Self-adaptive real-time speed regulation method for adsorption fan of wall-climbing robot

Abstract

The invention discloses a self-adaptive real-time speed regulation method for an adsorption fan of a wall-climbing robot, which comprises the following steps: acquiring the pressure in a cavity of an adsorption device of the wall-climbing robot in an adsorption state in real time, and performing difference operation on the pressure and standard atmospheric pressure in an experimental environment to obtain a negative pressure difference between the pressure in the cavity and the atmospheric pressure; the negative pressure difference is input into a rotating speed-negative pressure difference relation model, the rotating speed of the draught fan of the adsorption device of the wall-climbing robot is output, and the rotating speed-negative pressure difference relation model is obtained by fitting the negative pressure difference of the intra-cavity pressure intensity and the atmospheric pressure intensity at different rotating speeds and the corresponding rotating speeds. According to the method, the stability and adaptability of the robot can be improved, and the limitation of the prior art can be effectively dealt with.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an adaptive real-time speed regulation method for an adsorption fan of a wall-climbing robot. Background Art

[0002] Currently, wall-climbing robots are widely used in industrial and civilian fields, covering tasks such as high-altitude equipment installation, warehouse shelf inspection, building exterior wall inspection, household cleaning, and glass curtain wall cleaning. However, existing wall-climbing robots are difficult to maintain stable adsorption on walls of different materials or surface roughness. When the robot encounters an uneven surface or obstacle on the wall, the robot in the prior art is prone to insufficient adsorption and easy to fall off. In addition, the adsorption device is poor in air tightness. When running for a long time or encountering a complex wall, it is easy to leak, resulting in reduced adsorption.

[0003] Through verification, it was found that during the operation of the wall-climbing robot, if poor air tightness causes air leakage, the fan speed can be adjusted in time to ensure that the robot continues to operate stably.

[0004] Therefore, the present invention proposes a method for adaptively adjusting the speed of an adsorption fan of a wall-climbing robot in real time. Summary of the invention

[0005] In view of the problems existing in the above-mentioned prior art, the present invention proposes an adaptive real-time speed regulation method for the adsorption fan of a wall-climbing robot.

[0006] To achieve the above object, the present invention provides a wall-climbing robot adsorption fan adaptive real-time speed regulation method, comprising:

[0007] The pressure in the cavity of the adsorption device of the wall-climbing robot in the adsorption state is collected in real time, and the difference between it and the standard atmospheric pressure in the experimental environment is calculated to obtain the negative pressure difference between the cavity pressure and the atmospheric pressure;

[0008] The negative pressure difference is input into the speed-negative pressure difference relationship model, and the fan speed of the wall-climbing robot adsorption device is output, wherein the speed-negative pressure difference relationship model is obtained by fitting the negative pressure difference of the cavity pressure and atmospheric pressure under different speeds and the corresponding speed.

[0009] Preferably, constructing the rotation speed-negative pressure difference relationship model includes:

[0010] The fuzzy PID method is used to adjust the speed of the fan of the wall-climbing robot in working state, determine the cavity pressure at different speeds and calculate the negative pressure difference of atmospheric pressure. Through fitting, the third-order polynomial of speed and speed negative pressure difference is obtained.

[0011] Under the same standard atmospheric pressure test conditions, the negative pressure difference level in the cavity of the wall-climbing robot is restored to the initial level based on the third-order polynomial, and the pressure drop change in the negative pressure cavity is controlled. Under different pressure drop conditions, the influence of the pressure drop in the negative pressure cavity on the fan speed is studied, and the speed increment that needs to be adjusted by the fan under different pressure drop conditions is determined, and the speed-negative pressure difference relationship model is constructed.

[0012] Preferably, determining the cavity pressure at different rotation speeds and calculating the negative pressure difference of the atmospheric pressure includes:

[0013] During the wall adsorption process of the wall-climbing robot, based on the continuous adjustment of the fan speed, the fan speed is measured, and the negative pressure difference value in the cavity at different speeds is calculated, specifically:

[0014] Adjust the fan speed to the maximum, record the fan speed and negative pressure difference, use the fuzzy PID method to control the fan speed, and gradually reduce the fan speed by a fixed amplitude. Record the fan speed and the negative pressure difference between the cavity pressure and the atmospheric pressure respectively, until the fan speed is adjusted to the critical state where the negative pressure cavity cannot maintain adsorption on the wall, and record the last set of data.

[0015] Preferably, the method for obtaining the third-order polynomial of the speed and the speed negative pressure difference is:

[0016] The recorded data are fitted by MATLAB to obtain the third-order polynomial:

[0017] N(P)=A*P^ 3 -B*P^ 2 +C*PE

[0018] Where N(P) is the fan speed, A is the coefficient of the cubic term, P is the negative pressure difference, B is the coefficient of the quadratic term, C is the coefficient of the linear term, and E is the constant term.

[0019] Preferably, the recorded data is fitted by MATLAB, including:

[0020] Create evenly distributed points within the negative pressure range, draw the original data points to form a speed-negative pressure difference broken line relationship diagram and a fitted polynomial curve, use the polyval function to calculate the fan speed value on the fitted polynomial curve, print out the fitted polynomial equation, and show how the fan speed changes with the negative pressure difference P;

[0021] The actual measured values ​​were compared with the predicted values ​​of the fitting model to verify the accuracy and reliability of the fitting model.

[0022] Preferably, under different pressure drop conditions, studying the effect of the pressure drop in the negative pressure chamber on the rotation speed includes:

[0023] By installing a solenoid valve in the negative pressure chamber to release the pressure in the chamber, the pressure drop in the negative pressure chamber is increased, the speed of the fan is orderly affected, the influence of the pressure drop in the negative pressure chamber on the speed of the fan under different pressure drop conditions is studied, the speed increment required to adjust the fan under different pressure drop conditions is determined, the final speed is calculated and verified with the actual measured value;

[0024] The solenoid valve is opened or closed to adjust the pressure drop in the negative pressure chamber.

[0025] Preferably, the speed increment required to adjust the fan under different pressure drop conditions is determined, and the method for calculating the final speed is as follows:

[0026] N 总 =N(P0)+△N

[0027] △N=N(P0)-N(P0-Pd)

[0028] Where N(P0) is the initial speed, N(P0-Pd) is the speed after leakage, P0 is the initial negative pressure difference, Pd is the leakage amount, P0-Pd is the pressure difference in the negative pressure chamber after leakage, and △N is the difference between the initial speed and the fan speed after leakage.

[0029] Preferably, the negative pressure difference between the cavity and the external atmospheric pressure when the wall-climbing robot is stably adsorbed on the wall is recorded as the initial negative pressure difference P0, and the fan speed calculated by the third-order polynomial is the initial speed N(P0).

[0030] Preferably, a negative pressure sensor is installed in the negative pressure chamber, and the negative pressure sensor detects the pressure in the negative pressure chamber by wirelessly connecting to a host computer. The host computer can simultaneously display the pressure in the negative pressure chamber and the fan speed.

[0031] Compared with the prior art, the present invention has the following advantages and technical effects:

[0032] The method of the present invention can not only improve the stability and adaptability of the robot, but also effectively cope with the limitations of the existing technology, such as the diversity of wall types and the ability to flexibly cope with obstacles.

[0033] The present invention introduces a fuzzy PID control method to optimize the proportional, integral and differential control parameters to cope with the complex changes in the fan operation process, and uses a series of fuzzy rules to deal with the nonlinearity and uncertainty of the system, so that the controller can dynamically adjust the PID parameters in actual operation. This adjustment can effectively cope with various disturbances caused by changes in the fan speed, thereby achieving more accurate and stable control. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0035] Figure 1 A schematic diagram of the structure of a wall-climbing robot according to an embodiment of the present invention;

[0036] Figure 2 This is a flow chart of a method for adaptive real-time speed regulation of an adsorption fan of a wall-climbing robot according to an embodiment of the present invention;

[0037] Figure 3 A third-order model curve diagram of speed-negative pressure difference according to an embodiment of the present invention;

[0038] Figure 4 4 is a comparison diagram of actual and theoretical speed increments according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0040] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0041] The present invention proposes a method for adaptively adjusting the speed of a wall-climbing robot adsorption fan in real time. Figure 1-Figure 2 ,include:

[0042] The pressure in the cavity of the adsorption device of the wall-climbing robot in the adsorption state is collected in real time, and the pressure is subtracted from the standard atmospheric pressure in the experimental environment to obtain the negative pressure difference between the cavity pressure and the atmospheric pressure;

[0043] The negative pressure difference is input into the speed-negative pressure difference relationship model, and the fan speed of the wall-climbing robot adsorption device is output, wherein the speed-negative pressure difference relationship model is obtained by fitting the negative pressure difference of the cavity pressure and atmospheric pressure under different speeds and the corresponding speed.

[0044] This embodiment adjusts the fan speed in real time to adapt to different types of walls, so that the wall-climbing robot can stably adsorb on walls of various materials and different roughness. The introduction of a fuzzy PID control algorithm ensures that the robot can dynamically adjust the fan speed when encountering obstacles or uneven surfaces to maintain the stability of the adsorption force, thereby improving the overall operational reliability of the robot. By real-time monitoring of the negative pressure difference between the cavity of the adsorption device and the external atmospheric pressure, when a leak occurs, the system can adjust the fan speed in time to ensure that the robot can still operate stably even when the air tightness is compromised, thereby improving work efficiency and reducing safety risks. This progress helps to solve the challenges of existing technologies and expand the application potential of wall-climbing robots in a wider range of fields.

[0045] Furthermore, a speed-negative pressure difference relationship model is constructed, including:

[0046] The fuzzy PID method is used to adjust the speed of the fan of the wall-climbing robot in working state, and the negative pressure difference between the cavity pressure and the atmospheric pressure at different speeds is determined. The third-order polynomial of the speed and the speed negative pressure difference is obtained by fitting.

[0047] Under the same standard atmospheric pressure test conditions, the negative pressure difference inside the wall-climbing robot cavity is restored to the initial level based on the third-order polynomial, and the pressure drop change in the negative pressure cavity is controlled. Under different pressure drop conditions, the influence of the pressure drop in the negative pressure cavity on the speed is studied, and then the speed increment that needs to be adjusted by the fan under different pressure drop conditions is determined, and a speed-negative pressure difference relationship model is constructed.

[0048] Furthermore, the negative pressure difference between the cavity pressure and the atmospheric pressure at different rotation speeds is determined, including:

[0049] During the wall adsorption process of the wall-climbing robot, based on the continuous adjustment of the fan speed, the fan speed is measured and the pressure in the cavity at each speed is recorded to obtain the negative pressure difference value with the atmospheric pressure, which is specifically:

[0050] Adjust the fan speed to the maximum, record the fan speed and negative pressure difference, use the fuzzy PID method to control the fan speed, and gradually reduce the fan speed by a fixed amplitude. Record the fan speed and the negative pressure difference between the cavity pressure and the atmospheric pressure respectively, until the fan speed is adjusted to the critical state where the negative pressure cavity cannot maintain adsorption on the wall, and record the last set of data.

[0051] Specifically, the fan of the wall-climbing robot is started to generate enough negative pressure to enable the robot to adsorb to the wall. Next, the fuzzy PID control algorithm is used to accurately adjust the fan speed N(P). The algorithm gradually adjusts the fan speed, and after each adjustment, calculates the negative pressure difference P between the negative pressure in the cavity and the atmospheric pressure, and displays the above data on the host computer. By recording the negative pressure difference P corresponding to each fan speed, detailed measurement data can be obtained. Using this data, the specific impact of the fan speed on the negative pressure in the cavity will be analyzed, so as to clarify the relationship between the fan speed and the negative pressure difference.

[0052] The fuzzy PID control algorithm is used to accurately measure the experimental data. The fuzzy PID control algorithm optimizes the proportional, integral and differential control parameters by introducing fuzzy logic to cope with the complex changes in the fan operation process, and uses a series of fuzzy rules to deal with the nonlinearity and uncertainty of the system, so that the controller can dynamically adjust the PID parameters in actual operation. This adjustment can effectively cope with various disturbances caused by changes in fan speed, thereby achieving more accurate and stable control and providing reliable measurement data support.

[0053] Furthermore, a third-order polynomial of the speed and the speed negative pressure difference is obtained, including:

[0054] The recorded data are fitted by MATLAB to obtain the third-order polynomial:

[0055] N(P)=A*P^ 3 -B*P^ 2 +C*PE

[0056] Where N(P) is the fan speed, A is the coefficient of the cubic term, P is the negative pressure difference, B is the coefficient of the quadratic term, C is the coefficient of the linear term, and E is the constant term.

[0057] Specifically, under the same conditions, the wall-climbing robot is adsorbed on the wall surface, and the speed N(P) of the fan is continuously adjusted to measure the negative pressure difference in the cavity corresponding to each speed.

[0058] The negative pressure difference value in the cavity at each speed is measured and recorded as N(P1) and P1, N(P2) and P2, N(P3) and P3, N(P4) and P4, etc.

[0059] At the beginning, adjust the fan speed to the maximum, record the fan speed as N (P1), and the negative pressure difference as P1. Next, use fuzzy PID control to reduce the fan speed by S (RPM) in sequence, record the fan speed as N (P2), and the negative pressure difference as P2. Similarly, reduce the fan speed by S (RPM) and record the fan speed as N (P3), and the negative pressure difference as P3. Then reduce the fan speed by S (RPM) again, record the fan speed as N (P4), and the negative pressure difference as P4, and so on, until the fan speed is adjusted to the critical state where the negative pressure chamber can hardly maintain adsorption on the wall, and record the last set of data.

[0060] The measured data were all measured under the same conditions, and after fitting the experimental data with MATLAB, the third-order polynomial was obtained as N(P)=A*P^ 3 -B*P^ 2 +C*PE.

[0061] The third-order polynomial is used for fitting because it has high flexibility and can capture the possible nonlinear relationship between fan speed and negative pressure difference. Compared with linear or quadratic polynomials, the third-order polynomial can better adapt to complex data patterns.

[0062] Furthermore, the recorded data are fitted by MATLAB, including:

[0063] Create evenly distributed points within the negative pressure range, plot the original data points to form a speed-negative pressure difference line graph, and fit a polynomial curve. Then use the polyval function to calculate the fan speed value on the fitted curve, print out the fitted polynomial equation, and show how the fan speed changes with the negative pressure difference P.

[0064] The actual measured values ​​were compared with the predicted values ​​of the fitting model to verify the accuracy and reliability of the fitting model.

[0065] Specifically, the measured data is processed on MATLAB:

[0066] First, the experimental data should be imported from the file. Then, data preprocessing is performed to identify and remove rows with blank values ​​to ensure data integrity. Next, the noisy data is removed by applying the standard deviation method. The processed data is used to plot the relationship between the fan speed and the negative pressure difference in the cavity, and a third-order polynomial fit is performed to analyze the data trend.

[0067] The fitting method is as follows:

[0068] First, define the fan speed N(P) and the corresponding negative pressure difference P data. Then, use the polyfit function to perform a third-order polynomial fitting on the negative pressure difference P and the fan speed N(P) to obtain a fitted polynomial.

[0069] Next, create evenly distributed points within the negative pressure range and use the polyval function to calculate the fan speed value on the fitting curve. In order to intuitively understand the relationship between the data, the original data points are plotted to form a speed-negative pressure difference line graph and a fitted polynomial curve. Figure 3 It is the third-order model curve of speed-negative pressure difference.

[0070] Then, the fitted polynomial equation is printed out, clearly showing how the fan speed N(P) changes with the negative pressure difference P.

[0071] Finally, the experiment was conducted again to compare the actual measured values ​​with the predicted values ​​of the fitting model to verify the accuracy and reliability of the fitting model.

[0072] Furthermore, under different pressure drop conditions, the influence of the pressure drop in the negative pressure chamber on the rotation speed is studied, including:

[0073] By installing a solenoid valve in the negative pressure chamber to release the pressure in the chamber, the pressure drop in the negative pressure chamber is increased, the speed of the fan is orderly affected, the influence of the pressure drop in the negative pressure chamber on the speed of the fan under different pressure drop conditions is studied, the speed increment required to adjust the fan under different pressure drop conditions is determined, the final speed is calculated and verified with the actual measured value;

[0074] The solenoid valve is opened or closed to adjust the pressure drop in the negative pressure chamber.

[0075] Installing a solenoid valve in the negative pressure chamber can precisely control the release of pressure in the chamber. The function of the solenoid valve is to adjust the pressure drop in the negative pressure chamber by opening or closing, thereby achieving fine control of the pressure in the chamber and simulating the situation of leakage in the negative pressure chamber. When the solenoid valve is opened, it allows air to flow into the negative pressure chamber, thereby increasing the leakage in the chamber and causing the pressure to drop. By regularly and gradually increasing the leakage to observe and adjust the speed of the fan to compensate for the resulting pressure drop, this adjustment can help maintain the negative pressure difference in the negative pressure chamber at a preset level.

[0076] Specifically, based on the third-order polynomial and the experimental conditions of the same standard atmospheric pressure, the fan speed is adjusted when the pressure drop in the negative pressure chamber decreases to compensate for the resulting pressure drop and restore to the original negative pressure level. By installing a solenoid valve in the negative pressure chamber to release the pressure, the pressure drop is gradually reduced, and the fan speed is orderly affected. The influence of the pressure drop Pd of the negative pressure chamber on the speed under different pressure drop conditions is studied. Combined with the formula derived below, the speed increment △N that the fan needs to adjust under different pressure drop conditions is determined, and the final speed N is calculated. 总 And verify with the actual measured values:

[0077] N 总 =N(P0)+△N

[0078] △N=N(P0)-N(P0-Pd)

[0079] Where N(P0) is the initial speed, N(P0-Pd) is the speed after leakage, P0 is the initial negative pressure difference, Pd is the pressure drop, P0-Pd is the pressure difference in the negative pressure chamber after leakage, and △N is the speed increment after leakage.

[0080] Further, the method of obtaining these data is described as follows:

[0081] Under the same conditions, the wall-climbing robot is stably adsorbed on the wall surface, and the negative pressure difference between the cavity and the external atmospheric pressure is recorded as the initial negative pressure difference P0; the fan speed is calculated by the third-order polynomial, which is recorded as the initial speed N(P0);

[0082] When the negative pressure chamber has a pressure drop, the pressure difference between the inside and outside of the chamber decreases. The pressure drop is Pd. At this time, the pressure difference between the inside and outside of the negative pressure chamber is P0-Pd. According to the third-order polynomial, the speed of the fan after the pressure drop should be N(P0-Pd), and the difference between it and the initial speed N(P0) is called △N. In order to compensate for the error caused by the pressure drop and restore the negative pressure difference in the negative pressure chamber to the initial level, △N needs to be added to N(P0) on the fan speed, recorded as N 总 , so as to ensure that the cavity returns to the initial negative pressure difference.

[0083] Furthermore, a negative pressure sensor is installed in the negative pressure chamber. The negative pressure sensor detects the pressure in the negative pressure chamber through a wireless connection with a host computer. The host computer can simultaneously display the pressure in the negative pressure chamber and the fan speed.

[0084] To verify the hypothetical formula, this embodiment performs the following experiments:

[0085] Under the same standard atmospheric pressure conditions as the above experiment, the wall-climbing robot is stably adsorbed on the wall surface, and the negative pressure difference between the cavity and the external atmospheric pressure at this time is recorded as the initial negative pressure difference P0;

[0086] From the third-order polynomial N(P) = A*P^ 3 -B*P^ 2 +C*PE calculates the fan speed corresponding to the initial negative pressure difference P0, and substitutes P0 into the third-order polynomial to calculate the speed, which is recorded as the initial speed N(P0).

[0087] The pressure drop in the cavity is controlled by a solenoid valve. The pressure drop generated each time is fixed to Pd. This fixed value is set according to the application scenario to ensure the stability of the system. Multiple pressure drop control operations are performed on the cavity.

[0088] After the first pressure drop control operation, record the pressure drop size Pd1, and calculate the speed N(P0-Pd1) after the pressure drop through the third-order polynomial, and get △N1=N(P0)-N(P0-Pd1), thus calculating N 总1 .

[0089] Based on the first pressure drop, perform the pressure drop control operation again, record the pressure drop size Pd2, and calculate N in the same way as above. 总2 .

[0090] Pd1=Pd

[0091] Pd2=2*Pd.

[0092] Similarly, we can get N 总3 , N 总4 etc.

[0093] The above data are fitted into a curve about pressure drop Pd and speed increment by using polyval function in MATLAB;

[0094] In actual measurements, the same operations as above are performed on the cavity of the wall-climbing robot, and the actual measured data are also fitted into a curve about the pressure drop Pd and the speed increment to help understand the relationship between the pressure drop and the speed increment.

[0095] Finally, by comparing the actual curve and the fitting curve (such as Figure 4 ), verify the accuracy and reliability of the hypothesis formula.

[0096] In actual applications, when a wall-climbing robot is adsorbing on a wall, a pressure drop may occur in the negative pressure chamber due to changes in the external environment, the wall condition, or the system's internal conditions. When a pressure drop occurs, the difference between the pressure in the negative pressure chamber and the external atmospheric pressure decreases, which reduces the adsorption force and may cause the robot to detach from the wall.

[0097] At this time, the fuzzy PID control method can cope with this situation in practical applications. When the pressure drop in the negative pressure chamber is detected to be reduced, the controller will immediately use the fuzzy PID algorithm through the previously imported fuzzy PID program to adjust the speed of the fan in real time. The adjustment process can be described as: the controller collects and processes the negative pressure difference obtained by the negative pressure sensor as a control variable and inputs it into the speed-negative pressure difference relationship model to calculate the corresponding fan speed adjustment amount. The fuzzy PID controller quickly adjusts the speed of the fan to ensure that the negative pressure difference in the chamber returns to the initial value, so as to ensure that the adsorption force returns to the normal value and ensure stable adsorption of the robot.

[0098] This adjustment process can not only effectively deal with the problem of unstable adsorption caused by pressure drop, but also achieve a balance between fan speed and power consumption, optimizing the overall performance of the wall-climbing robot. Through this real-time adjustment, the robot can maintain stable adsorption under complex wall conditions, improve its adaptability and work efficiency, and effectively solve the limitations of existing technologies in pressure drop compensation.

[0099] The above are only preferred specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A wall-climbing robot adsorption fan adaptive real-time speed regulation method, characterized in that: include: The pressure in the cavity of the adsorption device of the wall-climbing robot in the adsorption state is collected in real time, and the difference between it and the standard atmospheric pressure in the experimental environment is calculated to obtain the negative pressure difference between the cavity pressure and the atmospheric pressure; The negative pressure difference is input into the speed-negative pressure difference relationship model, and the fan speed of the wall-climbing robot adsorption device is output, wherein the speed-negative pressure difference relationship model is obtained by fitting the negative pressure difference of the cavity pressure and atmospheric pressure at different speeds and the corresponding speed.

2. The wall-climbing robot adsorption fan adaptive real-time speed regulation method according to claim 1 is characterized in that: Constructing the rotation speed-negative pressure difference relationship model includes: The fuzzy PID method is used to adjust the speed of the fan of the wall-climbing robot in working state, determine the cavity pressure at different speeds and calculate the negative pressure difference of atmospheric pressure. Through fitting, the third-order polynomial of speed and speed negative pressure difference is obtained. Under the same standard atmospheric pressure test conditions, the negative pressure difference level in the cavity of the wall-climbing robot is restored to the initial level based on the third-order polynomial, and the pressure drop change in the negative pressure cavity is controlled. Under different pressure drop conditions, the influence of the pressure drop in the negative pressure cavity on the fan speed is studied, and the speed increment that needs to be adjusted by the fan under different pressure drop conditions is determined, and the speed-negative pressure difference relationship model is constructed.

3. The wall-climbing robot adsorption fan adaptive real-time speed regulation method according to claim 2 is characterized in that: Determine the cavity pressure at different speeds and calculate the negative pressure difference to atmospheric pressure, including: During the wall adsorption process of the wall-climbing robot, based on the continuous adjustment of the fan speed, the fan speed is measured, and the negative pressure difference value in the cavity at different speeds is calculated, specifically: Adjust the fan speed to the maximum, record the fan speed and negative pressure difference, use the fuzzy PID method to control the fan speed, and gradually reduce the fan speed by a fixed amplitude. Record the fan speed and the negative pressure difference between the cavity pressure and the atmospheric pressure respectively, until the fan speed is adjusted to the critical state where the negative pressure cavity cannot maintain adsorption on the wall, and record the last set of data.

4. The wall-climbing robot adsorption fan adaptive real-time speed regulation method according to claim 3 is characterized in that: The method for obtaining the third-order polynomial of the speed and the speed negative pressure difference is: The recorded data are fitted by MATLAB to obtain the third-order polynomial: N(P)=A*P^ 3 -B*P^ 2 +C*P-E Where N(P) is the fan speed, A is the coefficient of the cubic term, P is the negative pressure difference, B is the coefficient of the quadratic term, C is the coefficient of the linear term, and E is the constant term.

5. The wall-climbing robot adsorption fan adaptive real-time speed regulation method according to claim 4 is characterized in that: The recorded data are fitted by MATLAB, including: Create evenly distributed points within the negative pressure range, plot the original data points to form a speed-negative pressure difference line graph, and fit a polynomial curve. Use the polyval function to calculate the fan speed value on the fitted curve, print out the fitted polynomial equation, and show how the fan speed changes with the negative pressure difference P. The actual measured values ​​were compared with the predicted values ​​of the fitting model to verify the accuracy and reliability of the fitting model.

6. The wall-climbing robot adsorption fan adaptive real-time speed regulation method according to claim 2 is characterized in that: Under different pressure drop conditions, the effect of pressure drop in the negative pressure chamber on the rotation speed is studied, including: By installing a solenoid valve in the negative pressure chamber to release the pressure in the chamber, the pressure drop in the negative pressure chamber is increased, the speed of the fan is orderly affected, the influence of the pressure drop in the negative pressure chamber on the speed of the fan under different pressure drop conditions is studied, the speed increment required to adjust the fan under different pressure drop conditions is determined, the final speed is calculated and verified with the actual measured value; The solenoid valve is opened or closed to adjust the pressure drop in the negative pressure chamber.

7. The wall-climbing robot adsorption fan adaptive real-time speed regulation method according to claim 6 is characterized in that: Determine the speed increment required to adjust the fan under different pressure drop conditions and calculate the final speed as follows: OF 总 =N(P0)+△N △N=N(P0)-N(P0-Pd) Where N(P0) is the initial speed, N(P0-Pd) is the speed after leakage, P0 is the initial negative pressure difference, Pd is the leakage amount, P0-Pd is the pressure difference in the negative pressure chamber after leakage, and △N is the difference between the initial speed and the fan speed after leakage.

8. The wall-climbing robot adsorption fan adaptive real-time speed regulation method according to claim 7 is characterized in that: The negative pressure difference between the cavity and the external atmospheric pressure when the wall-climbing robot is stably adsorbed on the wall is recorded as the initial negative pressure difference P0, and the fan speed calculated by the third-order polynomial is the initial speed N(P0).

9. The wall-climbing robot adsorption fan adaptive real-time speed regulation method according to claim 2 is characterized in that: A negative pressure sensor is installed in the negative pressure chamber. The negative pressure sensor detects the pressure in the negative pressure chamber by wirelessly connecting to a host computer. The host computer can simultaneously display the pressure in the negative pressure chamber and the fan speed.

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