A visual magnetic feedback system, method and magnetic wall-climbing robot

Abstract

The present invention provides a visual magnetic feedback system, method and magnetic wall-climbing robot, which relates to the technical field of stability monitoring and overturning warning of wall-climbing robots. The system includes a sensing module for obtaining the posture information of the robot relative to the wall; a magnetic calculation module for calculating the magnetic force currently exerted on the robot according to the posture information of the robot relative to the wall; an industrial PLC for receiving the posture information of the robot relative to the wall obtained by the sensing module, and calling the magnetic calculation module to calculate the magnetic force currently exerted on the robot, and outputting the calculated magnetic value. The technical solution of the present invention not only improves the accuracy of magnetic measurement, but also reduces the dependence on force sensors, so that magnetic monitoring can be implemented on small wall-climbing robots, thereby effectively improving the safety and stability of wall-climbing robots when operating in special scenarios.

Description

Technical Field

[0001] The present invention relates to the technical field of stability monitoring and overturning warning of wall-climbing robots, and in particular to a visualized magnetic feedback system, method and a magnetic wall-climbing robot. Background Art

[0002] As a special type of automated equipment, four-wheeled wall-climbing robots are widely used in special scenarios such as rust removal and welding in closed cabins. When performing wall-climbing operations, these robots mainly adhere to the wall surface through fan-shaped magnets installed at the bottom of the wheels. However, in actual applications, due to many unstable factors in special scenarios, such as the unevenness of the cabin wall surface and the influence of the robot's own gravity, the wall-climbing robot faces the risk of capsizing during operation.

[0003] In order to reduce this risk, the currently commonly used overturning warning system requires magnetic attraction as input data to evaluate the stability of the robot in real time. In the traditional acquisition method, the force sensor is installed between the robot body and the magnet to directly measure the magnetic force exerted on the magnet. However, this method has two significant limitations: first, the accuracy of the force sensor is often difficult to guarantee and is easily interfered by various external factors; second, for small wall-climbing robots, due to space constraints, there is often not enough space to install force sensors, which limits its application in overturning warning systems.

[0004] In order to solve these limitations, people began to explore visual magnetic feedback systems based on magnetic field calculation. This system can indirectly infer the magnetic force exerted on the magnet by calculating the magnetic flux density exerted on the target point outside the fan-shaped magnet, thereby realizing real-time monitoring of the magnetic attraction currently exerted on the robot. This method can not only reduce the dependence on force sensors and reduce the system's sensitivity to the external environment, but also realize magnetic monitoring on small wall-climbing robots and improve their stability and safety. Therefore, the development of a visual magnetic feedback system based on magnetic field calculation is of great significance for improving the overturning warning capability of wall-climbing robots. Summary of the invention

[0005] To this end, the embodiments of the present invention provide a visual magnetic feedback system, method and magnetic wall-climbing robot, which are used to solve the problems of insufficient accuracy and space limitation in the prior art wall-climbing robots that rely on force sensors for magnetic measurement in overturning warning systems.

[0006] In order to solve the above problems, an embodiment of the present invention provides a visual magnetic feedback system, which includes:

[0007] The perception module is used to obtain the position information of the robot relative to the wall;

[0008] The magnetic force calculation module is used to calculate the magnetic force currently exerted on the robot based on the posture information of the robot relative to the wall;

[0009] The industrial PLC is used to receive the posture information of the robot relative to the wall obtained by the perception module, and call the magnetic calculation module to calculate the magnetic force currently exerted on the robot, and output the calculated magnetic value.

[0010] Preferably, the magnetic calculation module includes:

[0011] A target point calculation unit, used to calculate the target point for magnetic force calculation according to the posture information of the robot relative to the wall;

[0012] A magnetic flux density calculation unit, used to calculate the magnetic flux density received by the target point according to the position of the target point and the magnetic performance parameters of the sector magnet;

[0013] The magnetic force calculation unit is used to calculate the magnetic force exerted on the target point according to the magnetic flux density and the position information of the target point, and accumulate the total magnetic force.

[0014] Preferably, the target point calculation unit is specifically used for:

[0015] Construct a right-handed rectangular coordinate system based on the robot's relative posture information to the wall;

[0016] Generate a point set on the plane formed by the end points of the outer diameter of the sector magnet, and calculate the projection of the point set on the constructed right-hand rectangular coordinate system plane;

[0017] The points that are not on one side of the specified direction of the coordinate system are eliminated, and the remaining points are converted to the sector magnet coordinate system through the posture information to obtain the target points for magnetic force calculation.

[0018] Preferably, the magnetic flux density calculation unit is specifically used for:

[0019] Divide the sector magnet into a plurality of approximately square magnets;

[0020] According to the length, width, height and residual magnetism of each square magnet, the magnetic flux density calculation formula is used to calculate the magnetic flux density received by each target point in multiple square magnets respectively;

[0021] The calculated magnetic flux density is converted to the sector magnet coordinate system, and the total magnetic flux density received by a single target point is accumulated to obtain the total magnetic flux density.

[0022] Preferably, the magnetic calculation unit is specifically used for:

[0023] According to the magnetic flux density and the position information of the target point, the magnetic force on each target point is calculated using the magnetic force calculation formula;

[0024] The calculated magnetic forces are added up to obtain the total magnetic force.

[0025] Preferably, the system further comprises:

[0026] The overturning warning module is used to determine whether the robot is at risk of overturning based on the calculated magnetic value, and to send a warning signal when there is a risk of overturning.

[0027] An embodiment of the present invention further provides a magnetic wall-climbing robot, the robot comprising the above-mentioned visualized magnetic feedback system.

[0028] The embodiment of the present invention further provides a visual magnetic feedback method, which adopts the visual magnetic feedback system described above to monitor the magnetic force currently exerted on the magnetic wall-climbing robot in real time and to provide overturning warning, and specifically includes:

[0029] Obtain the position information of the robot relative to the wall;

[0030] Calculate the magnetic force currently exerted on the robot based on the posture information of the robot relative to the wall;

[0031] Outputs the calculated magnetic force value.

[0032] Preferably, the process of calculating the magnetic force currently exerted on the robot according to the posture information of the robot relative to the wall includes:

[0033] Construct a right-handed rectangular coordinate system based on the robot's relative posture information to the wall;

[0034] Generate a point set on the plane formed by the end points of the outer diameter of the sector magnet, and calculate the projection of the point set on the constructed right-hand rectangular coordinate system plane;

[0035] Eliminate the points that are not on one side of the specified direction of the coordinate system, and transform the remaining points into the sector magnet coordinate system through the posture information to obtain the target points for magnetic force calculation;

[0036] Divide the sector magnet into a plurality of approximately square magnets;

[0037] According to the length, width, height and residual magnetism of each square magnet, the magnetic flux density calculation formula is used to calculate the magnetic flux density received by each target point in multiple square magnets respectively;

[0038] The calculated magnetic flux density is converted to the sector magnet coordinate system, and the total magnetic flux density received by a single target point is accumulated;

[0039] According to the magnetic flux density and the position information of the target point, the magnetic force on each target point is calculated using the magnetic force calculation formula;

[0040] The calculated magnetic forces are added up to obtain the total magnetic force.

[0041] Preferably, the method further comprises:

[0042] According to the calculated magnetic force value, determine whether the robot has the risk of overturning;

[0043] When there is a risk of capsizing, an early warning signal is issued.

[0044] It can be seen from the above technical solutions that the present invention has the following beneficial effects:

[0045] (1) Improving the accuracy of magnetic measurement: The present invention uses a visualized magnetic feedback system based on magnetic field calculation to more accurately calculate the magnetic force currently exerted on the magnetic wall-climbing robot. Compared with the traditional method of relying on force sensors for magnetic measurement, the accuracy is significantly improved.

[0046] (2) Breaking through space limitations: For small wall-climbing robots, installing force sensors is often limited by space. However, the visual magnetic feedback system of the present invention does not require additional force sensors, thus solving the problem of space limitations of small wall-climbing robots.

[0047] (3) Realize real-time capsizing warning: By real-time monitoring of the magnetic force currently exerted on the magnetic wall-climbing robot and combining it with the robot's posture information, the present invention can promptly detect and warn of potential capsizing risks, thereby ensuring the robot's operational safety in special scenarios (such as rust removal and welding in a closed cabin). BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the implementation cases of the present invention or the technical solutions in the prior art, the following is a brief description of the drawings required for use in the embodiments. By referring to the drawings, the features and advantages of the present invention will be more clearly understood. The drawings are schematic and should not be understood as limiting the present invention in any way. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0049] Figure 1 A schematic diagram of the architecture of a visual magnetic feedback system provided in an embodiment;

[0050] Figure 2 A flowchart of a visual magnetic feedback method provided in an embodiment;

[0051] Figure 3 The flowchart of calculating the magnetic force currently exerted on the robot in the embodiment. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0053] Embodiment 1

[0054] In order to solve the problem of insufficient accuracy and space limitation in the overturning warning system of the wall-climbing robot in the prior art, which relies on force sensors to perform magnetic force measurement. Figure 1 As shown, an embodiment of the present invention proposes a visual magnetic feedback system, which is used to monitor the magnetic force currently exerted on the magnetic wall-climbing robot in real time and to provide a capsize warning, and specifically includes:

[0055] The perception module is used to obtain the position information of the robot relative to the wall;

[0056] The magnetic force calculation module is used to calculate the magnetic force currently exerted on the robot based on the posture information of the robot relative to the wall;

[0057] The industrial PLC is used to receive the posture information of the robot relative to the wall obtained by the perception module, and to call the magnetic calculation module to calculate the magnetic force currently exerted on the robot, and output the calculated magnetic value.

[0058] It can be seen from the above technical scheme that the present invention proposes a visual magnetic feedback system, which aims to solve the problems of insufficient accuracy and space limitation when the wall-climbing robot relies on force sensors for magnetic measurement in the overturning warning system in the prior art. The system realizes real-time monitoring and overturning warning of the magnetic force currently exerted on the magnetic wall-climbing robot by integrating the perception module, the magnetic calculation module and the industrial PLC. Among them, the perception module is responsible for obtaining the posture information of the robot relative to the wall, and the magnetic calculation module accurately evaluates the magnetic force exerted on the robot through magnetic field calculation based on these posture information and the geometric parameters of the magnet. As the core computing hub, the industrial PLC receives the posture information and calls the magnetic calculation module, and finally outputs the calculated magnetic value. The technical solution of the present invention not only improves the accuracy of magnetic measurement, but also reduces the dependence on force sensors, so that magnetic monitoring can be realized on a small wall-climbing robot, thereby effectively improving the safety and stability of the wall-climbing robot when operating in special scenarios.

[0059] First, the inner diameter r0, outer diameter r1, thickness d, and sector angle θ of the sector magnet are known. Take the 1 / 2 thickness of the bottom edge of the sector magnet as the origin, and construct a right-hand rectangular coordinate system as the sector magnet coordinate system {iron}. The positive direction of the X-axis is the vector that evenly divides θ from the origin.

[0060] First, the inner diameter r0, outer diameter r1, thickness d, and sector angle θ of the sector magnet are known. A right-hand rectangular coordinate system is constructed with the point on the center line of the bottom surface of the sector magnet, 1 / 2 thickness away from the magnet surface, as the origin, and named the sector magnet coordinate system {iron}. Among them, the positive direction of the X-axis is from the origin, pointing to a certain direction along the arc surface of the sector magnet (this direction forms an angle of θ / 2 with the line connecting the center of the sector magnet).

[0061] In this embodiment, the perception module is used to obtain the position and posture information of the robot relative to the wall. The perception module is installed on the robot body and includes at least one sensor for measuring the relative position and posture of the robot and the wall.

[0062] In this embodiment, the magnetic force calculation module is used to calculate the magnetic force currently exerted on the robot according to the posture information of the robot relative to the wall.

[0063] Specifically, the magnetic calculation module includes:

[0064] The target point calculation unit is used to calculate the target point for magnetic force calculation according to the posture information of the robot relative to the wall.

[0065] A magnetic flux density calculation unit, used to calculate the magnetic flux density received by the target point according to the position of the target point and the magnetic performance parameters of the sector magnet;

[0066] The magnetic force calculation unit is used to calculate the magnetic force exerted on the target point according to the magnetic flux density and the position information of the target point, and accumulate the total magnetic force.

[0067] Furthermore, the target point calculation unit is specifically used for:

[0068] Construct a right-handed rectangular coordinate system based on the robot's relative posture information to the wall.

[0069] Specifically, two planes, planA and planB, are defined, and their intersection is determined as the angle line. With this angle line as the X-axis, the normal vector of the plane as the Z-axis, and any point on the angle line as the origin, a right-handed rectangular coordinate system {A} is constructed. Among them, the XY plane of {A} is called planeA.

[0070] On the plane formed by the outer diameter endpoints of the sector magnet, generate m×n point sets P based on the sector magnet coordinate system {iron}, and calculate the projection of the point set P on the constructed right-hand rectangular coordinate plane (planeA).

[0071] Eliminate the points that are not on one side of the specified direction (positive direction of the Y axis) of the right-hand rectangular coordinate system {A}, and transform the remaining points to the sector magnet coordinate system {iron} through the posture information to obtain the target points for magnetic force calculation.

[0072] Using the same method as planeA, the projection point on planeB can also be calculated.

[0073] Furthermore, the magnetic flux density calculation unit is specifically used for:

[0074] Divide the sector magnet into several approximately square magnets, and record the length, width and height of each square magnet as a, b and h respectively.

[0075] According to the length, width, height and residual magnetism of each square magnet, the magnetic flux density calculation formula (formula (1)-(3)) is used to calculate the magnetic flux density received by each target point in multiple square magnets.

[0076] For a rectangular magnet with length, width and height of a, b and h respectively (the magnetic pole direction is along the Y axis), any point in space The calculation formula of magnetic flux density B is as follows:

[0077]

[0078]

[0079] x di ,y dj ,z dk They represent the distances of the target point relative to each vertex of the magnet in the x, y, and z directions, respectively, taking into account the size and position of the sector magnet; Respectively represent the x, y, and z components of the magnetic flux density B; B r is the remanence of the sector magnet, indicating the magnetic field strength of the sector magnet, and the unit is Tesla; the above formula assumes that the relative magnetic permeability of the attracted magnetic material is μ r =1.

[0080] The calculated magnetic flux density is converted to the sector magnet coordinate system {iron}, and the total magnetic flux density received by a single target point is accumulated.

[0081] Furthermore, the magnetic calculation unit is specifically used for:

[0082] According to the magnetic flux density and the position information of the target point, the magnetic force on each target point is calculated using the magnetic force calculation formula, where the magnetic force F on each target point is:

[0083] F = ∫σ m BdS (4)

[0084] In the formula, σ m is the magnetic surface density, which indicates the magnetic moment per unit area; M is the magnetization intensity of the attracted substance, which indicates the degree to which the substance is magnetized; is the normal vector of the attracted surface, indicating the direction of the surface; dS is the area element of the attracted surface.

[0085] The calculated magnetic forces are added up to obtain the total magnetic force.

[0086] In addition, the system also includes: a capsizing warning module, which is used to determine whether the robot is at risk of capsizing based on the calculated magnetic value, and to send a warning signal when there is a capsizing risk.

[0087] In this embodiment, an industrial PLC (Programmable Logic Controller) is deployed on the robot body as a core computing hub. The industrial PLC is used to receive the posture information of the robot relative to the wall obtained by the perception module, and call the magnetic calculation module to calculate the magnetic force currently exerted on the robot, and output the calculated magnetic value.

[0088] Embodiment 2

[0089] The embodiment of the present invention provides a magnetic wall-climbing robot, which includes the above-mentioned visual magnetic feedback system. The robot can monitor the current magnetic force in real time and has a capsizing warning function. The specific implementation method can refer to the description of the corresponding embodiments of each part in the first embodiment. In order to avoid redundancy, it will not be repeated here.

[0090] Embodiment 3

[0091] like Figure 2 As shown, the present invention provides a visual magnetic feedback method, which adopts the visual magnetic feedback system of the first embodiment to monitor the magnetic force currently exerted on the magnetic wall-climbing robot in real time and to provide overturning warning, and specifically includes:

[0092] Obtain the position information of the robot relative to the wall;

[0093] Calculate the magnetic force currently exerted on the robot based on the posture information of the robot relative to the wall;

[0094] Outputs the calculated magnetic force value.

[0095] Furthermore, the method also includes: judging whether the robot is at risk of overturning according to the calculated magnetic value; and issuing a warning signal when there is a risk of overturning.

[0096] Specifically, Figure 3As shown, in this embodiment, the process of calculating the magnetic force currently exerted on the robot according to the posture information of the robot relative to the wall includes:

[0097] Construct a right-handed rectangular coordinate system based on the robot's relative posture information to the wall;

[0098] Generate a point set on the plane formed by the end points of the outer diameter of the sector magnet, and calculate the projection of the point set on the constructed right-hand rectangular coordinate system plane;

[0099] Eliminate the points that are not on one side of the specified direction of the coordinate system, and transform the remaining points into the sector magnet coordinate system through the posture information to obtain the target points for magnetic force calculation;

[0100] Divide the sector magnet into a plurality of approximately square magnets;

[0101] According to the length, width, height and residual magnetism of each square magnet, the magnetic flux density calculation formula is used to calculate the magnetic flux density received by each target point in multiple square magnets respectively;

[0102] The calculated magnetic flux density is converted to the sector magnet coordinate system, and the total magnetic flux density received by a single target point is accumulated;

[0103] According to the magnetic flux density and the position information of the target point, the magnetic force on each target point is calculated using the magnetic force calculation formula;

[0104] The calculated magnetic forces are added up to obtain the total magnetic force.

[0105] A visualized magnetic feedback method of this embodiment adopts the aforementioned visualized magnetic feedback system. Therefore, the specific implementation method of a visualized magnetic feedback method can be found in the embodiment of a visualized magnetic feedback system mentioned above. In order to avoid redundancy, it will not be repeated here.

[0106] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0107] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0108] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0109] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from them are still within the protection scope of the invention.

Claims

1. A visual magnetic feedback system, characterized in that: include: The perception module is used to obtain the position information of the robot relative to the wall; The magnetic force calculation module is used to calculate the magnetic force currently exerted on the robot based on the posture information of the robot relative to the wall; The industrial PLC is used to receive the posture information of the robot relative to the wall obtained by the perception module, and call the magnetic calculation module to calculate the magnetic force currently exerted on the robot, and output the calculated magnetic value.

2. The visual magnetic feedback system according to claim 1, characterized in that: The magnetic calculation module comprises: A target point calculation unit, used to calculate the target point for magnetic force calculation according to the posture information of the robot relative to the wall; A magnetic flux density calculation unit, used to calculate the magnetic flux density received by the target point according to the position of the target point and the magnetic performance parameters of the sector magnet; The magnetic force calculation unit is used to calculate the magnetic force exerted on the target point according to the magnetic flux density and the position information of the target point, and accumulate the total magnetic force.

3. The visual magnetic feedback system according to claim 2, characterized in that: The target point calculation unit is specifically used for: Construct a right-handed rectangular coordinate system based on the robot's relative posture information to the wall; Generate a point set on the plane formed by the end points of the outer diameter of the sector magnet, and calculate the projection of the point set on the constructed right-hand rectangular coordinate system plane; The points that are not on one side of the specified direction of the coordinate system are eliminated, and the remaining points are converted to the sector magnet coordinate system through the posture information to obtain the target points for magnetic force calculation.

4. The visual magnetic feedback system according to claim 2, characterized in that: The magnetic flux density calculation unit is specifically used for: Divide the sector magnet into a plurality of approximately square magnets; According to the length, width, height and residual magnetism of each square magnet, the magnetic flux density calculation formula is used to calculate the magnetic flux density received by each target point in multiple square magnets respectively; The calculated magnetic flux density is converted to the sector magnet coordinate system, and the total magnetic flux density received by a single target point is accumulated to obtain the total magnetic flux density.

5. The visual magnetic feedback system according to claim 2, characterized in that: The magnetic force calculation unit is specifically used for: According to the magnetic flux density and the position information of the target point, the magnetic force on each target point is calculated using the magnetic force calculation formula; The calculated magnetic forces are added up to obtain the total magnetic force.

6. The visual magnetic feedback system according to claim 1, characterized in that: The system further comprises: The overturning warning module is used to determine whether the robot is at risk of overturning based on the calculated magnetic value, and to send a warning signal when there is a risk of overturning.

7. A magnetic wall-climbing robot, characterized in that: The robot comprises the visual magnetic feedback system according to any one of claims 1 to 6.

8. A method for visualizing magnetic feedback, characterized in that: The method adopts the visual magnetic feedback system according to any one of claims 1 to 6, which is used to monitor the magnetic force currently exerted on the magnetic wall-climbing robot in real time and to provide overturning warning, and specifically includes: Obtain the position information of the robot relative to the wall; Calculate the magnetic force currently exerted on the robot based on the posture information of the robot relative to the wall; Outputs the calculated magnetic force value.

9. The visual magnetic feedback method according to claim 8, characterized in that: The process of calculating the magnetic force currently exerted on the robot according to the posture information of the robot relative to the wall includes: Construct a right-handed rectangular coordinate system based on the robot's relative posture information to the wall; Generate a point set on the plane formed by the end points of the outer diameter of the sector magnet, and calculate the projection of the point set on the constructed right-hand rectangular coordinate system plane; Eliminate the points that are not on one side of the specified direction of the coordinate system, and transform the remaining points into the sector magnet coordinate system through the posture information to obtain the target points for magnetic force calculation; Divide the sector magnet into a plurality of approximately square magnets; According to the length, width, height and residual magnetism of each square magnet, the magnetic flux density calculation formula is used to calculate the magnetic flux density received by each target point in multiple square magnets respectively; The calculated magnetic flux density is converted to the sector magnet coordinate system, and the total magnetic flux density received by a single target point is accumulated; According to the magnetic flux density and the position information of the target point, the magnetic force on each target point is calculated using the magnetic force calculation formula; The calculated magnetic forces are added up to obtain the total magnetic force.

10. The visual magnetic feedback method according to claim 8, characterized in that: The method further comprises: According to the calculated magnetic force value, determine whether the robot has the risk of overturning; When there is a risk of capsizing, an early warning signal is issued.

Images