Design method of magnetic attraction system and mobile platform

Abstract

The application discloses a design method of a magnetic attraction system and a mobile platform. The design method of the magnetic attraction system comprises the following steps: in the process that the mobile platform is transferred from a vertical wall surface to an inclined wall surface, under the condition that the mobile platform is not overturned, according to the relationship between force balance and moment balance, an inequality group between each magnetic attraction module and the gravity of the whole machine is obtained; when each magnetic attraction module is designed, it is judged whether the magnetic attraction force provided by each magnetic attraction module can meet the requirement of the inequality group; if the requirement is met, the design of each magnetic attraction module is completed; if the requirement is not met, the structure or parameter of at least one of the three magnetic attraction modules is adjusted. The magnetic attraction system designed by the design method provided by the application can provide sufficient attraction force, so that the mobile platform is not easy to fall in the process that the mobile platform is transferred from the vertical wall surface to the inclined wall surface above the mobile platform.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile platforms, and particularly relates to a design method of a magnetic attraction system and a mobile platform. BACKGROUND

[0002] The magnetic attraction type mobile platform comprises a body and track mechanisms arranged on both sides of the body, and a magnetic block is arranged on the outer side of each link of the track mechanism, so that the magnetic attraction type mobile platform can be attracted to an iron wall surface, such as the inner wall of a ship cabin; in the related art, a plurality of auxiliary magnetic attraction assemblies for auxiliary attraction are arranged on the front side and the rear side of the bottom of the body, so as to improve the magnetic attraction force on the wall surface, thereby reducing the risk of falling; however, due to the complexity of the working environment, the magnetic attraction type mobile platform often needs to be transferred from a vertical wall surface to an inclined wall surface above, and during the transfer of the wall surface, since part of the track needs to be separated from the wall surface, there is still a great risk of falling. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a design method of a magnetic attraction system, and the magnetic attraction system designed by using the method can provide sufficient attraction force, so that the mobile platform is not easy to fall during the transfer from a vertical wall surface to an inclined wall surface above.

[0004] The present application also provides a mobile platform with a magnetic attraction system designed by using the above design method.

[0005] According to the design method of the magnetic attraction system of the first aspect of the present application, the magnetic attraction system is applied to a mobile platform, and the mobile platform further comprises a body and a walking system; the walking system comprises two track mechanisms symmetrically arranged on opposite sides of the body, each track mechanism comprises a plurality of chain links, and the plurality of chain links are connected in a ring shape at the head and tail; the magnetic attraction system comprises a first magnetic attraction module, a second magnetic attraction module and a third magnetic attraction module, a plurality of first magnetic attraction modules are provided, and each first magnetic attraction module is arranged on the outer side of each chain link in one-to-one correspondence; the second magnetic attraction module and the third magnetic attraction module are both arranged in an arc shape and are arranged on the front bottom and rear bottom of the body respectively; 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 on the front side of the two track 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 on the rear side of the two track mechanisms; two second magnetic attraction modules and two third magnetic attraction modules are provided, and the two second magnetic attraction modules and the two third magnetic attraction modules are both arranged symmetrically about the central axis of the body; the weight of the entire mobile platform is G1, the angle between the inclined wall surface to be transferred and the vertical wall surface of the mobile platform 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 attraction module is μ, the magnetic attraction force of the first magnetic attraction module on the wall surface is Fc1, the magnetic force of the second magnetic attraction module on the wall surface is Fe1, and the magnetic force of the third magnetic attraction module on the wall surface is Fe2; wherein μ is greater than 0, α is greater than 0 degrees and less than 90 degrees, β is greater than or equal to 0 degrees and less than α.

[0006] The design method comprises:

[0007] In the process of transferring the mobile platform 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, an inequality group between Fc1, Fe1, Fe2 and G1 is obtained;

[0008] When designing the first magnetic attraction module, the second magnetic attraction module and the third magnetic attraction module, it is judged whether the magnetic attraction force provided by the first magnetic attraction module, the second magnetic attraction module and the third magnetic attraction module can meet the requirements of the inequality group; if the requirements are met, the design of the first magnetic attraction module, the second magnetic attraction module and the third magnetic attraction module is completed; if the requirements are not met, the structure or parameters of at least one of the first magnetic attraction module, the second magnetic attraction module and the third magnetic attraction module are adjusted until the magnetic attraction force provided by the first magnetic attraction module, the second magnetic attraction module and the third magnetic attraction module meets the requirements of the inequality group.

[0009] According to the design method of the magnetic system of the first aspect of the present application, at least the following beneficial effects are achieved:

[0010] Firstly, the application obtains an inequality group between the magnetic attraction force of the three magnetic attraction modules and the gravity, which can make the mobile platform keep stable operation without overturning during the transfer process, by analyzing the mechanics of the mobile platform transferring from the vertical wall to the inclined wall, so that the structure or parameters of each magnetic attraction module can be designed and adjusted according to the requirements of the inequality group during the subsequent design of each magnetic attraction module, and then the magnetic attraction force 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 designed by the application is not easy to fall during the transfer process from the vertical wall to the inclined wall above it in actual operation, thereby improving the safety of the mobile platform.

[0011] According to the design method of the magnetic system of some embodiments of the first aspect of the application, the contact point of the rear semicircular part of the track mechanism with the vertical wall is point A, the contact point of the front semicircular part of the track mechanism with the inclined wall is point B, the center of mass of the magnetic mobile platform is 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 plane of the two track mechanisms and inclined downward is the y-axis direction.

[0012] 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:

[0013] Under the condition that the mobile platform does not overturn around point A, inequality (1) is obtained:

[0014] (1);

[0015] 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.

[0016] According to the design method of the magnetic system of some embodiments of the first aspect of the application, 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:

[0017] Under the condition that the mobile platform does not overturn around point B, inequality (2) is obtained:

[0018] (2);

[0019] In inequality (2), is the distance from point B to point C in the y-axis direction, a distance between the point B and the point A in the y-axis direction, a distance between the point C and the point B in the x-axis direction, a distance between the point B and the point A in the x-axis direction.

[0020] According to the design method of the magnetic system according to some embodiments of the first aspect of the present application, under the condition that the mobile platform does not overturn, according to the relationship between force balance and moment balance, an inequality group between Fc1, Fe1, Fe2 and G1 is obtained, including:

[0021] Under the condition of force balance in the horizontal direction and the vertical direction, inequality (3) is obtained:

[0022] (3).

[0023] According to the design method of the magnetic system according to some embodiments of the first aspect of the present application, under the condition that the mobile platform does not overturn, according to the relationship between force balance and moment balance, an inequality group between Fc1, Fe1, Fe2 and G1 is obtained, including:

[0024] Under the condition of force balance in the horizontal direction and the vertical direction, inequality (4) is obtained:

[0025] (4).

[0026] According to the design method of the magnetic system according to some embodiments of the first aspect of the present application, under the condition that the mobile platform does not overturn, according to the relationship between force balance and moment balance, an inequality group between Fc1, Fe1, Fe2 and G1 is obtained, including:

[0027] Comprehensive inequalities (1) to (4), the following inequality group (5) is obtained:

[0028] (5).

[0029] According to the design method of the magnetic system according to some embodiments of the first aspect of the present application, any one of the first magnetic attraction module, the second magnetic attraction module and the third magnetic attraction module at least includes a magnet;

[0030] Adjusting the structure or parameters of at least one of the first magnetic attraction module, the second magnetic attraction module and the third magnetic attraction module, including:

[0031] 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 magnet charging mode is changed.

[0032] The mobile platform according to some embodiments of the second aspect of the present application comprises a magnetic attraction system designed by the magnetic attraction system design method according to the first aspect of the present application.

[0033] The mobile platform according to some embodiments of the second aspect of the present application has at least the following beneficial effects:

[0034] The magnetic attraction system designed by the magnetic attraction system design method according to the first aspect of the present application can prevent the mobile platform from falling during the process of transferring from a vertical wall to an inclined wall above the vertical wall, thus improving the safety of the mobile platform.

[0035] The mobile platform according to some embodiments of the second aspect of the present application further comprises a body and a walking mechanism, wherein the walking mechanism comprises two track mechanisms symmetrically arranged on opposite sides of the body, each track mechanism comprises a plurality of chain links connected in a ring shape.

[0036] The mobile platform according to some embodiments of the second aspect of the present application comprises at least one magnet in each of the first magnetic attraction module, the second magnetic attraction module and the third magnetic attraction module.

[0037] Additional aspects and advantages of the present application will be given, partially in the following description, partially become obvious from the following description, or be understood by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0038] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description, taken in conjunction with the following drawings, in which:

[0039] Figure 1 FIG. 1 is a structural schematic diagram of a mobile platform according to an embodiment of the present application;

[0040] Figure 2 FIG. 2 is a structural schematic diagram of the mobile platform shown in FIG. 1 from another perspective; Figure 1

[0041] Figure 3 FIG. 4 is a force analysis schematic diagram of the mobile platform under the condition of not overturning;

[0042] Figure 4 FIG. 5 is a force analysis schematic diagram of the mobile platform under the condition of force balance in the horizontal and vertical directions.

[0043] REFERENCE NUMERALS:

[0044] 10: body; 20: track mechanism; 21: chain link; 31: first magnetic attraction module; 32: second magnetic attraction module; 33: third magnetic attraction module. DETAILED DESCRIPTION

[0045] ​Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, for the purpose of explaining the present application, and should not be understood as a limitation of the present application.

[0046] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, left, right, front, back, etc. is based on the orientation or position relationship shown in the drawings, which is only for the purpose of facilitating the description of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0047] In the description of the present application, if the first, second, etc. are described, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying the relative importance of the technical features or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0048] In the description of the present application, unless otherwise explicitly limited, the words such as arrangement, installation, connection, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0049] The design method of the magnetic attraction system according to some embodiments of the present application is applied to the design process of the magnetic attraction system in the magnetic attraction type mobile platform. Referring to Figure 1 and Figure 2 , the mobile platform comprises a body 10, a walking system and a magnetic attraction system, wherein the walking system is used to drive the mobile platform to move on a working wall surface, and the magnetic attraction system can make the mobile platform adhere to the wall surface through magnetic attraction force. The inside 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 tools for work, etc.

[0050] Referring to Figure 1 and Figure 2 , specifically, the walking system comprises two track mechanisms 20 symmetrically arranged on opposite sides of the body 10, each track mechanism 20 comprises a plurality of chain links 21, and the plurality of chain links 21 are connected in a ring shape at the head and tail, so that when the ring-shaped track mechanism 20 rotates under the drive of a motor or the like, it can drive the entire mobile platform to move and turn.

[0051] Referring to Figure 1 and Figure 2Specifically, the magnetic attraction system comprises a first magnetic attraction module 31, a second magnetic attraction module 32 and a third magnetic attraction module 33. The first magnetic attraction module 31 is provided in plurality, and each of the plurality of first magnetic attraction modules 31 is arranged on the outer side 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 on 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 portion on the front side of the two track 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 semicircular portion on the rear side of the two track mechanisms 20. The second magnetic attraction module 32 and the third magnetic attraction module 33 are both provided in two, and the two second magnetic attraction modules 32 and the two third magnetic attraction modules 33 are both arranged symmetrically about the central axis of the fuselage 10. Thus, the magnetic attraction system can be regarded as comprising two groups of magnetic attraction functional units symmetrically distributed about the central axis of the mobile platform, each group of magnetic attraction functional units comprising a plurality of first magnetic attraction modules 31 on one track mechanism 20, and one second magnetic attraction module 32 and one third magnetic attraction module 33.

[0052] For the convenience of description, it is assumed that the weight of the entire magnetic attraction type mobile platform is G1, the angle between the inclined wall surface to be transferred by the mobile platform and the vertical wall surface is a (a is greater than 0 degrees and less than 90 degrees), the angle between the center line of the mobile platform and the vertical wall surface is β (since the angle of the mobile platform will change during the process of transferring the mobile platform from the vertical wall surface to the inclined wall surface above it, β will also change, and will gradually change from 0 degrees to a, so β is greater than or equal to 0 degrees and less than a), the friction coefficient between each wall surface and the first magnetic attraction module 31 is μ (μ is greater than 0), the magnetic attraction force of the first magnetic attraction module 31 on the wall surface is Fc1, the magnetic force of the second magnetic attraction module 32 on the wall surface is Fe1, and the magnetic force of the third magnetic attraction module 33 on the wall surface is Fe2.

[0053] 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.

[0054] S100, during the process of transferring the mobile platform 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, an inequality group among Fc1, Fe1, Fe2 and G1 is obtained;

[0055] S200, in the design of the first magnetic attraction module 31, the second magnetic attraction module 32 and the third magnetic attraction module 33, it is judged whether the magnetic attraction force provided by the first magnetic attraction module 31, the second magnetic attraction module 32 and the third magnetic attraction module 33 can meet the requirements of the inequality group; if the requirements are met, the design of the first magnetic attraction module 31, the second magnetic attraction module 32 and the third magnetic attraction module 33 is completed; if the requirements are not met, 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 until the magnetic attraction force provided by the first magnetic attraction module 31, the second magnetic attraction module 32 and the third magnetic attraction module 33 meets the requirements of the inequality group.

[0056] It should be understood that, firstly, the present application obtains the inequality group between the magnetic attraction force of the three magnetic attraction modules and the gravity which can enable the mobile platform to keep stable operation without overturning during the transfer process from the vertical wall surface to the inclined wall surface through mechanical analysis on the process, so that 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, and then the magnetic attraction force 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 designed by the design method of the present application is not easy to fall during the transfer process from the vertical wall surface to the inclined wall surface above it in actual operation, thereby being beneficial to improving the safety of the mobile platform.

[0057] It should be understood that, as shown in Figure 3 , in the process of the mobile platform transferring from the vertical wall surface to the inclined wall surface above it, 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 surface, and the front half-circular part and the rear half-circular part of the track mechanism 20 will be in contact with the inclined wall surface and the vertical wall surface respectively, for the convenience of further description, the contact point of the rear half-circular part of the track mechanism 20 with the vertical wall surface is set as point A, the contact point of the front half-circular part of the track mechanism 20 with the inclined wall surface 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, the direction perpendicular to the bottom plane of the two track mechanisms 20 and inclined downward is set as the y-axis direction, and the origin of the xy coordinate system is set as the center point O located at the center of the rear half-circular part of the track mechanism 20, the distance from the outer side of the half-circular part of the track mechanism 20 to the center of the half-circular part is R, therefore the coordinates of point A in the xy coordinate system are , the coordinates of point B in the xy coordinate system are , and the coordinates of point C in the xy coordinate system can be obtained by actual measurement.

[0058] Referring to Figure 3Since the crawler mechanism 20 is adsorbed to the wall surface by a single link 21 at both the A point and the B point, the magnetic attraction of the inclined wall surface and the vertical wall surface to the crawler mechanism 20 is the reaction force of the magnetic attraction generated by the single link 21 to the wall surface, that is, the magnetic attraction of the inclined wall surface and the vertical wall surface to the crawler mechanism 20 is Fc1, and for the sake of distinction, the magnetic attraction of the A point in the vertical wall surface to the crawler mechanism 20 is recorded as Fcn, and the magnetic attraction of the B point in the inclined wall surface to the crawler mechanism 20 is still recorded as Fc1, and Fcn=Fc1; since the magnetic attraction of the inclined wall surface to the second magnetic attraction module 32 is the reaction force of the magnetic attraction of the second magnetic attraction module 32 to the inclined wall surface, the magnetic attraction of the inclined wall surface to the second magnetic attraction module 32 is Fe1; similarly, the magnetic attraction of the vertical wall surface to the third magnetic attraction module 33 is Fe2; at the same time, similarly, the support force of the inclined wall surface to the crawler mechanism 20 is recorded as Nc1, the support force of the vertical wall surface to the crawler mechanism 20 is recorded as Ncn, the friction force of the inclined wall surface to the crawler mechanism 20 is recorded as Ff1, and the support force of the vertical wall surface to the crawler mechanism 20 is recorded as Ff2.

[0059] It should be understood that, in the above step S100, under the condition that the mobile platform does not overturn, the inequality set 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.

[0060] S110, obtain inequality (1) under the condition of not overturning around the A point;

[0061] It should be understood that, in step S110, in order to make the mobile platform not overturn around the A point, the anti-overturning moment Ta1 generated by various forces acting on the mobile platform is greater than the overturning moment Ta2.

[0062] Wherein, ;

[0063] And, ;

[0064] And, when the robot reaches the overturning critical point, Nc1 is 0, so Ff1 is equal to 0, at this time the mobile platform does not overturn, which requires that the anti-overturning moment Ta1 is greater than the overturning moment Ta2, and substituting obtains inequality (1):

[0065] (1);

[0066] It should be understood that, in inequality (I), is the distance from the C point to the A point in the y-axis direction, is the distance from the B point to the A point in the y-axis direction, is the distance from the C point to the A point in the x-axis direction, is the distance from point B to point A in the x-axis direction, and 、 、 、 is a vector.

[0067] In step S120, inequality (2) is obtained under the condition that the mobile platform does not overturn around point B.

[0068] Similarly, in step S120, in order to make the mobile platform not overturn around point B, the anti-overturning moment Tb1 generated by various forces acting on the mobile platform is greater than the overturning moment Tb2.

[0069] wherein, ;

[0070] And, ;

[0071] When the robot reaches the overturning critical point, Ncn is 0, so Ff2 is equal to 0, and the mobile platform does not overturn, which requires that the anti-overturning moment Tb1 is greater than the overturning moment Tb2, and Fcn=Fc1, and inequality (2) is obtained by substitution:

[0072] (2);

[0073] 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.

[0074] In step S130, inequalities (3) and (4) are obtained under the condition that the forces in the horizontal and vertical directions are balanced.

[0075] It should be understood that when an object is in a balanced state, the algebraic sum of all force components in any coordinate system is zero. The vector sum of all moments generated by external forces in any coordinate system is zero; refer to Figure 4 For ease of calculation, the coordinate system used here is a horizontal-vertical coordinate system, with the horizontal direction being the X-axis and the vertical direction being the Y-axis.

[0076] According to the reasonable sum of horizontal forces, i.e. Σhorizontal force = 0, the following equation set is obtained.

[0077]

[0078] According to the reasonable zero of the vertical force, i.e. Σhorizontal force = 0, the following equation set is obtained.

[0079]

[0080] The above two equations are combined to obtain:

[0081]

[0082] Since Nc1 and Ncn are both greater than or equal to 0 (less than 0 means that the mobile platform is overturned and falls), μ is greater than 0, α is greater than 0 and less than 90 degrees, , and Fcn = Fc1, the above two equations are combined to obtain inequalities (3) and (4):

[0083] (3);

[0084] (4).

[0085] S140, combining inequalities (1) to (4), the following inequality set (5) is obtained:

[0086] (5).

[0087] It should be understood that in the case of a fixed working environment, α is usually a fixed specific value, at this time, the maximum value of the right half of the inequality in inequality set (5) can be determined when α takes the specific value, and in the design, the left half of the inequality in inequality set (5) should be greater than the above-mentioned maximum value.

[0088] 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, adjusting 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 in step S200 includes increasing or decreasing the pole area of the magnet, increasing or decreasing the air gap area, adjusting the magnetic field strength of the magnet, and changing the magnetizing method of the magnet, etc. of at least one of the first magnetic attraction module 31, the second magnetic attraction module 32 and the third magnetic attraction module 33. Since the above-mentioned various prior art means are used to adjust the design parameters and / or structure to change the magnetic attraction force of the magnet, they are not described in detail here.

[0089] The following describes the mobile platform of some embodiments of the second aspect of the application, with reference to Figure 1 and Figure 2The mobile platform of the embodiment comprises a body 10, a walking system and a magnetic attraction system; the walking system comprises two caterpillar mechanisms 20 symmetrically arranged on opposite sides of the body 10, each caterpillar mechanism 20 comprises a plurality of links 21, the links 21 are connected in a ring shape at the head and tail, so that when the ring-shaped caterpillar mechanism 20 is driven to rotate by a motor or the like, the entire mobile platform can be moved and turned; the magnetic attraction system is designed by using the design method of the magnetic attraction system of the first aspect embodiment.

[0090] It should be understood that the magnetic attraction system designed by using the design method of the magnetic attraction system of the first aspect embodiment can prevent the mobile platform from falling during the process of transferring from a vertical wall to an inclined wall above the vertical wall, and is beneficial to improve the safety of the mobile platform.

[0091] 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 comprises at least one magnet.

[0092] It should be understood that the connection relationship between the magnetic attraction system and the body 10 and the walking system in the mobile platform can be referred to the description in the first aspect embodiment.

[0093] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the present application, and the scope of the present application 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 track mechanisms symmetrically arranged on opposite sides of the body. Each track mechanism includes multiple links, which are connected end-to-end to form a loop. The magnetic attraction system includes a first magnetic attraction module, a second magnetic attraction module, and a third magnetic attraction module. Multiple first magnetic attraction modules are provided, and each first magnetic attraction module is correspondingly arranged on the outer side of each track link. The second and third magnetic attraction modules are both arc-shaped and are respectively located at the front bottom and rear bottom of the body. The center of the circle corresponding to the second magnetic attraction module is collinear with the center of the semicircular portion corresponding to the front side of the two track mechanisms, and the center of the circle corresponding to the third magnetic attraction module is collinear with the center of the semicircular portion corresponding to the rear side of the two track mechanisms. Two second and three magnetic attraction modules are provided, and the two second magnetic attraction modules and the two third magnetic attraction modules are symmetrically arranged about the central axis of the body. The weight of the entire magnetic mobile platform is set as G1, the angle between the inclined wall to be transferred and the vertical wall is α, the angle between the centerline of the magnetic mobile platform and the vertical wall is β, the coefficient of friction between each wall and the first magnetic module is μ, the magnetic attraction force of the first magnetic module on the wall is Fc1, the magnetic force of the second magnetic module on the wall is Fe1, and the magnetic force of the third magnetic module on the wall 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: During the process of the mobile platform moving from the vertical wall to the inclined wall above the vertical wall, under the condition that the mobile platform does not overturn, a set of inequalities between Fc1, Fe1, Fe2 and G1 is obtained according to the relationship of force balance and torque balance; the contact point between the rear semicircular part of the track mechanism and the vertical wall is set as point A, the contact point between the front semicircular part of the track 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 the x-axis direction, and the direction perpendicular to the bottom plane of the two track mechanisms and inclined downward is the y-axis direction; the process of obtaining the set of inequalities between Fc1, Fe1, Fe2 and G1 according to the relationship of force balance and torque balance under the condition that the mobile platform does not overturn includes: under the condition that it does not overturn around point A, inequality (1) is obtained. (1); In the inequality, Let C be the distance from point C to point A along the y-axis. Let be the distance from point B to point A along the y-axis. Let C be the distance from point A along the x-axis. Let B be the distance from point A along the x-axis. When designing the first, second, and third magnetic modules, it is determined whether the magnetic attraction force provided by the first, second, and third magnetic modules can meet the requirements of the set of inequalities. If the requirements are met, the design of the first, second, and third magnetic modules is completed. If the requirements are not met, the structure or parameters of at least one of the three magnetic modules are adjusted until the magnetic attraction force provided by the first, second, and third magnetic modules meets the requirements of the set of inequalities.

2. The design method of a magnetic attraction system according to claim 1, characterized in that, The condition that the mobile platform does not overturn is used to obtain a set of inequalities between Fc1, Fe1, Fe2, and G1 based on the relationship between force balance and torque balance, including: Assuming the overturning does not occur around point B, we obtain inequality (2): （2）； In the inequality Let be the distance from point B to point C along the y-axis. Let be the distance from point B to point A along the y-axis. Let C be the distance from point C to point B along the x-axis. Let B be the distance from point B to point A along the x-axis.

3. The design method of a magnetic attraction system according to claim 2, characterized in that, The condition that the mobile platform does not overturn is used to obtain a set of inequalities between Fc1, Fe1, Fe2, and G1 based on the relationship between force balance and torque balance, including: Given that the forces are balanced in the horizontal and vertical directions, we obtain inequality (3): （3）。 4. The design method of a magnetic attraction system according to claim 3, characterized in that, The condition that the mobile platform does not overturn is used to obtain a set of inequalities between Fc1, Fe1, Fe2, and G1 based on the relationship between force balance and torque balance, including: Given that the forces are balanced in the horizontal and vertical directions, we obtain inequality (4): （4）。 5. The design method of a magnetic attraction system according to claim 4, characterized in that, The condition that the magnetically attached mobile platform does not overturn is used to obtain a set of inequalities between Fc1, Fe1, Fe2, and G1 based on the relationship between force balance and torque balance, including: Combining inequalities (1) to (4), we obtain the following set of inequalities (5): （5）。 6. A design method for a magnetic attraction system according to any one of claims 1 to 5, characterized in that, Each of the first magnetic module, the second magnetic module, and the third magnetic 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.

7. A mobile platform, characterized in that, It includes a magnetic attraction system, which is designed using the design method of a magnetic attraction system as described in any one of claims 1 to 6.

8. A mobile platform according to claim 7, characterized in that, It also 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 multiple links, which are connected end to end in a loop.

9. A mobile platform according to claim 7 or 8, characterized in that, Each of the first magnetic module, the second magnetic module, and the third magnetic module includes at least one magnet.

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