Magnetic adsorption wall-climbing robot control system and control method

Abstract

The invention provides a magnetic adsorption wall-climbing robot control system and method, and the system comprises a driving module which is used for driving a robot main body to walk at any angle on the surface of a ferromagnetic material; the measuring module is used for measuring the magnetic induction intensity between the magnetic wheel and the ferromagnetic material; the data processing module is used for processing the magnetic induction intensity data acquired by the measuring module and calculating the magnetic induction intensity measured by the measuring module into the distance between the magnetic wheel and the surface of the ferromagnetic material; and the control module is used for judging the processed data and controlling the robot main body to operate stably and safely. Walking control of the wall-climbing robot body forms a closed loop, it is always ensured that the adsorption force between the wall-climbing robot and the adsorption surface is in a stable adsorption state, and stable operation of the robot is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to a control system and a control method of a magnetic adsorption wall-climbing robot. Background Art

[0002] When designing a wall-climbing robot system, the first thing to do is to ensure that the robot has sufficient adsorption force to ensure that the robot can be stably adsorbed on the magnetic wall or ferromagnetic material surface without slipping or overturning.

[0003] The situation where the distance between the magnetic wheels of a wall-climbing robot and the adsorption surface increases usually occurs when the wall-climbing robot is crossing an obstacle. When crossing an obstacle, the magnetic adsorption force of one or several wheels may decay. This situation is very dangerous for the robot. Once the magnetic adsorption force is lower than the required threshold, the robot is in danger of falling. At present, for this situation, the wall-climbing robots on the market can only increase the magnetic adsorption force of the magnetic wheels to ensure sufficient adsorption force even when the magnetic force decays, so as not to cause the robot to fall. However, this brings other problems, mainly including the following aspects: 1. The existing motor has insufficient driving force, resulting in difficulty in steering. Therefore, it is necessary to reselect the motor based on the situation after increasing the magnetic force, and choose a motor with increased power and torque; 2. The drive system is too large; 3. Due to the increase in motor driving force, the strength of the reducer and flange needs to be rechecked or selected; 4. If the magnetic adsorption is too large, the positive pressure between the magnetic wheel and the adsorption surface will increase, so the friction between the two will also increase, and the wear of the magnetic wheel itself or the surface coating will also be very obvious. For some adsorption surfaces with coatings, such damage is not allowed; 5. If the adsorption force is too large, it is easy to adsorb more iron filings, which may have an adverse effect on the walking accuracy of the robot or even affect its safety.

[0004] In order to solve the above problems, some wall-climbing robots use variable magnetic wheels to adjust the size of the magnetic force. However, these adjustment mechanisms are often too complicated and require additional degrees of freedom. The complexity of the mechanical structure and control system is greatly increased, thereby reducing the stability of the system. In addition, due to the addition of the adjustment mechanism, the internal space of the magnetic wheel is occupied, resulting in a reduction in the number of internal magnets, which makes the continuity of the adsorption force on the entire magnetic wheel cylinder worse, thereby destroying the original Halbach array arrangement and indirectly reducing the adsorption force of the entire magnetic wheel. Therefore, the possibility of practical application is very small.

[0005] In fact, the magnetic attraction force between the magnetic wheels and the wall of the current wall-climbing robot is unknown during operation, especially in the case of obstacle crossing, such open-loop movement may cause accidents. In view of the above situation, the present invention proposes a magnetic attraction wall-climbing robot control system and control method. Summary of the invention

[0006] In order to solve the current technical problems, the main purpose of the present invention is to provide a control system and a control method for a magnetic adsorption wall-climbing robot. The magnetic induction intensity between the magnetic wheel and the ferromagnetic material is measured by a measuring module, and the magnetic induction intensity measured by the measuring module is calculated into the distance between the magnetic wheel and the surface of the ferromagnetic material by a data processing module. The control module is used to make judgments on the processed data, control the robot body to operate stably and safely, and form a closed loop for the walking control of the wall-climbing robot body, so as to always ensure that the adsorption force between the wall-climbing robot and the adsorption surface is in a stable adsorption state, thereby ensuring the stable operation of the robot.

[0007] The technical solution adopted by the present invention is: a magnetic adsorption wall-climbing robot control system, comprising: A driving module, wherein the driving module is mounted on a chassis of the robot body, and the driving module comprises at least three magnetic wheels, which are drivingly connected to a driving motor to drive the robot body to walk at any angle on a surface of a ferromagnetic material; A measuring module, which is installed on the robot body, and a measuring module is installed on one side of each magnetic wheel, and the measuring module is used to measure the magnetic induction intensity between the magnetic wheel and the ferromagnetic material; A data processing module, the data processing module is used to process the magnetic induction intensity data collected by the measuring module, and calculate the magnetic induction intensity measured by the measuring module into the distance between the magnetic wheel and the surface of the ferromagnetic material; The control module is installed on the robot body. The control module is electrically connected to the drive module and the data processing module respectively. The control module obtains the data processed by the data processing module and makes judgments to control the robot to run stably and safely.

[0008] The magnetic wheel is a permanent magnetic wheel.

[0009] The measuring module comprises a magnetic induction intensity measuring device, which is mounted on the outer side of the magnetic wheel through a bracket.

[0010] The robot body is also equipped with a posture sensor, which is electrically connected to the data processing module.

[0011] The robot body is also equipped with an odometer, which is electrically connected to the data processing module.

[0012] An adsorption force compensation device is also installed at the bottom of the robot body, and the adsorption force compensation device is electrically connected to the data processing module.

[0013] The adsorption force compensation device is an electromagnet.

[0014] The control method of the magnetic adsorption wall-climbing robot control system comprises the following steps: Presetting multiple types of intervals of magnetic induction intensity between the magnetic wheel and the ferromagnetic material in the control module; When the robot body walks on the surface of the ferromagnetic material through the driving module, the measuring module measures the magnetic induction intensity between the magnetic wheel and the ferromagnetic material in real time, and sends the data information to the data processing module; The data processing module calculates the magnetic induction intensity measured by the measuring module into the distance between the magnetic wheel and the surface of the ferromagnetic material; The control module compares the spacing calculated by the data processing module with the preset type interval to determine the spacing between the magnetic wheel and the ferromagnetic material; The control module controls the driving module according to the judgment result to prevent the robot body from detaching from the ferromagnetic material and falling off.

[0015] In the control module, multiple types of intervals of magnetic induction intensity between the magnetic wheel and the ferromagnetic material are pre-set, including: a green safety interval, a yellow warning interval and a danger interval. If the distance at which the magnetic wheel and the ferromagnetic material separate is L, in the green safety interval, the distance between the magnetic wheel and the ferromagnetic material ranges from 0 to L / 3; in the yellow warning interval, the distance between the magnetic wheel and the ferromagnetic material ranges from L / 3 to 2L / 3; in the danger interval, the distance between the magnetic wheel and the ferromagnetic material ranges from 2L / 3 to L; When the control module determines that the distance between the magnetic wheel and the ferromagnetic material is in the green safety zone, the emergency control of the drive module is not intervened; When the control module determines that the distance between the magnetic wheel and the ferromagnetic material is in the yellow warning interval, the control module alarms to remind the user of the current situation; When the control module determines that the distance between the magnetic wheel and the ferromagnetic material is in a dangerous range, the control module reminds the user and takes the initiative to intervene. According to the previously recorded magnetic induction intensity value, the control module takes the initiative to move in the opposite direction and return to the nearest green safety zone.

[0016] When the control module determines that the distance between the magnetic wheel and the ferromagnetic material is in the yellow warning or danger zone, the control module controls the adsorption force compensation device to start, and controls the adsorption force compensation device according to the calculated distance between the magnetic wheel and the surface of the ferromagnetic material to compensate for the adsorption force of the magnetic wheel, thereby ensuring that the adsorption force between the magnetic wheel and the ferromagnetic material is in a stable adsorption state.

[0017] The present invention has the following beneficial effects: 1. The present invention adopts a measuring module to measure the magnetic induction intensity between the magnetic wheel and the ferromagnetic material, and then calculates the magnetic induction intensity measured by the measuring module into the distance between the magnetic wheel and the surface of the ferromagnetic material through the data processing module, and then obtains the data processed by the data processing module through the control module to make a judgment, control the operation of the robot, and form a closed loop for the walking control of the robot body, so as to always ensure that the adsorption force between the wall-climbing robot and the adsorption surface is in a stable adsorption state, thereby ensuring the safe and stable operation of the robot.

[0018] 2. An adsorption force compensation device is also installed at the bottom of the robot body of the present invention. When the adsorption force of the robot body is insufficient, the adsorption force compensation device is activated to compensate for the adsorption force of the robot body to ensure stable adsorption of the robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a schematic structural diagram of the wall-climbing robot of the present invention.

[0021] Figure 2 It is a control flow diagram of the present invention.

[0022] Reference numerals Robot body 1, control module 2, drive module 3, measurement module 4, adsorption force compensation device 5. DETAILED DESCRIPTION

[0023] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Embodiment 1: like Figure 1 As shown, the present invention provides a magnetic adsorption wall-climbing robot control system, comprising: A driving module 3, which is mounted on the chassis of the robot body 1. The driving module 3 includes at least three magnetic wheels, which are drivingly connected to a driving motor to drive the robot body 1 to walk at any angle on the surface of a ferromagnetic material; A measuring module 4 is installed on the robot body 1, and a measuring module 4 is installed on one side of each magnetic wheel, and the measuring module 4 is used to measure the magnetic induction intensity between the magnetic wheel and the ferromagnetic material; A data processing module, which is used to process the magnetic induction intensity data collected by the measuring module 4, and calculate the magnetic induction intensity measured by the measuring module 4 into the distance between the magnetic wheel and the surface of the ferromagnetic material; The control module 2 is installed on the robot body 1. The control module 2 is electrically connected to the drive module 3 and the data processing module respectively. The control module 2 obtains the data processed by the data processing module and makes judgments to control the robot to run stably and safely.

[0025] The robot body 1 runs on the longitudinal working surface, and the obstacle is located at the bottom of the magnetic wheel. If the area of ​​the obstacle is very small, such as an attached concrete bump, the conventional distance measuring device cannot accurately measure the height of the obstacle. The present application adopts the measuring module 4 to measure the magnetic induction intensity between the magnetic wheel and the ferromagnetic material, and then calculates the magnetic induction intensity measured by the measuring module 4 into the distance between the magnetic wheel and the surface of the ferromagnetic material through the data processing module, and then obtains the data processed by the data processing module through the control module 2 to make a judgment, control the operation of the robot, and form a closed loop for the walking control of the robot body 1, always ensuring that the adsorption force between the wall-climbing robot and the adsorption surface is in a stable adsorption state, and ensuring the safe and stable operation of the robot body 1.

[0026] In this embodiment, the magnetic wheel adopts a permanent magnetic wheel. The permanent magnetic assembly inside the permanent magnetic wheel is an arc-shaped structure composed of a number of permanent magnet blocks spliced ​​in sequence along the circumferential direction. The magnetic pole distribution of the permanent magnet block adopts the Halbach array arrangement. The upper surface of the steel seat has an arc surface that matches the bottom shape of the connecting piece, and the lower surface of the steel seat has an arc surface that matches the top shape of the permanent magnetic assembly. The permanent magnet block adopts high-performance neodymium iron boron magnets, and multiple permanent magnet blocks are spliced ​​and used, and the magnetic pole guides the magnetic circuit.

[0027] In this embodiment, the measuring module 4 includes a magnetic induction intensity measuring device, which is installed on the outer side of the magnetic wheel through a bracket. The magnetic induction intensity measuring device can use a Gauss meter, which is also called a millitesla meter. It is an instrument used to measure and display the average magnetic flux density or magnetic induction intensity per unit area. The Hall sensor probe is passed through by the magnetic flux of the object. Due to the Hall effect, the Hall sensor on the probe generates a current and voltage. After the Hall voltage is measured, the magnitude of the magnetic induction intensity can be determined according to the Hall voltage formula and the known Hall coefficient.

[0028] Furthermore, a posture sensor is installed on the robot body 1, and the posture sensor is electrically connected to the data processing module. The posture sensor is used to measure the current posture of the robot body 1.

[0029] Furthermore, an odometer is installed on the robot body 1, and the odometer is electrically connected to the data processing module. The odometer is used to record the distance currently traveled by the robot body 1.

[0030] The data processing module can process the data of the measurement module 4, the posture sensor and the odometer, align the magnetic induction intensity data, the robot posture data and the distance data of the odometer, and associate them with time, so that the user can know the various data information of the robot body 1 between the current time point and a certain time point in the past, including the distance between the magnetic wheel and the surface of the ferromagnetic material, the robot posture data and the distance data of the odometer.

[0031] Furthermore, an adsorption force compensation device 5 is installed at the bottom of the robot body 1, and the adsorption force compensation device 5 is electrically connected to the data processing module. When the adsorption force of the robot body 1 is insufficient, the adsorption force compensation device is activated to compensate for the adsorption force of the robot body 1 to ensure stable adsorption of the robot body 1.

[0032] In this embodiment, the adsorption force compensation device 5 is an electromagnet, and the magnitude of its adsorption force can be changed by setting direct current of different magnitudes.

[0033] In addition to using electromagnets, the adsorption force compensation device 5 can also use a negative pressure fan structure. By adjusting the rotation speed of the negative pressure fan, the negative pressure value between the robot body 1 and the surface of the ferromagnetic material is adjusted, thereby ensuring stable adsorption of the robot body 1.

[0034] Embodiment 2: See also Figure 2 A control method for a magnetic adsorption wall-climbing robot control system is adopted, comprising the following steps: Presetting multiple types of intervals of magnetic induction intensity between the magnetic wheel and the ferromagnetic material in the control module 2; When the robot body 1 walks on the surface of the ferromagnetic material through the driving module 3, the measuring module 4 measures the magnetic induction intensity between the magnetic wheel and the ferromagnetic material in real time, and sends the data information to the data processing module; The data processing module calculates the magnetic induction intensity measured by the measuring module 4 into the distance between the magnetic wheel and the surface of the ferromagnetic material; The control module 2 compares the spacing calculated by the data processing module with the preset type interval, and determines the spacing between the magnetic wheel and the ferromagnetic material; The control module 2 controls the driving module 3 according to the judgment result to prevent the robot body 1 from falling off from the ferromagnetic material.

[0035] In this embodiment, the control module 2 pre-sets multiple types of intervals of magnetic induction intensity between the magnetic wheel and the ferromagnetic material, including: a green safety interval, a yellow warning interval, and a danger interval.

[0036] When calibrating the type interval, the starting position is when the magnetic wheel is completely in contact with the wall. At different obstacle heights, the magnetic wheel separates from the wall to a specified distance L as the end position. The distance L is related to the actual magnetic wheel. The greater the magnetic force, the greater L. This value can be obtained by checking the robot's sliding and overturning status.

[0037] Among them, in the green safety zone, the distance between the magnetic wheel and the ferromagnetic material ranges from 0 to L / 3; In the yellow warning zone, the distance between the magnetic wheel and the ferromagnetic material ranges from L / 3 to 2L / 3; In the danger zone, the distance between the magnetic wheel and the ferromagnetic material ranges from 2L / 3~L.

[0038] When the control module 2 determines that the distance between the magnetic wheel and the ferromagnetic material is in the green safety zone, the emergency control of the driving module 3 is not intervened; When the control module 2 determines that the distance between the magnetic wheel and the ferromagnetic material is in the yellow warning interval, the control module 2 alarms to remind the user of the current situation; When the control module 2 determines that the distance between the magnetic wheel and the ferromagnetic material is in a dangerous range, the control module 2 reminds the user and takes the initiative to intervene. According to the previously recorded magnetic induction intensity value, the control drive module 3 takes the initiative to move in the opposite direction and return to the nearest green safety zone.

[0039] Further, when the control module 2 determines that the distance between the magnetic wheel and the ferromagnetic material is in the yellow warning or danger zone, the control module 2 controls the adsorption force compensation device 5 to start, and controls the adsorption force compensation device 5 according to the calculated distance between the magnetic wheel and the surface of the ferromagnetic material to compensate for the adsorption force of the magnetic wheel, thereby ensuring that the adsorption force between the magnetic wheel and the ferromagnetic material is in a stable adsorption state. When the adsorption force compensation device 5 uses an electromagnet, the magnitude of its adsorption force is changed by setting direct current of different magnitudes. If the adsorption force is insufficient, the adsorption force compensation device is activated to compensate for the adsorption force of the robot, and when it is necessary to cross an obstacle, the stable adsorption of the robot is ensured.

Claims

1. A magnetic adsorption wall-climbing robot control system, characterized in that: include: A driving module (3), the driving module (3) being mounted on a chassis of the robot body (1), the driving module (3) comprising at least three magnetic wheels, the magnetic wheels being drivingly connected to a driving motor so as to drive the robot body (1) to walk at any angle on a surface of a ferromagnetic material; A measuring module (4), the measuring module (4) being mounted on the robot body (1), and a measuring module (4) being mounted on one side of each of the magnetic wheels, the measuring module (4) being used to measure the magnetic induction intensity between the magnetic wheel and the ferromagnetic material; A data processing module, the data processing module is used to process the magnetic induction intensity data collected by the measuring module (4), and calculate the magnetic induction intensity measured by the measuring module (4) into the distance between the magnetic wheel and the surface of the ferromagnetic material; A control module (2), the control module (2) being mounted on the robot body (1), the control module (2) being electrically connected to the drive module (3) and the data processing module respectively, the control module (2) obtaining data processed by the data processing module and then making a judgment, thereby controlling the robot to operate stably and safely.

2. A magnetic adsorption wall-climbing robot control system according to claim 1, characterized in that: The magnetic wheel is a permanent magnetic wheel.

3. A magnetic adsorption wall-climbing robot control system according to claim 1, characterized in that: The measuring module (4) comprises a magnetic induction intensity measuring device, which is mounted on the outside of the magnetic wheel via a bracket.

4. A magnetic adsorption wall-climbing robot control system according to claim 1, characterized in that: The robot body (1) is also equipped with a posture sensor, which is electrically connected to the data processing module.

5. A magnetic adsorption wall-climbing robot control system according to claim 1 or 4, characterized in that: The robot body (1) is also equipped with an odometer, which is electrically connected to the data processing module.

6. The magnetic adsorption wall-climbing robot control system according to claim 1 is characterized in that: An adsorption force compensation device (5) is also installed at the bottom of the robot body (1), and the adsorption force compensation device (5) is electrically connected to the data processing module.

7. A magnetic adsorption wall-climbing robot control system according to claim 6, characterized in that: The adsorption force compensation device (5) is an electromagnet.

8. A control method for a magnetic adsorption wall-climbing robot control system according to any one of claims 1 to 7, characterized in that: The following steps are involved: Presetting multiple types of intervals of magnetic induction intensity between the magnetic wheel and the ferromagnetic material in the control module (2); When the robot body (1) walks on the surface of the ferromagnetic material through the driving module (3), the measuring module (4) measures the magnetic induction intensity between the magnetic wheel and the ferromagnetic material in real time, and sends the data information to the data processing module; The data processing module calculates the magnetic induction intensity measured by the measuring module (4) into the distance between the magnetic wheel and the surface of the ferromagnetic material; The control module (2) compares the distance calculated by the data processing module with a preset type interval to determine the distance between the magnetic wheel and the ferromagnetic material; The control module (2) controls the driving module (3) according to the judgment result to prevent the robot body (1) from being separated from the ferromagnetic material and falling off.

9. The control method of a magnetic adsorption wall-climbing robot control system according to claim 8, characterized in that: In the control module (2), multiple types of intervals of magnetic induction intensity between the magnetic wheel and the ferromagnetic material are pre-set, including: a green safety interval, a yellow warning interval, and a danger interval. If the distance at which the magnetic wheel and the ferromagnetic material separate is L, in the green safety interval, the distance between the magnetic wheel and the ferromagnetic material ranges from 0 to L / 3; in the yellow warning interval, the distance between the magnetic wheel and the ferromagnetic material ranges from L / 3 to 2L / 3; in the danger interval, the distance between the magnetic wheel and the ferromagnetic material ranges from 2L / 3 to L; When the control module (2) determines that the distance between the magnetic wheel and the ferromagnetic material is in the green safety zone, the emergency control of the drive module (3) is not intervened; When the control module (2) determines that the distance between the magnetic wheel and the ferromagnetic material is in the yellow warning interval, the control module (2) sounds an alarm to remind the user of the current situation; When the control module (2) determines that the distance between the magnetic wheel and the ferromagnetic material is in a dangerous zone, the control module (2) reminds the user and takes the initiative to intervene. According to the previously recorded magnetic induction intensity value, the control module (3) takes the initiative to move in the opposite direction and return to the nearest green safety zone.

10. The control method of a magnetic adsorption wall-climbing robot control system according to claim 8, characterized in that: When the control module (2) determines that the distance between the magnetic wheel and the ferromagnetic material is in the yellow warning or danger zone, the control module (2) controls the adsorption force compensation device (5) to start, and controls the adsorption force compensation device (5) according to the calculated distance between the magnetic wheel and the surface of the ferromagnetic material to compensate for the adsorption force of the magnetic wheel, thereby ensuring that the adsorption force between the magnetic wheel and the ferromagnetic material is in a stable adsorption state.

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