of the third magnetic module 33 on the wall surface is Fe2.

[0028] It should be understood that the design method of the magnetic attraction system includes but is not limited to the following steps S100 and S200.

[0029] S100, in the process of the mobile platform being transferred from the vertical wall surface to the inclined wall surface above the vertical wall surface, under the condition that the mobile platform does not overturn, according to the relationship between force balance and moment balance, obtain a group of inequalities between Fc1, Fe1, Fe2 and G1; S200. When designing the first magnetic module 31, the second magnetic module 32 and the third magnetic module 33, determine whether the magnetic attraction forces provided by the first magnetic module 31, the second magnetic module 32 and the third magnetic module 33 can meet the requirements of the inequality group; if the requirements are met, complete the design of the first magnetic module 31, the second magnetic module 32 and the third magnetic module 33; if the requirements are not met, adjust the structure or parameters of at least one of the first magnetic module 31, the second magnetic module 32 and the third magnetic module 33 until the magnetic attraction forces provided by the first magnetic module 31, the second magnetic module 32 and the third magnetic module 33 meet the requirements of the inequality group.

[0030] It should be understood that the present invention first conducts a mechanical analysis on the process of transferring the mobile platform from the vertical wall to the inclined wall, so as to obtain a group of inequalities between the magnetic attraction force and gravity of the three magnetic modules that can enable the mobile platform to maintain stable operation without overturning during the transfer process. Therefore, in the subsequent design of each magnetic module, the structure or parameters of each magnetic module can be designed and adjusted according to the requirements of the inequality group, so that the magnetic attraction force of the three magnetic modules can meet the requirements of the inequality group, so that the mobile platform of the magnetic system obtained by the design method of the present invention is not easy to fall during the actual operation when transferring from the vertical wall to the inclined wall above it, which is beneficial to improve the safety of the mobile platform.

[0031] It should be understood that if Figure 3As shown, in the process of the mobile platform transferring from the vertical wall to the inclined wall above the vertical wall, that is, in the process of the mobile platform passing the corner point, the middle part of the track mechanism 20 will be separated from the wall, and the front semicircular part and the rear semicircular part of the track mechanism 20 will contact the inclined wall and the vertical wall respectively. For the convenience of further explanation, the contact point between the rear semicircular part of the track mechanism 20 and the vertical wall is set as point A, the contact point between the front semicircular part of the track mechanism 20 and the inclined wall is set as point B, the center of mass of the mobile platform is point C, the direction parallel to the center line of the mobile platform and inclined upward is the x-axis direction, the direction perpendicular to the bottom planes of the two track mechanisms 20 and inclined downward is the y-axis direction, and the origin in the xy coordinate system is the center point O located at the center of the rear semicircular part of the track mechanism 20, and the distance from the outer side of the semicircular part of the track mechanism 20 to the center of the semicircular part is R, so the coordinate of point A in the xy coordinate system is , the coordinates of point B in the xy coordinate system are ; The coordinates of point C in the xy coordinate system can be obtained by actual measurement.

[0032] Reference Figure 3 , since the track mechanism 20 is adsorbed on the wall surface through a single chain link 21 at both point A and point B, the magnetic attraction force of the inclined wall surface and the vertical wall surface on the track mechanism 20 is the reaction force of the magnetic attraction force generated by the single chain link 21 on the wall surface, that is, the magnetic attraction force of the inclined wall surface and the vertical wall surface on the track mechanism 20 is Fc1. At the same time, for the convenience of distinction, the magnetic attraction force of point A on the vertical wall surface on the track mechanism 20 is recorded as Fcn, and the magnetic attraction force of point B on the inclined wall surface on the track mechanism 20 is still recorded as Fc1, and Fcn=Fc1; since the inclined wall surface is on the second magnetic The magnetic attraction force of the suction module 32 is the reaction force of the second magnetic attraction module 32 on the magnetic attraction force of the inclined wall, and thus the magnetic attraction force of the inclined wall on the second magnetic attraction module 32 is Fe1; similarly, the magnetic attraction force of the vertical wall on the third magnetic attraction module 33 is Fe2; at the same time, similarly, the supporting force of the inclined wall on the track mechanism 20 is recorded as Nc1, the supporting force of the vertical wall on the track mechanism 20 is recorded as Ncn, the friction force of the inclined wall on the track mechanism 20 is recorded as Ff1, and the supporting force of the vertical wall on the track mechanism 20 is recorded as Ff2.

[0033] It should be understood that, regarding the above step S100, under the condition that the mobile platform does not overturn, the inequality group between Fc1, Fe1, Fe2 and G1 is obtained according to the relationship between force balance and moment balance, including but not limited to the following steps S110 to S140.

[0034] S110, taking the condition of not overturning around point A as an example, inequality (1) is obtained; It should be understood that, in step S110, in order to prevent the mobile platform from overturning around point A, the anti-overturning moment Ta1 generated by various forces acting on the mobile platform is greater than the overturning moment Ta2.

[0035] in, ; and, ; Moreover, when the robot reaches the tipping critical point, Nc1 is 0, so Ff1 is equal to 0. At this time, the mobile platform does not tip over. The requirement is: anti-tipping moment Ta1>tipping moment Ta2. Substituting into inequality (1), we can obtain: (1); It should be understood that in inequality (I), is the distance from point C to point A in the y-axis direction, is the distance from point B to point A in the y-axis direction, is the distance from point C to point A in the x-axis direction, is the distance from point B to point A in the x-axis direction, and , , , is a vector.

[0036] S120, taking the condition of not overturning around point B as the condition, obtain inequality (2); Similarly, in step S120, in order to prevent the mobile platform from overturning around point B, the anti-overturning moment Tb1 generated by various forces acting on the mobile platform is greater than the overturning moment Tb2.

[0037] in, ; and, ; Moreover, when the robot reaches the tipping critical point, Ncn is 0, so Ff2 is equal to 0. The mobile platform does not tip over when: the anti-tipping moment Tb1>tipping moment Tb2, and Fcn=Fc1. Substituting into inequality (2), we can obtain: (2); It should be understood that in inequality (2), is the distance from point B to point C in the y-axis direction, is the distance from point B to point A in the y-axis direction, is the distance from point C to point B in the x-axis direction, is the distance from point B to point A in the x-axis direction, and , , , is a vector.

[0038] S130. Under the condition of force balance in the horizontal direction and the vertical direction, obtain inequality (3) and inequality (4).

[0039] It should be understood that when an object is in equilibrium, the algebraic sum of the components of all forces is zero in any coordinate system. The vector sum of the torques produced by all external forces is zero in any coordinate system; see Figure 4 For the convenience of calculation, the coordinate system here adopts a horizontal and vertical coordinate system, with the horizontal direction being the X-axis and the vertical direction being the Y-axis.

[0040] According to the reasonable zero of horizontal force, that is, Σhorizontal force = 0, we get the following set of equations.

[0041]

[0042] According to the logical assumption that the vertical force is zero, that is, Σhorizontal force = 0, we get the following set of equations.

[0043]

[0044] Combining the above two equations, we can get:

[0045] Because Nc1 and Ncn must be greater than or equal to 0 (less than 0 means the mobile platform overturns and falls), μ is greater than 0, α is greater than 0 and less than 90 degrees, , and Fcn=Fc1, combining the above two equations, we can get inequality (3) and inequality (4): (3); (4).

[0046] S140, combining inequalities (1) to (4), the following inequality group (5) is obtained: (5).

[0047] It should be understood that, when the working environment is fixed, α is usually a fixed specific value. In this case, when α takes a specific value, the maximum value of the right side half of the inequality sign of the four inequalities in the inequality group (5) can be determined. When designing, the left side half of the inequality sign of the four inequalities in the inequality group (5) should be greater than the corresponding four maximum values.

[0048] It should be understood that in order to enable the first magnetic attraction module 31, the second magnetic attraction module 32 and the third magnetic attraction module 33 to generate magnetic attraction force, any one of the first magnetic attraction module 31, the second magnetic attraction module 32 and the third magnetic attraction module 33 includes at least one magnet; and in some embodiments, regarding step S200, the structure or parameters of at least one of the first magnetic attraction module 31, the second magnetic attraction module 32 and the third magnetic attraction module 33 are adjusted, including increasing or decreasing the magnetic pole area of ​​the magnet, increasing or decreasing the air gap area, adjusting the magnetic field strength of the magnet and changing the magnetization method of the magnet for at least one of the first magnetic attraction module 31, the second magnetic attraction module 32 and the third magnetic attraction module 33. Since there are many existing technical means to adjust the design parameters and / or structure to change the magnetic attraction force of the magnet, they are not described in detail here.

[0049] The following describes the mobile platform of some embodiments of the second aspect of the present invention, referring to Figure 1 and Figure 2 The mobile platform of this embodiment includes a body 10, a walking system and a magnetic attraction system; the walking system includes two track mechanisms 20 symmetrically arranged on opposite sides of the body 10, each track mechanism 20 includes a plurality of chain links 21, and the plurality of chain links 21 are connected end to end to form a ring, so that when the ring-shaped track mechanism 20 is driven by a motor or other driver to rotate, it will be able to drive the entire mobile platform to move and turn; and the magnetic attraction system is designed using the design method of the magnetic attraction system of the first embodiment described above.

[0050] It should be understood that the magnetic suction system designed by adopting the design method of the magnetic suction system of the first embodiment can make the mobile platform less likely to fall during the process of transferring from the vertical wall to the inclined wall above it, which is beneficial to improving the safety of the mobile platform.

[0051] It should be understood that in order to enable the first magnetic module 31, the second magnetic module 32 and the third magnetic module 33 to generate magnetic attraction, any one of the first magnetic module 31, the second magnetic module 32 and the third magnetic module 33 includes at least one magnet.

[0052] It should be understood that regarding the connection relationship between the magnetic attraction system and the fuselage 10 and the walking system in the mobile platform, reference can be made to the description in the above-mentioned first aspect embodiment.

[0053] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A design method for a magnetic attraction system, characterized in that: The magnetic attraction system is applied to a mobile platform, which also includes a body and a walking system; the walking system includes two crawler mechanisms symmetrically arranged on opposite sides of the body, each crawler mechanism includes a plurality of chain links, and the plurality of chain links are connected end to end to form a ring; the magnetic attraction system includes a first magnetic attraction module, a second magnetic attraction module and a third magnetic attraction module, a plurality of the first magnetic attraction modules are provided, and the plurality of the first magnetic attraction modules are arranged one by one on the outside of each of the chain links, the second magnetic attraction module and the third magnetic attraction module are both arranged in an arc shape, and are respectively arranged at the front bottom and the rear bottom of the body, the center of the circle corresponding to the second magnetic attraction module is collinear with the center of the circle corresponding to the semicircular part of the front side of the two crawler mechanisms, and the center of the circle corresponding to the third magnetic attraction module is collinear with the center of the circle corresponding to the semicircular part of the rear side of the two crawler mechanisms; the second magnetic attraction module and the third magnetic attraction module are both provided with two, and the two second magnetic attraction modules and the two third magnetic attraction modules are symmetrically arranged about the central axis plane of the body; The weight of the entire magnetic mobile platform is set to G1, the angle between the inclined wall surface to be transferred by the magnetic mobile platform and the vertical wall surface is α, the angle between the center line of the magnetic mobile platform and the vertical wall surface is β, the friction coefficient between each wall surface and the first magnetic module is μ, the magnetic attraction force of the first magnetic module on the wall surface is Fc1, the magnetic force of the second magnetic module on the wall surface is Fe1, and the magnetic force of the third magnetic module on the wall surface is Fe2; wherein μ is greater than 0, α is greater than 0 degrees and less than 90 degrees, and β is greater than or equal to 0 degrees and less than α; The design method includes: In the process of the mobile platform being transferred from the vertical wall surface to the inclined wall surface above the vertical wall surface, under the condition that the mobile platform does not overturn, according to the relationship between force balance and moment balance, a group of inequalities between Fc1, Fe1, Fe2 and G1 is obtained; When designing the first magnetic module, the second magnetic module and the third magnetic module, determine whether the magnetic attraction forces provided by the first magnetic module, the second magnetic module and the third magnetic module can meet the requirements of the inequality group; if the requirements are met, complete the design of the first magnetic module, the second magnetic module and the third magnetic module; if the requirements are not met, adjust the structure or parameters of at least one of the first magnetic module, the second magnetic module and the third magnetic module until the magnetic attraction forces provided by the first magnetic module, the second magnetic module and the third magnetic module meet the requirements of the inequality group.

2. The design method of a magnetic attraction system according to claim 1, characterized in that: The contact point between the rear semicircular part of the crawler mechanism and the vertical wall is set as point A, the contact point between the front semicircular part of the crawler mechanism and the inclined wall is set as point B, the center of mass of the mobile platform is set as point C, the direction parallel to the center line of the mobile platform and inclined upward is set as the x-axis direction, and the direction perpendicular to the bottom planes of the two crawler mechanisms and inclined downward is set as the y-axis direction; The inequality group (1) between Fc1, Fe1, Fe2 and G1 is obtained based on the relationship between force balance and moment balance under the condition that the mobile platform does not overturn, including: Under the condition of not tipping over around point A, we get the inequality: （1）； In the above inequality, is the distance from point C to point A in the y-axis direction, is the distance from point B to point A in the y-axis direction, is the distance from point C to point A in the x-axis direction, is the distance from point B to point A in the x-axis direction.

3. The design method of a magnetic attraction system according to claim 2, characterized in that: The inequality group between Fc1, Fe1, Fe2 and G1 is obtained based on the relationship between force balance and moment balance under the condition that the mobile platform does not overturn, including: Under the condition of not tipping over around point B, we can obtain inequality (2): （2）； In the above inequality, is the distance from point B to point C in the y-axis direction, is the distance from point B to point A in the y-axis direction, is the distance from point C to point B in the x-axis direction, is the distance from point B to point A in the x-axis direction.

4. The design method of a magnetic attraction system according to claim 3, characterized in that: The inequality group between Fc1, Fe1, Fe2 and G1 is obtained based on the relationship between force balance and moment balance under the condition that the mobile platform does not overturn, including: Under the condition of force balance in the horizontal and vertical directions, inequality (3) is obtained: （3）。 5. The design method of a magnetic attraction system according to claim 4, characterized in that: The inequality group between Fc1, Fe1, Fe2 and G1 is obtained based on the relationship between force balance and moment balance under the condition that the mobile platform does not overturn, including: Under the condition of force balance in the horizontal and vertical directions, we can obtain the inequality (4): （4）。 6. The design method of a magnetic attraction system according to claim 5, characterized in that: The condition that the magnetic mobile platform does not overturn is taken as a condition, and according to the relationship between force balance and moment balance, a group of inequalities between Fc1, Fe1, Fe2 and G1 is obtained, including: Combining inequalities (1) to (4), we obtain the following inequality group (5): （5）。 7. A method for designing a magnetic attraction system according to any one of claims 1 to 6, characterized in that: Any one of the first magnetic attraction module, the second magnetic attraction module and the third magnetic attraction module includes at least one magnet; The adjusting the structure or parameters of at least one of the first magnetic module, the second magnetic module and the third magnetic module includes: For at least one of the first magnetic attraction module, the second magnetic attraction module and the third magnetic attraction module, the magnetic pole area of ​​the magnet is increased or decreased, the air gap area is increased or decreased, the magnetic field strength of the magnet is adjusted, and the magnetization method of the magnet is changed.

8. A mobile platform, characterized in that: It comprises a magnetic attraction system, and the magnetic attraction system is designed by adopting the design method of the magnetic attraction system according to any one of claims 1 to 7.

9. A mobile platform according to claim 8, characterized in that: It also includes a fuselage and a walking mechanism, wherein the walking system includes two crawler mechanisms symmetrically arranged on opposite sides of the fuselage, each crawler mechanism includes a plurality of chain links, and the plurality of chain links are connected end to end to form a ring.

10. A mobile platform according to claim 8 or 9, characterized in that: Any one of the first magnetic attraction module, the second magnetic attraction module and the third magnetic attraction module includes at least one magnet.

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