Magnetic adsorption movement device and control method thereof

Abstract

The invention relates to a magnetic adsorption motion device and a control method thereof. The magnetic adsorption motion device comprises a chassis frame, a magnetic adsorption mechanism and a magnetic adsorption mechanism, the wheel assembly is used for driving the magnetic adsorption movement device to move on the metal surface; the first magnetic attraction piece has magnetism and can generate magnetic force with the metal surface; the plurality of chassis lifting devices are used for adjusting the distance between the chassis frame and the metal surface; the second magnetic attraction piece has magnetism and can generate magnetic force with the metal surface; and the magnetic lifting device is used for adjusting the distance between the second magnetic part and the metal surface. The magnetic attraction movement device can conveniently control and adjust the magnetic force between the magnetic attraction movement device and the metal surface through two sets of liftable magnetic attraction pieces, so that the magnetic attraction movement device can be conveniently mounted and dismounted, reliable magnetic attraction force can be kept in the inspection movement process, the magnetic attraction movement device is prevented from falling off, and the inspection efficiency is improved. And it can be guaranteed that the magnetic adsorption force generated by the magnetic adsorption movement device is appropriate, and the magnetic adsorption movement device can conveniently advance on the metal surface.

Description

Technical Field

[0001] The present disclosure relates to the technical field of mobile carriers, and in particular to a magnetic adsorption motion device and a control method thereof. Background Art

[0002] At present, when inspecting some high-altitude equipment, robots are used for inspection, thus avoiding the need for professionals to climb up to high places for inspection. The robot can move on the surface of the equipment through the mobile device it carries, which is more convenient. For some equipment with large slopes or vertical structures, such as wind power towers, equipment monitoring and maintenance can be achieved through remote control or autonomous inspection. In wind power inspection robots, the tower movement device is a very important component, which is responsible for moving the robot to different positions of the tower to achieve comprehensive inspections.

[0003] At present, most inspection robots for some steep or vertical equipment use a combination of magnetic wheels and traditional four-wheel independent drive systems to move on metal surfaces. However, this method requires the robot to overcome the large magnetic attraction generated by the magnetic wheels during installation and removal, resulting in insufficient convenience. During the movement process, the magnetic wheels generate a large magnetic force with the metal surface, making it difficult to move. Summary of the invention

[0004] In order to overcome the problems existing in the related art, an exemplary embodiment of the present disclosure provides a magnetic adsorption motion device and a control method thereof.

[0005] An exemplary embodiment of the first aspect of the present disclosure provides a magnetic adsorption motion device, comprising: a chassis frame; a wheel assembly, comprising a plurality of first wheels, located below the chassis frame, and used to drive the magnetic adsorption motion device to move on a metal surface; a first magnetic component, connected to the chassis frame, having magnetism and capable of generating magnetic force with the metal surface; a plurality of chassis lifting devices, each of the chassis lifting devices being connected to the chassis frame and a corresponding first wheel, and used to adjust the distance between the chassis frame and the metal surface; a second magnetic component, having magnetism and capable of generating magnetic force with the metal surface; a magnetic lifting device, connected to the chassis frame and the second magnetic component, and used to adjust the distance between the second magnetic component and the metal surface.

[0006] In some embodiments, each of the chassis lifting devices includes: one or more first hydraulic cylinders, a first end of each of the first hydraulic cylinders is connected to the chassis frame, and a second end is directly or indirectly connected to the first wheel, for driving the chassis frame closer to or away from the metal surface.

[0007] In some embodiments, the first end of each of the first hydraulic cylinders is connected to the chassis frame by an articulated connection; the chassis lifting device also includes: one or more levers, the middle portion of each of the levers is articulated to the chassis frame, the upper end portion of the lever is located above the chassis frame and articulated to the second end of the first hydraulic cylinder, and the lower end portion of the lever is located below the chassis frame and articulated to the first wheel; the upper end portion of the lever can be driven by the first hydraulic cylinder to move closer to or further away from the chassis frame so that the first wheel articulated to the lower end portion of the lever moves closer to or further away from the chassis frame.

[0008] In some embodiments, the magnetic lifting device includes: one or more second hydraulic cylinders, the first end of each second hydraulic cylinder is connected to the chassis frame, and the second end of the second hydraulic cylinder is directly or indirectly connected to the second magnetic component, used to drive the second magnetic component closer to or away from the metal surface.

[0009] In some embodiments, the magnetic lifting device also includes: a first slider, connected to the second end of the second hydraulic cylinder and capable of sliding along the chassis frame; a second slider, arranged on the upper side of the second magnetic component and capable of sliding along the upper side of the second magnetic component; a first cross rod, the upper end of the first cross rod is hinged to the chassis frame, and the lower end of the first cross rod is hinged to the second slider; and a second cross rod, the upper end of the second cross rod is hinged to the slider, the lower end of the second cross rod is hinged to the second magnetic component, and the middle part of the second cross rod is hinged to the middle part of the first cross rod; the first slider can drive the upper end of the second cross rod to approach or move away from the upper end of the first cross rod under the drive of the second hydraulic cylinder, so that the second magnetic component is close to or away from the metal surface.

[0010] In some embodiments, the magnetic adsorption motion device also includes one or more of the following devices: a magnetic confirmation device for confirming the magnetic force between the metal surface; an image acquisition device for acquiring an image of the metal surface; and a distance sensing device for detecting the distance between the chassis frame and the metal surface.

[0011] In some embodiments, the plurality of first wheels include four first wheels, the axes of each of the first wheels are parallel, and each of the first wheels is an omnidirectional wheel.

[0012] In some embodiments, the wheel assembly further includes: one or two second wheels, the axial direction of the second wheel is perpendicular to the axial direction of the first wheel, and each of the second wheels is an omnidirectional wheel.

[0013] In some embodiments, the wheel assembly further includes six drive motors, each of which is used to independently drive one of the first wheels or one of the second wheels.

[0014] In the second aspect, according to some other exemplary embodiments, the present disclosure provides a control method for the magnetic adsorption motion device described in the first aspect, comprising: in response to an instruction to install the magnetic adsorption motion device on a metal surface, moving the chassis frame close to the metal surface through a magnetic lifting device to increase the magnetic force between the first magnetic component and the metal surface; during the movement of the magnetic adsorption motion device on the metal surface, adsorbing the magnetic adsorption motion device to the metal surface at least through the first magnetic component; in response to an instruction to remove the magnetic adsorption motion device from the metal surface, moving the chassis frame away from the metal surface through a chassis lifting device to reduce the magnetic force between the first magnetic component and the metal surface.

[0015] In some embodiments, during the movement of the magnetic adsorption movement device on the metal surface, the magnetic adsorption movement device is adsorbed to the metal surface by at least the first magnetic attraction component, including: if the magnetic force is less than or equal to a first threshold, the second magnetic attraction component is moved closer to the metal surface through a magnetic attraction lifting device; if the magnetic force is greater than or equal to a second threshold, the second magnetic attraction component is moved away from the metal surface through the magnetic attraction lifting device, wherein the second threshold is greater than the first threshold.

[0016] In some embodiments, during the process of the magnetic adsorption motion device moving on the metal surface, the magnetic adsorption motion device is adsorbed to the metal surface at least by the first magnetic attraction component, and also includes: if the magnetic force is greater than or equal to a third threshold, the chassis frame is lifted by the chassis lifting device to reduce the magnetic force between the first magnetic attraction component and the metal surface, wherein the third threshold is greater than the second threshold.

[0017] In some embodiments, the control method further includes: judging whether the magnetic adsorption motion device has reached the target position based on the image of the metal surface; and generating an instruction to install the magnetic adsorption motion device on the metal surface in response to the magnetic adsorption motion device reaching the target position.

[0018] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: the magnetic adsorption motion device can conveniently control and adjust the size of the magnetic force between the magnetic adsorption device and the metal surface through two sets of liftable magnetic suction parts, so that it can be easily installed and removed, and can maintain reliable magnetic adsorption force during the inspection and movement process to prevent the magnetic adsorption motion device from falling off, and can also ensure that the magnetic adsorption force generated by the magnetic adsorption motion device is appropriate, thereby facilitating the movement of the magnetic adsorption motion device on the metal surface.

[0019] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present disclosure may be better understood by describing exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, in which:

[0021] Figure 1 is a schematic diagram of the working state of the magnetic adsorption motion device of some embodiments of the present disclosure;

[0022] Figure 2 is a schematic diagram of the structure of a magnetic adsorption motion device according to some embodiments of the present disclosure;

[0023] Figure 3 is a schematic diagram of the internal structure of a magnetic adsorption motion device according to some embodiments of the present disclosure;

[0024] Figure 4 It is a front view of the internal structure of the magnetic adsorption motion device of some embodiments of the present disclosure;

[0025] Figure 5 is a schematic structural diagram of a magnetic adsorption motion device in a working state in some embodiments of the present disclosure;

[0026] Figure 6 is a schematic diagram of the structure of a wheel assembly in some embodiments of the present disclosure;

[0027] Figure 7 is a schematic diagram of a control method of a wheel assembly according to some embodiments of the present disclosure;

[0028] Figure 8 is a schematic diagram of a control method of a magnetic adsorption motion device according to some embodiments of the present disclosure;

[0029] Reference numerals:

[0030] 100. Magnetic adsorption motion device;

[0031] 110, chassis frame;

[0032] 120, wheel assembly; 121, first wheel; 122, second wheel; 1211, 1221, self-rotating member; 123, drive motor; 1231, first wheel drive motor; 1232, second wheel drive motor;

[0033] 130. A first magnetic attraction member;

[0034] 140, chassis lifting device; 141, first hydraulic cylinder; 1411, first end of the first hydraulic cylinder; 1412, second end of the first hydraulic cylinder; 142, lever; 1421, upper end of the lever; 1422, middle part of the lever; 1423, lower end of the lever;

[0035] 150. A second magnetic attraction member;

[0036] 160, magnetic lifting device; 161, second hydraulic cylinder; 1611, first end of second hydraulic cylinder; 1612, second end of second hydraulic cylinder; 162, first slider; 163, second slider; 164, first cross rod; 165, second cross rod;

[0037] 170. Cover.

[0038] 180. Central controller;

[0039] 191. Magnetic confirmation device; 192. Image acquisition device; 193. Distance sensing device;

[0040] 200, tower; 300, metal surface;

[0041] L. Distance. DETAILED DESCRIPTION

[0042] The specific implementation methods of the present disclosure will be described below. It should be noted that in the specific description of these implementation methods, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual implementation methods. It should be understood that in the actual implementation of any implementation method, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one implementation method to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present disclosure, some changes in design, manufacturing or production based on the technical content disclosed in the present disclosure are just conventional technical means, and should not be understood as insufficient content of the present disclosure.

[0043] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the present disclosure belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one" or "one" do not indicate a quantitative limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalent elements, and do not exclude other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0044] In order to solve the above technical problems, the present disclosure provides a magnetic adsorption motion device 100, which can be adsorbed on a metal surface 300 by magnetic force and can move on the metal surface 300. The magnetic adsorption motion device 100 can also carry other equipment, such as a wind turbine tower 200 detection robot. By moving the magnetic adsorption motion device 100 on the wind turbine tower 200, the detection robot can detect the wind turbine tower 200. Figure 2-Figure 5 As shown, the magnetic adsorption motion device 100 may include: a chassis frame 110, a wheel assembly 120, a first magnetic attraction component 130, a second magnetic attraction component 150, a plurality of chassis lifting devices 140 and a magnetic attraction lifting device 160. Among them, the chassis frame 110 may be a carrier of the main components. In the present disclosure, unless otherwise specified, the upper and lower parts are determined by taking the chassis frame 110 as a horizontal state. In fact, when the magnetic adsorption motion device 100 is adsorbed on a metal surface 300 with a large slope or vertical, the direction corresponding to the metal surface 300 corresponds to the lower part of the horizontal state. The metal surface 300 of the present disclosure may be the outer surface of the equipment or the inner surface of the equipment. The metal surface 300 can generate magnetic force with the magnet, and the magnetic force is used to ensure that the magnetic adsorption motion device 100 can move or stay on the metal surface 300. The metal surface 300 may be a plane or have a certain curvature, such as the outer wall of a wind turbine tower 200. On the other hand, the metal surface 300 may be a vertical surface or a surface with a large slope relative to the horizontal plane, such as Figure 5 As shown, the magnetic adsorption motion device 100 of the present invention can be conveniently moved thereon. Figure 1 As shown, Figure 1A reference diagram of a state in which a magnetic adsorption motion device 100 is adsorbed on the outer surface of a wind turbine tower 200 is shown. The outer surface of the wind turbine tower 200 is metal, substantially vertical and has an arc. The chassis frame 110 may be a frame structure including a plurality of cross beams and longitudinal beams, or may be a flat plate structure. The chassis frame 110 may directly or indirectly carry a wheel assembly 120, a first magnetic adsorption member 130, a second magnetic adsorption member 150, a plurality of chassis lifting devices 140, and a magnetic adsorption lifting device 160.

[0045] The wheel assembly 120 may include a plurality of first wheels 121, which are located below the chassis frame 110 and are used to drive the magnetic adsorption motion device 100 to move on the metal surface 300. In the embodiment of the present disclosure, the wheel assembly 120 may include a plurality of first wheels 121, which are supported on the metal surface 300, and can drive the magnetic adsorption motion device 100 to move on the metal surface 300 through the first wheels 121. The movement may include translation or rotation on the metal surface 300. The first wheels 121 may be installed in pairs or individually. When installed in pairs, two first wheels 121 may be installed in parallel and driven by a common motor; when installed individually, each first wheel 121 may be installed with a corresponding motor to achieve independent drive and control. In the embodiment of the present disclosure, since the first magnetic attraction member 130 and the second magnetic attraction member 150 that can be individually controlled to lift are provided, magnetic force can be provided and the magnitude of the magnetic force can be conveniently controlled and adjusted, and the wheel may not be provided as a wheel with magnetic force, so that the wheel rotation is more flexible and convenient to drive and control.

[0046] In some embodiments, the multiple first wheels 121 may include four first wheels 121, the axial direction of each first wheel 121 is parallel, and each first wheel 121 is an omnidirectional wheel. The omnidirectional wheel may be provided with multiple self-rotating parts 1211 on the circumferential surface, which may be bearings or rotatable rings, and the axial direction of the bearings or rings is perpendicular to or at an angle to the axial direction of the driving shaft of the omnidirectional wheel. When the omnidirectional wheel is driven to rotate, it can drive the magnetic adsorption motion device 100 to move; and when a certain omnidirectional wheel is not driven and the rotation speed is too small, when the magnetic adsorption motion device 100 moves, the undriven omnidirectional wheel can also form rolling friction with the metal surface 300, thereby reducing the resistance to the movement of the magnetic adsorption motion device 100.

[0047] The first magnetic member 130 may be connected to the chassis frame 110, has magnetism and can generate magnetic force with the metal surface 300. In the embodiment of the present disclosure, the first magnetic member 130 may be a permanent magnet, which is used to provide magnetic force with the metal surface 300, and one or more of them may be provided. Figure 2 , Figure 3As shown, four first magnetic members 130 may be provided on the chassis frame 110 symmetrically or symmetrically, so as to provide uniform magnetic attraction. The four first magnetic members 130 may be provided near the first wheel 121, respectively, so as to provide sufficient attraction force for the contact position between the magnetic attraction movement device 100 and the metal surface 300, and ensure attraction and smooth movement.

[0048] A plurality of chassis lifting devices 140, each chassis lifting device 140 is connected to the chassis frame 110 and the corresponding first wheel 121, and is used to adjust the distance between the chassis frame 110 and the metal surface 300. In the embodiment of the present disclosure, the magnetic adsorption motion device 100 may include a plurality of chassis lifting devices 140, and the chassis lifting devices 140 are respectively connected to the chassis frame 110 and the first wheel 121. The longitudinal distance between the chassis frame 110 and the first wheel 121 can be changed by the chassis lifting devices 140, that is, if the chassis frame 110 is in a horizontal state, the distance in the vertical direction can be changed. For example, the chassis lifting device 140 may include a screw and a screw, and a nut is fixed to the chassis frame 110, one end of the screw is connected to the first wheel 121, and is connected to the motor drive fixed to the chassis frame 110, and the motor can drive the screw to rotate to change the distance between the chassis frame 110 and the first wheel 121. For another example, the chassis lifting device 140 may also include a motor and a cam. The motor may be fixed to the chassis frame 110 and may drive the cam to rotate. The cam may be connected to the first wheel 121 and may change the distance between the chassis frame 110 and the first wheel 121 when the cam rotates.

[0049] In some embodiments, each chassis lifting device 140 may include: one or more first hydraulic cylinders 141, the first end 1411 of each first hydraulic cylinder 141 is connected to the chassis frame 110, and the second end is directly or indirectly connected to the first wheel 121, and is used to drive the chassis frame 110 to approach or move away from the metal surface 300. In the embodiment of the present disclosure, a hydraulic cylinder can be used as a power source for chassis lifting. The hydraulic cylinder can have a cylinder body and a hydraulic rod. The hydraulic pressure is controlled by a solenoid valve, so that the hydraulic rod is telescopically moved in the cylinder body, so that the hydraulic cylinder is extended or shortened as a whole. The first end can be the bottom end of the cylinder body, and the second end can be the outer end of the hydraulic rod; or the first end can be the outer end of the hydraulic rod, and the second end can be the bottom end of the cylinder body. By using the hydraulic cylinder as the power output of the chassis lifting device 140, it can be conveniently controlled, the response is fast and the precision is high, and the lifting and lowering of the chassis frame 110 can be completed accurately and efficiently. In addition, the hydraulic cylinder itself is driven by hydraulics and maintains the telescopic state of the hydraulic cylinder by maintaining the hydraulic pressure. The hydraulic cylinder serves as a support between the chassis frame 110 and the first wheel 121, which can achieve a shock-absorbing effect. When the first wheel 121 encounters obstacles such as grooves on the metal surface 300, the telescopic characteristics of the hydraulic cylinder to a certain extent can prevent the magnetic adsorption motion device 100 from causing large bumps. In some scenarios, the magnetic adsorption motion device 100 can be equipped with a detection device for detecting the metal surface 300. The smooth movement of the magnetic adsorption motion device 100 can improve the detection accuracy of the detection equipment.

[0050] Since the first wheel 121 maintains contact with the metal surface 300 through magnetic force, the distance between the chassis frame 110 and the metal surface 300 can be changed by the chassis lifting device 140. In addition, in the embodiment of the present disclosure, the first magnetic component 130 is connected to the chassis frame 110. When the chassis frame 110 is far away from the metal surface 300, the magnetic force between the first magnetic component 130 and the metal surface 300 is relatively small, and when the chassis frame 110 is relatively close to the metal surface 300, the magnetic force between the first magnetic component 130 and the metal surface 300 is relatively large. The distance between the chassis frame 110 and the metal surface 300 can be adjusted by the chassis lifting device 140, and the distance between the first magnetic component 130 and the metal surface 300 is also adjusted, so that the size of the magnetic force between the chassis frame 110 and the metal surface 300 can be adjusted.

[0051] In some embodiments, the first magnetic member 130 can be fixed to the lower surface of the chassis frame 110, that is, the side of the chassis frame 110 close to the metal surface 300, so that the first magnetic member 130 can be relatively close to the metal surface 300. When the chassis frame 110 descends so that the first magnetic member 130 is close to the metal surface 300, the chassis frame 110 itself can be relatively far away from the metal surface 300, avoiding interference between other components on the chassis frame 110 and the metal surface 300. In addition, in some scenarios, such as when testing the convex surface of the wind turbine tower 200 or other arc-shaped surfaces, if the radius of the arc is small, resulting in a larger curvature, the metal surface 300 protrudes toward the chassis frame 110, so setting the first magnetic member 130 on the lower surface of the chassis frame 110 can ensure the magnetic attraction while avoiding the chassis frame 110 being too low.

[0052] In some embodiments, Figure 5 As shown, the distance L between the first magnetic member 130 and the metal surface 300 can be 20 mm or less, for example, 10 mm or 5 mm. In some embodiments, the chassis frame 110 is lowered so that the surface of the first magnetic member 130 is 5 mm away from the metal surface 300, thereby providing a more stable adsorption force and avoiding contact between the first magnetic member 130 and the metal surface 300 during movement.

[0053] The second magnetic member 150 has magnetism and can generate magnetic force with the metal surface 300. In the embodiment of the present disclosure, the second magnetic member 150 can be a permanent magnet, which is used to provide magnetic force with the metal surface 300, and one or more of them can be provided. Figure 2 , Figure 4 As shown, a second magnetic member 150 may be included, and the second magnetic member 150 may be disposed in the middle of the chassis frame 110 .

[0054] The magnetic lifting device 160 can be connected to the chassis frame 110 and the second magnetic member 150, and is used to adjust the distance between the second magnetic member 150 and the metal surface 300. In the embodiment of the present disclosure, the magnetic lifting device 160 can be connected to the chassis frame 110 and the second magnetic member 150 respectively, and the second magnetic member 150 can be raised or lowered by the magnetic lifting device 160, that is, the second magnetic member 150 can be moved away from or close to the metal surface 300. For example, the magnetic lifting device 160 may include a screw and a nut, and the nut is fixed to the chassis frame 110, one end of the screw is connected to the second magnetic member 150, and is connected to the motor drive fixed to the chassis frame 110, and the motor can drive the screw to rotate to raise or lower the second magnetic member 150. For another example, the magnetic lifting device 160 may also include a motor and a cam. The motor may be fixed to the chassis frame 110 and may drive the cam to rotate. The cam may be connected to the second magnetic component 150 and may raise or lower the second magnetic component 150 when the cam rotates.

[0055] In some embodiments, the magnetic lifting device 160 may include: one or more second hydraulic cylinders 161, the first end 1611 of each second hydraulic cylinder 161 is connected to the chassis frame 110, and the second end 1612 of the second hydraulic cylinder 161 is directly or indirectly connected to the second magnetic component 150, which is used to drive the second magnetic component 150 closer to or away from the metal surface 300. In the embodiment of the present disclosure, a hydraulic cylinder can be used as the power source of the magnetic lifting device 160, and the first end can be the bottom end of the cylinder body, and the second end can be the outer end of the hydraulic rod; or the first end can be the outer end of the hydraulic rod, and the second end can be the bottom end of the cylinder body. By using the hydraulic cylinder as the power output of the magnetic lifting device 160, it can be conveniently controlled, has a quick response and high precision, can accurately and efficiently complete the lifting and lowering of the second magnetic component 150, and can quickly and accurately provide the corresponding magnetic force through the second magnetic component 150.

[0056] The second magnetic component 150 can be arranged in the middle of the chassis frame 110, and can avoid the wheel assembly 120 and the first magnetic component 130 during the lifting and lowering process of the second magnetic component 150. The second magnetic component 150 can provide magnetic force, which can be used as a compensating magnetic force when the magnetic force of the first magnetic component 130 is insufficient or when a more stable adsorption is required. The chassis frame 110 can also be provided with a mechanism for guiding and limiting, for example, a longitudinally extending limiting groove is fixedly provided on the chassis frame 110, and the second magnetic component 150 is correspondingly provided with a limiting rib that cooperates with the limiting groove, so that the lifting and lowering of the second magnetic component 150 is more stable.

[0057] When the second magnetic member 150 is at the position farthest from the metal surface 300, the magnetic force between the second magnetic member 150 and the metal surface 300 can be zero or close to zero, or it can be relatively small. When the second magnetic member 150 is close to the metal surface 300, it can generate magnetic force or provide relatively large magnetic force, and can provide auxiliary magnetic force when the magnetic adsorption motion device 100 is installed on the metal surface 300, especially when the metal surface 300 is basically vertical, so that the installation process is more stable. For example, in some scenarios, the magnetic adsorption motion device 100 lands on the metal surface 300 of the wind turbine tower 200 in the sea. For example, the magnetic adsorption motion device 100 is adjusted to a posture parallel to the metal surface 300 by means of an underwater sports vehicle or manual transportation. The landing may be below the sea surface or close to the water surface, and the adsorption may be unstable due to the influence of the waves. By having the second magnetic member 150 close to the metal surface 300, more magnetic force can be provided, making the landing process more stable. In the above scenario, when the magnetic adsorption motion device 100 is to be disassembled from the metal surface 300, since the disassembly location is below the sea surface or close to the water surface, it is necessary to start an underwater motion vehicle or manually pick it up. During this process, the adsorption of the magnetic adsorption motion device 100 needs to be kept stable. The second magnetic suction component 150 can provide more magnetic force to keep the magnetic adsorption motion device 100 stable on the metal surface 300 to avoid uncontrolled detachment from the metal surface 300, causing damage to the equipment or even loss.

[0058] The disclosed embodiment can provide magnetic force by the first magnetic member 130 disposed on the chassis frame 110, so that the magnetic adsorption motion device 100 is adsorbed on the metal surface 300, and can lower the chassis frame 110 so that the chassis frame 110 is close to the metal surface 300, so that the first magnetic member 130 is close to the metal surface 300, thereby improving the magnetic force and ensuring the reliability of the magnetic adsorption motion device 100. In addition, additional magnetic attraction can be provided by the second magnetic member 150 that can be independently lifted and lowered. In the case where the magnetic force provided by the first magnetic member 130 can ensure that the magnetic adsorption motion device 100 is stably adsorbed on the metal surface 300 and reliably moved, the second magnetic member 150 can be raised by the magnetic lifting device 160, away from the metal surface 300, without providing additional magnetic force or only providing a small amount of magnetic force, thereby avoiding excessive magnetic attraction force resulting in excessive resistance to the movement of the magnetic adsorption motion device 100. In other cases, such as when the metal surface 300 is uneven or has attachments (such as algae or other organisms attached to the outer surface of the offshore wind turbine tower 200), resulting in insufficient magnetic force provided by the first magnetic component 130, the second magnetic component 150 can be lowered by the magnetic lifting device 160, so that the second magnetic component 150 can be controllably brought close to the metal surface 300, thereby providing a certain magnetic force, so that the adsorption force between the magnetic adsorption motion device 100 as a whole and the metal surface 300 is within a suitable range, which can ensure that the adsorption is stable and the movement resistance is not too large.

[0059] In some embodiments, Figure 3-5 As shown, the connection between the first end 1411 of each first hydraulic cylinder 141 and the chassis frame 110 can be hinged; the chassis lifting device 140 can also include: one or more levers 142, the middle part 1422 of each lever 142 is hinged to the chassis frame 110, the upper end 1421 of the lever 142 is located above the chassis frame 110 and is hinged to the second end 1412 of the first hydraulic cylinder 141, and the lower end 1423 of the lever 142 is located below the chassis frame 110 and is hinged to the first wheel 121; the upper end 1421 of the lever 142 can approach or move away from the chassis frame 110 under the drive of the first hydraulic cylinder 141, so that the first wheel 121 hinged to the lower end 1423 of the lever 142 approaches or moves away from the chassis frame 110. In the disclosed embodiment, the hydraulic pressure can be increased to extend the hydraulic rod, push the upper end 1421 of the lever 142, and use the hinge position between the middle of the lever 142 and the chassis frame 110 as a fulcrum, so that the lower end 1423 of the lever 142 swings accordingly, so that the first wheel 121 is away from the chassis frame 110 in the longitudinal direction. Since the first wheel 121 is supported on the metal surface 300, the chassis frame 110 can be away from the metal surface 300. Correspondingly, if the hydraulic pressure is reduced to retract the hydraulic rod, the upper end 1421 of the lever 142 is pulled, and the lower end 1423 of the lever 142 swings accordingly to make the first wheel 121 approach the chassis frame 110 in the longitudinal direction, thereby shortening the distance between the chassis frame 110 and the metal surface 300. In this way, the distance between the first magnetic attraction member 130 and the metal surface 300 can be conveniently, quickly and accurately adjusted, thereby accurately controlling the magnetic force. Furthermore, by providing the lever 142, space can be saved, and the driving resistance of the lever 142 can be adjusted by adjusting the position where the lever 142 is hinged to the chassis frame 110 to be closer to the upper end 1421 or the lower end. If the driving output of the hydraulic cylinder is to be reduced, the lever 142 can be hinged to the chassis frame 110 at a position relatively closer to the lower end as a fulcrum, thereby increasing the driving force arm, saving driving force, and saving energy. For example, in the scenario of offshore wind power tower 200 inspection, the magnetic adsorption motion device 100 needs to operate autonomously for a long time, share energy with inspection robots, and even underwater sports vehicles, and also needs to reduce the overall volume to improve stability and avoid falling off caused by the center of gravity principle metal surface 300. Therefore, by providing the lever 142, the size can be better reduced and energy can be saved. Figure 3As shown, the embodiment of the present disclosure may be provided with four chassis lifting devices 140, corresponding to the four first wheels 121. Each chassis lifting device 140 may include three first hydraulic cylinders 141 and two levers 142. The first end 1411 of the first hydraulic cylinder 141 is the bottom end of the cylinder body, the chassis frame 110 is hinged, the chassis frame 110 may be provided with an articulation shaft, and the bottom end of the cylinder body of the first hydraulic cylinder 141 is hinged with the articulation shaft of the chassis frame 110. The second end 1412 of the three first hydraulic cylinders 141 is the outer end of the hydraulic rod, and an articulation shaft may also be provided between the upper end 1421 of the two levers 142, and the outer end of the hydraulic rod of the three first hydraulic cylinders 141 is hinged with the lever 142 through the articulation shaft of the lever 142. The lower end 1423 of the two levers 142 of each chassis lifting device 140 may be located on both sides of the axial direction of the first wheel 121, respectively, and may be hinged with the first wheel 121 through components such as bearings and wheel shafts.

[0060] In some embodiments, Figure 3 , Figure 4As shown, the magnetic lifting device 160 may also include: a first slider 162, a second slider 163, a first cross rod 164 and a second cross rod 165. Among them, the first slider 162 is connected to the second end 1612 of the second hydraulic cylinder 161, and can slide along the chassis frame 110 under the drive of the second hydraulic cylinder 161. The chassis frame 110 can be correspondingly provided with a slide rail that matches the first slider 162 to make the sliding more stable. The second slider 163 can be arranged on the upper side of the second magnetic member 150, and can slide along the upper side of the second magnetic member. The second magnetic member can be correspondingly provided with a slide rail that matches the second slider 163 to make the sliding more stable. The first cross rod 164, the upper end of the first cross rod 164 is hinged to the chassis frame 110, and the lower end of the first cross rod 164 is hinged to the second slider 163; the second cross rod 165, the upper end of the second cross rod 165 is hinged to the slider, the lower end of the second cross rod 165 is hinged to the second magnetic component 150, and the middle part of the second cross rod 165 is hinged to the middle part of the first cross rod 164; the first slider 162 can drive the upper end of the second cross rod 165 to approach or move away from the upper end of the first cross rod 164 under the drive of the second hydraulic cylinder 161, and through the middle hinge as a fulcrum, the lower end of the first cross rod 164 and the lower end of the second cross rod 165 are correspondingly approached or moved away, so that the second magnetic component 150 is close to or away from the metal surface 300. Since the upper end of the first cross rod 164 and the upper end of the second cross rod 165 are both maintained on the chassis frame 110, when the lower end of the first cross rod 164 and the lower end of the second cross rod 165 are close to each other, the second magnetic component 150 is away from the chassis frame 110, that is, close to the metal surface 300; on the contrary, when the lower end of the first cross rod 164 and the lower end of the second cross rod 165 are away from each other, the second magnetic component 150 is close to the chassis frame 110, that is, away from the metal surface 300. The magnetic lifting device 160 of the embodiment of the present disclosure can save space for the magnetic adsorption motion device 100, and in particular can effectively reduce the height of the magnetic adsorption motion device 100, so as to avoid the overall center of gravity of the magnetic adsorption motion device 100 being away from the metal surface 300. When the metal surface 300 is basically vertical, the center of gravity of the magnetic adsorption motion device 100 is too far away from the metal surface 300 and is easy to fall off. Figure 3 , Figure 4 As shown, the magnetic attraction movement device 100 may include two sets of magnetic attraction lifting devices 160 arranged opposite to each other, which jointly drive a second magnetic attraction component 150 .

[0061] like Figure 2 As shown, the magnetic adsorption motion device 100 of the embodiment of the present disclosure may further include a cover 170, the bottom of which is connected to the chassis frame 110. The cover 170 may be used to protect internal components and may also be used to carry equipment such as a tower 200 detection robot.

[0062] In some embodiments, Figure 2-Figure 6 As shown, the wheel assembly 120 may also include: one or two second wheels 122, the axial direction of the second wheel 122 is perpendicular to the axial direction of the first wheel 121, and each second wheel 122 is an omnidirectional wheel. The second wheel 122 can be connected to the chassis frame 110 in a lifting manner, and a device for exerting force toward the metal surface 300, such as a hydraulic device or an elastic device, can be provided, so that the second wheel 122 can maintain contact with the metal surface 300 under different height conditions of the chassis frame 110, and can drive the magnetic adsorption motion device 100 to move sideways through the rotation of the second wheel 122, or cooperate with the rotation of the first wheel 121 to achieve multi-directional movement or steering. The turning radius can be reduced, and even the magnetic adsorption motion device 100 can be translated in any direction without turning; the magnetic adsorption motion device 100 can also achieve in-situ steering. The second wheel is also an omnidirectional wheel, and a plurality of self-rotating parts 1221 can be provided on the peripheral surface, which can be bearings or rotatable rings, and the axial direction of the bearing or ring is perpendicular to or at an angle to the axial direction of the drive shaft of the omnidirectional wheel.

[0063] In the disclosed embodiment, four first wheels 121 and two second wheels 122 may be included, wherein the first wheels 121 are distributed on both sides of the front end and the rear end of the chassis frame 110, and the two second wheels 122 are located on both sides of the middle. Four first magnetic components 130 may be provided, which are arranged close to the first wheel 121, respectively on the rear side of the first wheel 121 at the front end and the front side of the first wheel 121 at the rear end, and between the first wheel 121 and the second wheel 122. Stable magnetic adsorption can be provided for the supporting positions of the first wheel 121 and the second wheel 122. The second magnetic component 150 may be provided in the middle of the chassis frame 110, which can avoid the lifting and lowering of all the first wheels 121 and the second wheel 122, and can provide uniform magnetic force to avoid instability caused by strong magnetic force on one side.

[0064] In some embodiments, Figure 6 As shown, the wheel assembly 120 may also include six drive motors 123, each drive motor 123 is used to independently drive a first wheel 121 or a second wheel 122. In the disclosed embodiment, each first wheel 121 and each second wheel 122 are driven by an independent drive motor 123, which independently drives omnidirectional wheels in different directions to achieve various translations and turns of the magnetic adsorption motion device 100. In addition, a redundant configuration can be implemented, and in the case of a wheel failure, the mobility requirements can still be met. In the case of remote operations, the magnetic adsorption motion device 100 can be kept effective and the operation can be completed smoothly.

[0065] For example, Figure 7As shown, the magnetic adsorption motion device 100 may also include: a central processor 180, which can independently control the first wheel drive motor 1231 and the second wheel drive motor 1232, so as to independently drive the first wheel 121 and the second wheel 122, thereby realizing multiple movement modes of the magnetic adsorption motion device 100.

[0066] In some embodiments, Figure 8 As shown, the magnetic attraction motion device 100 may also include: a magnetic force confirmation device 191, which is used to confirm the magnetic force between the metal surface 300. In the embodiment of the present disclosure, a magnetic force confirmation device 191 can be set to confirm the magnetic force between the metal surface 300, and confirm whether the magnetic force is appropriate by obtaining the magnetic force. If the magnetic force is too large or too small, the magnetic force can be adjusted by increasing the distance between any or all of the first magnetic component 130 and the second magnetic component 150 and the metal surface 300 to meet the current magnetic force requirements. The magnetic attraction motion device 100 of the embodiment of the present disclosure is provided with a first magnetic component 130 and a second magnetic component 150 that can be independently lifted and lowered, wherein the first magnetic component 130 is connected to the chassis frame 110, and the chassis lifting device 140 drives the chassis frame 110 to lift and lower to move away from or close to the metal surface 300, and the second magnetic component 150 moves away from or close to the metal surface 300 through the magnetic lifting device 160. Therefore, the maximum value of the magnetic force between the magnetic adsorption motion device 100 and the metal surface 300 is the magnetic force when the first magnetic component 130 and the second magnetic component 150 are both at the closest position to the metal surface 300, and the minimum value of the magnetic force between the magnetic adsorption motion device 100 and the metal surface 300 is the magnetic force when the first magnetic component 130 and the second magnetic component 150 are both at the farthest position from the metal surface 300. By independently adjusting the positions of the first magnetic component 130 and the second magnetic component 150, the magnetic force between the magnetic adsorption motion device 100 and the metal surface 300 can be controlled to any value between the above-mentioned maximum value and minimum value.

[0067] In some embodiments, the magnetic force confirmation device 191 may be a torque sensor, which may obtain the hydraulic pressure of the first hydraulic cylinder 141 and / or the second hydraulic cylinder 161, thereby confirming the current magnetic force. For example, when the height of the chassis frame 110 is constant, that is, when the first hydraulic cylinder 141 is in a constant extended state, the greater the magnetic force, the greater the reaction force on the first wheel 121, and the greater the hydraulic pressure in the first hydraulic cylinder 141; conversely, the smaller the magnetic force, the smaller the reaction force on the first wheel 121, and the smaller the hydraulic pressure in the first hydraulic cylinder 141. Therefore, the current magnetic force between the metal surface 300 and the metal surface 300 can be determined by obtaining the hydraulic pressure in the first hydraulic cylinder 141.

[0068] In some embodiments, the maximum magnetic force that the first magnetic component 130 can provide when it is closest to the metal surface 300 is M1. When the current magnetic force demand is less than or equal to M1 (or the highest value of the current magnetic force demand interval is less than or equal to M1), the second magnetic component 150 can be kept at the farthest position from the metal surface 300 by the magnetic lifting device 160, and the position of the first magnetic component 130 can be adjusted by lowering the chassis frame 110 to meet the current demand. If the current magnetic force demand is greater than M1 (or the minimum value of the current magnetic force demand interval is greater than M1), the chassis can be lowered by the chassis lifting device 140 to keep the distance between the first magnetic component 130 and the metal surface 300 at the minimum, so that the first magnetic component 130 provides a magnetic force of M1, and the second magnetic component 150 is lowered to a suitable position by the magnetic lifting device 160 to meet the current magnetic force demand. In this way, the magnetic force is first provided by lowering the chassis frame 110, so that the center of gravity of the magnetic adsorption motion device 100 is as close to the metal surface 300 as possible, making the magnetic adsorption motion device 100 more stable. At the same time, the second magnetic attraction member 150 can be independently raised and lowered to flexibly adjust the magnetic force to meet the magnetic force requirements.

[0069] In some embodiments, Figure 8 As shown, the magnetic adsorption motion device 100 may also include: an image acquisition device 192 for acquiring an image of the metal surface 300. The disclosed embodiment can acquire an image of the metal surface 300 through an image acquisition device 192 such as a camera, so as to determine the current position, facilitate positioning, and determine whether it is an installation or landing position, and whether it is a disassembly position through the image. The image acquisition device 192 can be installed on the chassis frame 110 and shoot toward the metal surface 300. In some embodiments, a cavity may be provided in the middle of the second magnetic suction member 150, and the image acquisition device 192 is provided above or in the cavity to capture the image of the metal surface 300 below. The image acquisition device 192 may also be provided in multiple positions of the chassis frame 110, respectively, to capture images including images below the chassis frame 110 and images of the surrounding side, which can assist in traveling and determining the direction. In some embodiments, the image can also be used to determine the distance from the metal surface 300, so as to confirm the height of the chassis frame 110, so as to facilitate the control of the lifting and lowering of the chassis frame 110.

[0070] In some embodiments, the magnetic adsorption motion device 100 may further include: a distance sensor device 193 for detecting the distance between the chassis frame 110 and the metal surface 300. The distance sensor may be provided on the chassis frame 110, and may be provided in plurality, so as to improve the accuracy of detection by means of multi-point detection. In some cases, the magnetic force of the first magnetic component 130 is adjusted by lifting the chassis, and the height of the chassis frame 110 may be measured. The distance sensor may also be provided on the second magnetic component 150 to facilitate the determination of the height of the second magnetic component 150. When the height of the second magnetic component 150 is adjusted by the magnetic lifting device 160, the height of the second magnetic component 150 may also be determined by the distance sensor to reasonably control the magnetic force.

[0071] The magnetic adsorption motion device 100 of the disclosed embodiment adopts non-contact magnetic attraction through high-performance magnetic materials and the metal surface 300 (tower 200), and has smaller friction under the premise of good adhesion and support. In addition, the outer surface of the tower 200 is attracted by the force of magnetic force, so as to improve the stability and guidance of the device on the outer surface of the tower 200. By setting the first magnetic attraction member 130, the second magnetic attraction member 150, and the chassis lifting device 140 and the magnetic attraction lifting device 160 acting on the wheel assembly 120, on the one hand, the initial magnetic force is provided for the device near the metal surface 300 of the offshore wind turbine tower 200, guiding the device to be adsorbed to the surface of the tower 200; on the other hand, the magnetic adsorption motion device 100 is freed from the magnetic attraction in the water. By adopting omnidirectional wheel group technology, the magnetic adsorption motion device 100 has flexibility in any direction, and can complete the translation up, down, left and right without rotating the device itself, so as to achieve better maneuverability and better adaptability. The direction control accuracy is high, the direction change is more stable, and it can better adapt to complex environments and tasks. The load is distributed more evenly, which can withstand the pressure of weight and improve the stability of the device.

[0072] Based on the same inventive concept, the present disclosure further provides a control method for the magnetic adsorption motion device 100 as in any of the above embodiments. The control method may include the following steps S12, S14, and S16:

[0073] Step S12, in response to the instruction to install the magnetic adsorption motion device 100 on the metal surface 300, the chassis frame 110 is moved close to the metal surface 300 through the magnetic attraction lifting device 160 to increase the magnetic force between the first magnetic attraction component 130 and the metal surface 300. In the case where the magnetic adsorption motion device 100 needs to be installed on the metal surface 300, that is, the process of changing from a non-adsorption state to an adsorption state, the chassis frame 110 can be moved close to the metal surface 300 through the magnetic attraction lifting device 160 to increase the magnetic force between the first magnetic attraction component 130 and the metal surface 300 to achieve adsorption. In some embodiments, the second magnetic attraction component 150 can also be moved close to the metal surface 300 through the magnetic attraction lifting device 160 to increase the magnetic attraction force during the installation process, maintain stability, and reduce the impact of external interference.

[0074] An exemplary process of installing the magnetic adsorption motion device 100 on an offshore wind power tower 200 may be as follows: before the magnetic adsorption motion device 100 is installed on the surface of the tower 200, the magnetic attraction lifting device 160 and the chassis lifting device 140 are both in a lifted state, the second magnetic attraction member 150 and the first magnetic attraction member 130 are both far away from the surface of the tower 200, and the magnetic force confirmation device 191 (torque sensor) feedback shows that there is basically no magnetic force; when the image acquisition device 192 (camera) recognizes that it has reached the adsorbable position, the installation program is started, and the magnetic attraction motion device 100 is located in the middle. The magnetic lifting device 160 controls the magnetic material to descend, so that the second magnetic component 150 is close to the outer surface of the wind turbine tower 200, increasing the magnetic attraction force, so that the magnetic attraction motion device 100 is initially adsorbed to the surface of the tower 200; then the magnetic lifting device 160 is lifted, and the chassis lifting device 140 controls the chassis frame 110 to descend synchronously until the chassis lifting device 140 reaches the lowering limit position, and the magnetic lifting device 160 and the chassis lifting device 140 stop running. The whole process adopts a non-contact magnetic attraction method between the magnetic material and the tower 200. At this time, the distance between the first magnetic component 130 located on the chassis frame 110 and the tower 200 is the shortest (5mm), the magnetic force is the largest, and the installation of the device is completed.

[0075] Step S14, when the magnetic attraction moving device 100 moves on the metal surface 300, the magnetic attraction moving device 100 is adsorbed to the metal surface 300 at least by the first magnetic attraction member 130. When the metal surface 300 moves or stops moving, the magnetic attraction moving device 100 is adsorbed to the metal surface 300 at least by the first magnetic attraction member 130. In some cases, the second magnetic attraction member 150 may also provide additional magnetic force.

[0076] Step S16, in response to the instruction to remove the magnetic attraction motion device 100 from the metal surface 300, the chassis frame 110 is moved away from the metal surface 300 by the chassis lifting device 140 to reduce the magnetic force between the first magnetic attraction member 130 and the metal surface 300. By reducing the magnetic force, the attraction force is reduced, so that it can be easily and controllably separated from the metal surface 300.

[0077] An exemplary process of disassembling the magnetic attraction motion device 100 from the offshore wind turbine tower 200 may be as follows: before the device is disassembled from the surface of the tower 200, the magnetic attraction lifting device 160 and the chassis lifting device 140 are both in a descending state, the second magnetic attraction component 150 and the first magnetic attraction component 130 are very close to the surface of the tower 200, and the magnetic confirmation device 191 (torque sensor) feedback shows that the magnetic attraction force is the maximum. At this time, it can be stably adsorbed, waiting for manual arrival, or starting the underwater motion vehicle, etc., and can be kept stable by increasing the magnetic force during this process. During disassembly, the magnetic attraction lifting device 160 controls the magnetic material to rise, so that the second magnetic attraction component 150 is away from the outer surface of the wind turbine tower 200, reducing the magnetic attraction force; the chassis lifting device 140 controls the chassis frame 110 to rise until the chassis lifting device 140 reaches the limit position of the rise, and the magnetic attraction lifting device 160 and the chassis lifting device 140 stop running. At this time, the distance between the first magnetic attraction component 130 on the chassis frame 110 and the tower 200 is the largest, the magnetic force is the smallest, and the magnetic attraction motion device 100 can be easily removed from the surface of the tower 200.

[0078] In some embodiments, step S14, during the movement of the magnetic adsorption motion device 100 on the metal surface 300, the magnetic adsorption motion device 100 is adsorbed to the metal surface 300 at least by the first magnetic attraction component 130, which may include: if the magnetic force is less than or equal to the first threshold, the second magnetic attraction component 150 is brought close to the metal surface 300 by the magnetic attraction lifting device 160; if the magnetic force is greater than or equal to the second threshold, the second magnetic attraction component 150 is moved away from the metal surface 300 by the magnetic attraction lifting device 160, wherein the second threshold is greater than the first threshold.

[0079] In the embodiment of the present disclosure, a first threshold value (or a threshold range) can be set. When the current magnetic force is less than or equal to the first threshold value, indicating that the magnetic force is insufficient, the second magnetic component 150 can be moved closer to the metal surface 300 through the magnetic lifting device 160 to obtain additional magnetic force. The magnetic lifting device 160 can be lowered to a target distance between the second magnetic component 150 and the metal surface 300 according to the amount of magnetic force that needs to be supplemented. The magnetic force can also be continuously monitored during the lowering process, and the operation of the magnetic lifting device 160 can be stopped when the demand is met to avoid insufficient magnetic force.

[0080] In the disclosed embodiment, a second threshold value (or a threshold range) that is larger than the first threshold value can be set. When the current magnetic force is greater than or equal to the second threshold value, the second magnetic component 150 is moved away from the metal surface 300 by the magnetic lifting device 160. When the magnetic force is too large, it is not easy to move, and the movement can be increased. By adjusting the magnetic force to a suitable range, it can move more smoothly. The second magnetic component 150 can be moved away from the metal surface 300 by the magnetic lifting device 160 to reduce the magnetic force. The distance to which the magnetic lifting device 160 is raised can be confirmed according to the size of the magnetic force that needs to be supplemented, or it can be raised to the target distance of the second magnetic component 150 from the metal surface 300. The size of the magnetic force can also be continuously monitored during the raising process, and the operation of the magnetic lifting device 160 can be stopped when the demand is met.

[0081] Through the above-mentioned method, it can be basically ensured that the magnetic force between the magnetic adsorption movement device 100 and the metal surface 300 is more reliable, and the appropriate magnetic force can be maintained in the degree of movement and can be adjusted in time.

[0082] In some embodiments, step S14, during the movement of the magnetic adsorption motion device 100 on the metal surface 300, the magnetic adsorption motion device 100 is adsorbed to the metal surface 300 at least by the first magnetic adsorption component 130, and may also include: if the magnetic force is greater than or equal to a third threshold, the chassis frame 110 is lifted by the chassis lifting device 140 to reduce the magnetic force between the first magnetic adsorption component 130 and the metal surface 300, wherein the third threshold is greater than the second threshold.

[0083] In the embodiment of the present disclosure, a third threshold value (or a threshold range) that is larger than the second threshold value can be set. When the current magnetic force is greater than or equal to the third threshold value, it means that the magnetic force is too large, and only lifting the second magnetic component 150 is insufficient to meet the demand. The chassis lifting device 140 can be used to drive the first magnetic component 130 away from the metal surface 300 to further reduce the magnetic force.

[0084] In some embodiments, the control method may further include: judging whether the magnetic adsorption motion device 100 has reached the target position based on the image of the metal surface 300; generating an instruction to install the magnetic adsorption motion device 100 on the metal surface 300 in response to the magnetic adsorption motion device 100 reaching the target position. The disclosed embodiment can judge whether the target position has been reached through the image acquired by the image acquisition device, and when the target position has been reached, the installation operation can be prepared. Judging whether the installation has been performed through the image acquired by the image acquisition device greatly improves the work efficiency and avoids manual transportation and manual manipulation.

[0085] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0086] In the context of this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0087] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more application embodiments, in the above description of the embodiments of this application, multiple features are sometimes merged into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0088] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is only for example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the embodiments of the present application.

Claims

1. A magnetic adsorption motion device, comprising: Chassis frame; A wheel assembly, including a plurality of first wheels, is located below the chassis frame and is used to drive the magnetic adsorption motion device to move on the metal surface; A first magnetic attraction member, connected to the chassis frame, having magnetism and capable of generating magnetic force with the metal surface; A plurality of chassis lifting devices, each of which is connected to the chassis frame and a corresponding first wheel, and is used to adjust the distance between the chassis frame and the metal surface; A second magnetic attraction member is magnetic and can generate magnetic force with the metal surface; A magnetic lifting device is connected to the chassis frame and the second magnetic component, and is used to adjust the distance between the second magnetic component and the metal surface.

2. The magnetic adsorption motion device according to claim 1, wherein: Each of the chassis lifting devices comprises: One or more first hydraulic cylinders, each of which has a first end connected to the chassis frame and a second end directly or indirectly connected to the first wheel, for driving the chassis frame to approach or move away from the metal surface.

3. The magnetic adsorption motion device according to claim 2, wherein: The first end of each of the first hydraulic cylinders is connected to the chassis frame in an articulated manner; The chassis lifting device further comprises: one or more levers, the middle portion of each lever being hinged to the chassis frame, the upper end portion of the lever being located above the chassis frame and hinged to the second end of the first hydraulic cylinder, and the lower end portion of the lever being located below the chassis frame and hinged to the first wheel; The upper end of the lever can be driven by the first hydraulic cylinder to move closer to or farther from the chassis frame, so that the first wheel hinged to the lower end of the lever moves closer to or farther from the chassis frame.

4. The magnetic adsorption motion device according to claim 1, wherein: The magnetic lifting device comprises: One or more second hydraulic cylinders, each of which has a first end connected to the chassis frame, and a second end directly or indirectly connected to the second magnetic member, for driving the second magnetic member to move closer to or away from the metal surface.

5. The magnetic adsorption motion device according to claim 4, wherein: The magnetic lifting device also includes: A first sliding block connected to the second end of the second hydraulic cylinder and capable of sliding along the chassis frame; A second sliding block is disposed on the upper side of the second magnetic attraction member and is capable of sliding along the upper side of the second magnetic attraction member; a first cross bar, an upper end of which is hinged to the chassis frame, and a lower end of which is hinged to the second slider; and A second cross rod, wherein the upper end of the second cross rod is hinged to the slider, the lower end of the second cross rod is hinged to the second magnetic attraction member, and the middle portion of the second cross rod is hinged to the middle portion of the first cross rod; The first sliding block can drive the upper end of the second cross rod to approach or move away from the upper end of the first cross rod under the drive of the second hydraulic cylinder, so that the second magnetic attraction member approaches or moves away from the metal surface.

6. The magnetic adsorption motion device according to any one of claims 1 to 5, wherein: The magnetic adsorption motion device also includes one or more of the following devices: A magnetic force confirmation device, used to confirm the magnetic force between the metal surface; An image acquisition device, used to acquire an image of the metal surface; as well as A distance sensor is used to detect the distance between the chassis frame and the metal surface.

7. The magnetic adsorption motion device according to claim 1, wherein: The plurality of first wheels include four first wheels, the axial direction of each of the first wheels is parallel, and each of the first wheels is an omnidirectional wheel.

8. The magnetic adsorption motion device according to claim 7, wherein: The wheel assembly further includes: one or two second wheels, the axial direction of the second wheel is perpendicular to the axial direction of the first wheel, and each of the second wheels is an omnidirectional wheel.

9. The magnetic adsorption motion device according to claim 8, wherein: The wheel assembly further includes six drive motors, each of which is used to independently drive one of the first wheels or one of the second wheels.

10. A control method for a magnetic adsorption motion device according to any one of claims 1 to 9, wherein: The control method comprises: In response to an instruction to install the magnetic attraction movement device on a metal surface, the chassis frame is moved closer to the metal surface by the magnetic attraction lifting device to increase the magnetic force between the first magnetic attraction member and the metal surface; When the magnetic attraction moving device moves on the metal surface, the magnetic attraction moving device is adsorbed to the metal surface at least by the first magnetic attraction member; In response to an instruction to remove the magnetic attraction movement device from the metal surface, the chassis frame is moved away from the metal surface by a chassis lifting device to reduce the magnetic force between the first magnetic attraction member and the metal surface.

11. The control method according to claim 10, wherein: In the process of the magnetic attraction movement device moving on the metal surface, the magnetic attraction movement device is adsorbed to the metal surface at least by the first magnetic attraction member, including: If the magnetic force is less than or equal to the first threshold, the second magnetic attraction component is moved close to the metal surface by the magnetic attraction lifting device; If the magnetic force is greater than or equal to a second threshold, the second magnetic component is moved away from the metal surface by the magnetic lifting device, wherein the second threshold is greater than the first threshold.

12. The control method according to claim 11, wherein: In the process of the magnetic attraction movement device moving on the metal surface, the magnetic attraction movement device is adsorbed on the metal surface at least by the first magnetic attraction member, and further includes: If the magnetic force is greater than or equal to a third threshold, the chassis frame is lifted by a chassis lifting device to reduce the magnetic force between the first magnetic attraction component and the metal surface, wherein the third threshold is greater than the second threshold.

13. The control method according to claim 10, wherein: The control method further comprises: Based on the image of the metal surface, determining whether the magnetic adsorption motion device has reached the target position; In response to the magnetic attraction motion device reaching the target position, an instruction for installing the magnetic attraction motion device on a metal surface is generated.

Images