Bionic adsorption device suitable for uneven surface and control method thereof

Abstract

The invention provides a bionic adsorption device suitable for an uneven surface and a control method thereof, and the method comprises the steps: determining the overall roughness of the surface and the roughness of a surface region corresponding to each independent suction cup based on the obtained surface data of a crawling object; determining the required adsorption force of the bionic adsorption device according to the surface overall roughness, the attribute information of the bionic adsorption device, the environmental disturbance force and a preset safety coefficient, and determining the adsorption force of the bionic adsorption device according to the surface area roughness, the required adsorption force of the bionic adsorption device and the adsorption force of the multiple graded micro-nano bristle arrays in each independent suction cup. According to the method, the required adsorption force of an independent negative pressure cavity in each independent suction cup is determined, and the pressure in each independent negative pressure cavity is adjusted based on the required adsorption force of each independent negative pressure cavity, so that the adsorption force is dynamically adjusted along with the surface roughness of a crawling object, and free switching between a bristle array mode and a negative pressure cavity mode is realized; the energy consumption of the bionic adsorption device is reduced to a certain extent, and the flexibility of the bionic adsorption device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot evaluation, and in particular to a bionic adsorption device applicable to uneven surfaces and a control method therefor. Background Art

[0002] Bionic adsorption devices such as wall-climbing robots are a type of robot that can move in complex or difficult environments. The design inspiration for these bionic adsorption devices usually comes from reptiles, such as insects, reptiles, or other organisms that can crawl on uneven or obstacle-ridden surfaces. The design of bionic adsorption devices aims to enable them to adapt to various environments, including the walls, ceilings, pipes, and inner walls of aeroengines of buildings. As a special type of robot, bionic adsorption devices combine ground movement technology and wall adsorption technology, carry relevant equipment to replace humans to complete various high-intensity, high-risk, and repetitive work tasks on steep walls or places that are difficult for humans to reach, and can effectively improve work efficiency and ensure operation safety.

[0003] Normally, when these bionic adsorption devices are operating, they often only crawl under the adsorption force set by the user. In this way, the adsorption force of the bionic adsorption device is too large or too small, the flexibility is poor, and when the adsorption force is too large, the energy consumption is high, making it difficult to meet the long-term operation requirements. Summary of the Invention

[0004] The present invention provides a bionic adsorption device applicable to uneven surfaces and a control method therefor, so as to solve the defects of high energy consumption and poor flexibility of bionic adsorption devices in the prior art.

[0005] On the one hand, the present invention provides a control method for a bionic adsorption device applicable to uneven surfaces. The bionic adsorption device includes a plurality of adsorption mechanisms, and each adsorption structure in the plurality of adsorption mechanisms includes a plurality of independent suction cups. Among them, each independent suction cup includes an independent negative pressure chamber and a plurality of hierarchical micro-nano bristle arrays. The method includes: Obtaining surface data of the crawling object; Based on the surface data, determining the overall surface roughness and the surface area roughness corresponding to each independent suction cup; According to the overall surface roughness, the attribute information of the bionic adsorption device, the environmental interference force, and a preset safety factor, determining the required adsorption force of the bionic adsorption device; According to the surface area roughness, the required adsorption force of the bionic adsorption device, and the adsorption force of the plurality of hierarchical micro-nano bristle arrays in each independent suction cup, determining the required adsorption force of the independent negative pressure chamber in each independent suction cup; Based on the required adsorption force of each independent negative pressure chamber, adjusting the pressure in each independent negative pressure chamber.

[0006] A control method for a bionic adsorption device applicable to non-flat surfaces provided by the present invention adjusts the pressure in each independent negative pressure chamber based on the required adsorption force of each independent negative pressure chamber, including: If the required adsorption force of each independent negative pressure chamber is less than or equal to the preset maximum adsorption force, directly adjust the pressure in each independent negative pressure chamber; If the required adsorption force of the i-th independent negative pressure chamber is greater than the preset maximum adsorption force, adjust the required adsorption force of the i-th independent negative pressure chamber to the preset maximum adsorption force, and select j adjacent independent negative pressure chambers corresponding to the i-th independent negative pressure chamber to compensate for the overload adsorption force of the i-th independent negative pressure chamber; Wherein, j is a positive integer, and the required adsorption forces of the j adjacent independent negative pressure chambers are less than the preset maximum adsorption force, and the sum of the required adsorption forces of the j adjacent independent negative pressure chambers and the compensation adsorption forces of the j adjacent independent negative pressure chambers is less than or equal to the preset maximum adsorption force, and the overload adsorption force of the i-th independent negative pressure chamber is the first difference between the required adsorption force of the i-th independent negative pressure chamber and the preset maximum adsorption force.

[0007] A control method for a bionic adsorption device applicable to non-flat surfaces provided by the present invention, selecting j adjacent independent negative pressure chambers corresponding to the i-th independent negative pressure chamber, including: Taking the i-th independent negative pressure chamber as the center, determining a plurality of adjacent independent negative pressure chambers within a preset range; Obtaining the historical adsorption data of each adjacent independent negative pressure chamber among the plurality of adjacent independent negative pressure chambers; Determining the load of each adjacent independent negative pressure chamber according to the historical adsorption data of each adjacent independent negative pressure chamber; Selecting the j adjacent independent negative pressure chambers according to the load of each adjacent independent negative pressure chamber.

[0008] A control method for a bionic adsorption device applicable to non-flat surfaces provided by the present invention, the historical adsorption data includes a plurality of historical adsorption forces and the adsorption duration corresponding to each historical adsorption force; Determining the load of each adjacent independent negative pressure chamber according to the historical adsorption data of each adjacent independent negative pressure chamber, including: Determining the product of each historical adsorption force and its respective adsorption duration, and summing each product to obtain the load of each adjacent independent negative pressure chamber.

[0009] A control method for a bionic adsorption device applicable to non-flat surfaces provided by the present invention, compensating for the overload adsorption force of the i-th independent negative pressure chamber, including: Determine the compensation ratio of each of the j adjacent independent negative pressure chambers according to the loads of the j adjacent independent negative pressure chambers and the distances between each of the j adjacent independent negative pressure chambers and the ith independent negative pressure chamber; Compensate the overload adsorption force of the ith independent negative pressure chamber according to the compensation ratio of each of the j adjacent independent negative pressure chambers.

[0010] According to a control method of a bionic adsorption device applicable to an uneven surface provided by the present invention, shape memory alloy wires are arranged at the roots of the plurality of hierarchical micro-nano bristle arrays; the method further includes: If a crack is detected in the crawling object, control the plurality of hierarchical micro-nano bristle arrays to fill the crack through the shape memory alloy wires.

[0011] According to a control method of a bionic adsorption device applicable to an uneven surface provided by the present invention, the method further includes: If it is detected that the plurality of hierarchical micro-nano bristle arrays are broken, repair the plurality of hierarchical micro-nano bristle arrays through the shape memory alloy wires.

[0012] According to a control method of a bionic adsorption device applicable to an uneven surface provided by the present invention, the attribute information of the bionic adsorption device includes the weight of the bionic adsorption device and the effective utilization rate of the bionic adsorption device; Determine the required adsorption force of the bionic adsorption device according to the overall surface roughness, the attribute information of the bionic adsorption device, the environmental interference force, and a preset safety factor, including: Input the overall surface roughness, the weight of the bionic adsorption device, the effective utilization rate of the bionic adsorption device, the environmental interference force, and the preset safety factor into a preset adsorption force calculation formula for calculation to obtain the required adsorption force of the bionic adsorption device.

[0013] On the other hand, the present invention further provides a bionic adsorption device applicable to an uneven surface, which includes: a plurality of independent suction cups, a data acquisition component, a self-repair component, and a control device for the bionic adsorption device applicable to an uneven surface; Wherein, each independent suction cup includes an independent negative pressure chamber and a plurality of hierarchical micro-nano bristle arrays; The control device is used to implement the control method of the bionic adsorption device applicable to an uneven surface as described in any one of the above.

[0014] On the other hand, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the program, it implements the control method of the bionic adsorption device applicable to an uneven surface as described in any one of the above.

[0015] On the other hand, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the control method of the bionic adsorption device applicable to non-planar surfaces as described in any one of the above.

[0016] On the other hand, the present invention also provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the control method of the bionic adsorption device applicable to non-planar surfaces as described in any one of the above.

[0017] The bionic adsorption device applicable to non-planar surfaces and its control method provided by the present invention are based on obtaining the surface data of the crawling object, determining the overall surface roughness and the surface area roughness corresponding to each independent suction cup, and determining the required adsorption force of the bionic adsorption device according to the overall surface roughness, the attribute information of the bionic adsorption device, the environmental interference force and the preset safety factor. According to the surface area roughness, the required adsorption force of the bionic adsorption device and the adsorption force of multiple hierarchical micro-nano bristle arrays in each independent suction cup, determine the required adsorption force of the independent negative pressure chamber in each independent suction cup, so as to adjust the pressure in each independent negative pressure chamber to make each independent negative pressure chamber reach its required adsorption force. In this way, the adsorption force can be dynamically adjusted following the surface roughness of the crawling object, realizing the free switching between the bristle array mode and the negative pressure chamber mode, reducing the energy consumption of the bionic adsorption device to a certain extent and improving the flexibility of the bionic adsorption device. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0019] Figure 1 is a schematic flowchart of the control method of the bionic adsorption device applicable to non-planar surfaces provided by the embodiment of the present invention; Figure 2 is a flowchart of the method for selecting j adjacent independent negative pressure chambers corresponding to the i-th independent negative pressure chamber; Figure 3 is a schematic structural diagram of the bionic adsorption device applicable to non-planar surfaces provided by the embodiment of the present invention; Figure 4 is a schematic structural diagram of the electronic device provided by the embodiment of the present invention. Detailed Embodiments

[0020] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] Figure 1 It is a schematic flowchart of a control method for a bionic adsorption device applicable to non-flat surfaces provided by an embodiment of the present invention. Among them, the bionic adsorption device includes a plurality of adsorption mechanisms, and each adsorption structure in the plurality of adsorption mechanisms includes a plurality of independent suction cups. Among them, each independent suction cup includes an independent negative pressure chamber and a plurality of hierarchical micro-nano bristle arrays.

[0022] As Figure 1 shown, the execution subject of the control method for a bionic adsorption device applicable to non-flat surfaces provided by an embodiment of the present invention can be the processor of an electronic device. This method mainly includes the following steps: 101. Obtain the surface data of the crawling object; In a specific implementation process, the surface data of the crawling object can be collected based on set data collection devices, such as a laser displacement sensor, a camera, etc. Among them, the surface data can include at least one of the image data collected by the camera, the time value collected by the laser displacement sensor, and the distance value between the laser head and the surface of the crawling object.

[0023] 102. Based on the surface data, determine the overall surface roughness and the surface area roughness corresponding to each independent suction cup; In a specific implementation process, the overall surface roughness and the surface area roughness corresponding to each independent suction cup can be determined based on the surface data. This process can refer to relevant technical means and will not be elaborated here.

[0024] 103. Determine the required adsorption force of the bionic adsorption device according to the overall surface roughness, the attribute information of the bionic adsorption device, the environmental interference force, and a preset safety factor; In a specific implementation process, the attribute information of the bionic adsorption device includes the weight of the bionic adsorption device and the effective utilization rate of the bionic adsorption device. The overall surface roughness, the weight of the bionic adsorption device, the effective utilization rate of the bionic adsorption device, the environmental interference force, and the preset safety factor can be input into a preset adsorption force calculation formula for calculation to obtain the required adsorption force of the bionic adsorption device.

[0025] Among them, the adsorption force calculation formula (1) is as follows: (1) Wherein, represents the required adsorption force of the bionic adsorption device, represents the weight of the bionic adsorption device, represents the acceleration due to gravity, represents the environmental interference force, represents the friction coefficient, which is determined by the roughness and can be obtained by looking up a table, represents the effective utilization rate of the bionic adsorption device, which indicates that some negative pressure chambers fail or leak, and can be valued according to the actual situation, such as 0.7 to 0.9, represents a safety real number, which can be set according to the task risk level, and the value range can be from 1.5 to 3.0.

[0026] 104. Determine the required adsorption force of the independent negative pressure chamber in each independent suction cup according to the surface area roughness, the required adsorption force of the bionic adsorption device, and the adsorption force of the multiple hierarchical micro-nano bristle arrays in each independent suction cup; In a specific implementation process, after obtaining the required adsorption force of the bionic adsorption device, the required adsorption force of the independent negative pressure chamber in each independent suction cup can be calculated by combining the surface area roughness corresponding to each independent suction cup and the adsorption force of the multiple hierarchical micro-nano bristle arrays in each independent suction cup.

[0027] Specifically, according to the surface area roughness corresponding to each independent suction cup and under the constraint condition of uniform adsorption force, the adsorption force ratio of each independent suction cup can be determined, so that the required adsorption force of each independent suction cup can be obtained. Among them, the required adsorption force of the independent suction cup includes the adsorption force of the multiple hierarchical micro-nano bristle arrays in each independent suction cup and the required adsorption force of the independent negative pressure chamber in each independent suction cup. Usually, the adsorption force of the multiple hierarchical micro-nano bristle arrays in each independent suction cup is known. Therefore, the required adsorption force of the independent negative pressure chamber in each independent suction cup can be further determined. Among them, the constraint condition of uniform adsorption force can be that the adsorption force difference between any two adsorption mechanisms cannot be lower than the first preset difference, and in the same adsorption mechanism, the adsorption force difference between any two independent suction cups cannot be lower than the second preset difference. The preset difference and the second preset difference can be set according to actual needs.

[0028] In this embodiment, the required adsorption force of the independent negative pressure chamber in each independent suction cup is calculated based on the surface area roughness, the required adsorption force of the bionic adsorption device, and the adsorption force of the multiple hierarchical micro-nano bristle arrays in each independent suction cup. Therefore, as the roughness increases and the required adsorption force of the independent negative pressure chamber in each independent suction cup increases, the adsorption force of the corresponding multiple hierarchical micro-nano bristle arrays will decrease. At this time, the bionic adsorption device mainly relies on the independent negative pressure chamber in each independent suction cup for adsorption, which is equivalent to operating in the negative pressure chamber mode. As the roughness decreases and the required adsorption force of the independent negative pressure chamber in each independent suction cup decreases, the adsorption force of the corresponding multiple hierarchical micro-nano bristle arrays will increase. At this time, the bionic adsorption device mainly relies on the multiple hierarchical micro-nano bristle arrays for adsorption, which is equivalent to operating in the bristle array mode. That is to say, this application can achieve the switching between different modes according to the roughness.

[0029] 105. Adjust the pressure in each independent negative pressure chamber based on the required adsorption force of each independent negative pressure chamber.

[0030] After obtaining the required adsorption force of each independent negative pressure chamber, the pressure in each independent negative pressure chamber can be increased or decreased to adjust each independent negative pressure chamber to its required adsorption force.

[0031] The control method of the bionic adsorption device applicable to non-planar surfaces in this embodiment is based on obtaining the surface data of the crawling object, determining the overall surface roughness and the surface area roughness corresponding to each independent suction cup, determining the required adsorption force of the bionic adsorption device according to the overall surface roughness, the attribute information of the bionic adsorption device, the environmental interference force, and the preset safety factor, and determining the required adsorption force of the independent negative pressure chamber in each independent suction cup according to the surface area roughness, the required adsorption force of the bionic adsorption device, and the adsorption force of the multiple hierarchical micro-nano bristle arrays in each independent suction cup, so as to adjust the pressure in each independent negative pressure chamber to make each independent negative pressure chamber reach its required adsorption force. In this way, it is possible to dynamically adjust the adsorption force following the surface roughness of the crawling object, achieve the free switching between the bristle array mode and the negative pressure chamber mode, reduce the energy consumption of the bionic adsorption device to a certain extent, and improve the flexibility of the bionic adsorption device.

[0032] In a specific implementation process, each independent negative pressure chamber has a maximum adsorption force due to its own structure, material, etc. If the roughness corresponding to a certain independent negative pressure chamber is relatively high, the required adsorption force of the independent negative pressure chamber obtained may exceed the maximum adsorption force of this independent negative pressure chamber, making it possible for the bionic adsorption device to be unable to hold on and posing a danger.

[0033] Therefore, in this embodiment, it is possible to detect whether the required adsorption force of each independent negative pressure chamber is less than or equal to a preset maximum adsorption force. If the required adsorption force of each independent negative pressure chamber is less than or equal to the preset maximum adsorption force, it indicates that each independent negative pressure chamber will not operate overloaded and can be adsorbed on the surface of the crawling object. At this time, the pressure in each independent negative pressure chamber can be directly adjusted. If the required adsorption force of the i-th independent negative pressure chamber is greater than the preset maximum adsorption force, that is to say, at least one independent negative pressure chamber will operate overloaded and the i-th independent negative pressure chamber cannot reach the required adsorption force. In this case, other independent negative pressure chambers are needed to assist the i-th independent negative pressure chamber. At this time, the required adsorption force of the i-th independent negative pressure chamber can be adjusted to the preset maximum adsorption force, and j adjacent independent negative pressure chambers corresponding to the i-th independent negative pressure chamber are selected to compensate for the overload adsorption force of the i-th independent negative pressure chamber. Wherein, j is a positive integer, and the required adsorption forces of the j adjacent independent negative pressure chambers are less than the preset maximum adsorption force, and the sum of the required adsorption forces of the j adjacent independent negative pressure chambers and the compensation adsorption forces of the j adjacent independent negative pressure chambers is less than or equal to the preset maximum adsorption force. That is to say, after the j adjacent independent negative pressure chambers compensate the i-th independent negative pressure chamber, they cannot exceed their respective preset maximum adsorption forces. The overload adsorption force of the i-th independent negative pressure chamber is the first difference between the required adsorption force of the i-th independent negative pressure chamber and the preset maximum adsorption force.

[0034] Specifically, Figure 2 is a flowchart of a method for selecting j adjacent independent negative pressure chambers corresponding to the i-th independent negative pressure chamber, as Figure 2 shown, and the method may include the following steps: 201. With the i-th independent negative pressure chamber as the center, determine a plurality of adjacent independent negative pressure chambers within a preset range; In a specific implementation process, the i-th independent negative pressure chamber can be used as the center coordinate, and then a plurality of adjacent independent negative pressure chambers are circled according to the preset range. For example, a circle, a polygon, etc. can be drawn with the i-th independent negative pressure chamber as the center, and a plurality of adjacent independent negative pressure chambers within the preset range circle are selected.

[0035] 202. Obtain the historical adsorption data of each adjacent independent negative pressure chamber among the plurality of adjacent independent negative pressure chambers; In a specific implementation process, the historical adsorption data of each adjacent independent negative pressure chamber among the plurality of adjacent independent negative pressure chambers can be obtained, and the historical adsorption data may include a plurality of historical adsorption forces and the adsorption duration corresponding to each historical adsorption force.

[0036] 203. Determine the load of each adjacent independent negative pressure chamber according to the historical adsorption data of each adjacent independent negative pressure chamber; Specifically, the product of each historical adsorption force and its respective adsorption duration can be determined, and based on each product, the load of a single adsorption of each adjacent independent negative pressure chamber can be obtained. In practical applications, the peak adsorption force may accelerate wear, so a peak adjustment factor can be introduced. In addition, high-frequency adsorption usually increases the load, so a frequency adjustment factor can be introduced. In this way, each product, the peak adjustment factor, and the frequency adjustment factor can be input into the following calculation formula (2) to obtain the load of each adjacent independent negative pressure chamber, and this load is the overall load of each adjacent independent negative pressure chamber. Among them, this load can be used as an index of the wear degree of each suction cup.

[0037] (2) Among them, represents the load of each adjacent independent negative pressure chamber, represents the k-th product, represents the peak adjustment factor, which can be set according to actual needs, represents the frequency adjustment factor, which can be set according to actual needs.

[0038] 204. Select the j adjacent independent negative pressure chambers according to the load of each adjacent independent negative pressure chamber.

[0039] In a specific implementation process, since the load can be used as an index of the wear degree of each suction cup, in order to ensure that the usage conditions of each independent negative pressure chamber are as consistent as possible, that is, the wear degrees of the suction cups are relatively consistent, the usage wear degrees of each adjacent independent negative pressure chamber can be obtained based on the load of each adjacent independent negative pressure chamber, and they can be sorted in ascending order of the usage wear degree, and the first j adjacent independent negative pressure chambers can be selected. In this way, the usage wear of each independent negative pressure chamber can be made as similar as possible, and the service life of the bionic adsorption device is relatively long.

[0040] In a specific implementation process, after selecting the j adjacent independent negative pressure chambers, the compensation ratio of each of the j adjacent independent negative pressure chambers can be determined according to the load of the j adjacent independent negative pressure chambers and the distance between each of the j adjacent independent negative pressure chambers and the i-th independent negative pressure chamber; according to the compensation ratio of each of the j adjacent independent negative pressure chambers, the overload adsorption force of the i-th independent negative pressure chamber can be compensated.

[0041] Specifically, the loss weight corresponding to the load distribution of adjacent independent negative pressure chambers can be determined, and the distance weight corresponding to the distance between the adjacent independent negative pressure chambers and the i-th independent negative pressure chamber can be determined. Then, after weighted summation of the two, the ratios of the j adjacent independent negative pressure chambers are calculated in sequence, and finally, the compensation ratios of the j adjacent independent negative pressure chambers are obtained to compensate for the overload adsorption force of the i-th independent negative pressure chamber. In this way, the overload adsorption force can be more accurately distributed among the j adjacent independent negative pressure chambers.

[0042] In a specific implementation process, there are usually some cracks on the rough surface of the crawling object. These cracks usually reduce the adsorption force of the suction cups. Therefore, in this embodiment, shape memory alloy wires can be provided at the roots of the multiple hierarchical micro-nano bristle arrays. The shape memory alloy wires can be heated by passing an electric current to change the shape of the multiple hierarchical micro-nano bristle arrays. In this way, when cracks are detected on the crawling object, the multiple hierarchical micro-nano bristle arrays can be controlled by the shape memory alloy wires to fill the cracks, thereby improving the adsorption force of the bionic adsorption device.

[0043] In a specific implementation process, if it is detected that the multiple hierarchical micro-nano bristle arrays are broken, the multiple hierarchical micro-nano bristle arrays can also be repaired by the shape memory alloy wires, improving the robustness and service life of the bionic adsorption device. When the multiple hierarchical micro-nano bristle arrays are broken, the adsorption force of the bionic adsorption device will also change accordingly. Therefore, it is possible to determine that the multiple hierarchical micro-nano bristle arrays are broken based on the change in the adsorption force of the bionic adsorption device, as well as the position where the multiple hierarchical micro-nano bristle arrays are broken, etc., so as to quickly repair the multiple hierarchical micro-nano bristle arrays.

[0044] Based on the same general inventive concept, the present invention also protects a bionic adsorption device applicable to non-planar surfaces. The bionic adsorption device applicable to non-planar surfaces provided by the present invention will be described below. The control method of the bionic adsorption device applicable to non-planar surfaces described below can be mutually referred to corresponding to the bionic adsorption device applicable to non-planar surfaces described above.

[0045] Figure 3 is a schematic structural diagram of the bionic adsorption device applicable to non-planar surfaces provided by the embodiment of the present invention, as Figure 3 shown, the control system of the bionic adsorption device applicable to non-planar surfaces in this embodiment includes a plurality of independent suction cups, a data acquisition component, a self-repair component, and a control device for the bionic adsorption device applicable to non-planar surfaces. Among them, each independent suction cup includes an independent negative pressure chamber and a plurality of hierarchical micro-nano bristle arrays; the control device for the bionic adsorption device applicable to non-planar surfaces is used to implement the control method of the bionic adsorption device applicable to non-planar surfaces as described in any one of the above.

[0046] In a specific implementation process, Figure 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. The control system of the bionic adsorption device applicable to non-flat surfaces may include: a processor 410, a communications interface 420, a memory 430, and a communication bus 440. Among them, the processor 410, the communications interface 420, and the memory 430 complete mutual communication through the communication bus 440. The processor 410 can call the logical instructions in the memory 430 to execute the control method of the bionic adsorption device applicable to non-flat surfaces.

[0047] In addition, when the logical instructions in the above-mentioned memory 430 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0048] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control method of the bionic adsorption device applicable to non-flat surfaces provided by the above-mentioned various methods.

[0049] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the control method of the bionic adsorption device applicable to non-flat surfaces provided by the above-mentioned various methods.

[0050] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units. That is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative work.

[0051] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a bionic adsorption device applicable to non-planar surfaces, characterized in that, The bionic adsorption device includes a plurality of adsorption mechanisms, and each adsorption structure in the plurality of adsorption mechanisms includes a plurality of independent suction cups. Among them, each independent suction cup includes an independent negative pressure chamber and a plurality of hierarchical micro-nano bristle arrays. The method includes: Obtain the surface data of the crawling object; Based on the surface data, determine the overall surface roughness and the surface area roughness corresponding to each independent suction cup; According to the overall surface roughness, the attribute information of the bionic adsorption device, the environmental interference force, and a preset safety factor, determine the required adsorption force of the bionic adsorption device; According to the surface area roughness, the required adsorption force of the bionic adsorption device, and the adsorption force of the plurality of hierarchical micro-nano bristle arrays in each independent suction cup, determine the required adsorption force of the independent negative pressure chamber in each independent suction cup; Based on the required adsorption force of each independent negative pressure chamber, adjust the pressure in each independent negative pressure chamber.

2. The control method of the bionic adsorption device applicable to uneven surfaces according to claim 1, characterized in that, Based on the required adsorption force of each independent negative pressure chamber, adjusting the pressure in each independent negative pressure chamber includes: If the required adsorption force of each independent negative pressure chamber is less than or equal to the preset maximum adsorption force, directly adjust the pressure in each independent negative pressure chamber; If the required adsorption force of the i-th independent negative pressure chamber is greater than the preset maximum adsorption force, adjust the required adsorption force of the i-th independent negative pressure chamber to the preset maximum adsorption force, and select j adjacent independent negative pressure chambers corresponding to the i-th independent negative pressure chamber to compensate for the overload adsorption force of the i-th independent negative pressure chamber; Wherein, j is a positive integer, and the required adsorption forces of the j adjacent independent negative pressure chambers are less than the preset maximum adsorption force, and the sum of the required adsorption forces of the j adjacent independent negative pressure chambers and the compensation adsorption forces of the j adjacent independent negative pressure chambers is less than or equal to the preset maximum adsorption force. The overload adsorption force of the i-th independent negative pressure chamber is the first difference between the required adsorption force of the i-th independent negative pressure chamber and the preset maximum adsorption force.

3. The control method of the bionic adsorption device applicable to non-planar surfaces according to claim 2, characterized in that, Selecting j adjacent independent negative pressure chambers corresponding to the i-th independent negative pressure chamber includes: Taking the i-th independent negative pressure chamber as the center, determine a plurality of adjacent independent negative pressure chambers within a preset range; Obtain the historical adsorption data of each adjacent independent negative pressure chamber among the plurality of adjacent independent negative pressure chambers; According to the historical adsorption data of each adjacent independent negative pressure chamber, determine the load of each adjacent independent negative pressure chamber; According to the load of each adjacent independent negative pressure chamber, select the j adjacent independent negative pressure chambers.

4. The control method of the bionic adsorption device applicable to uneven surfaces according to claim 3, characterized in that, The historical adsorption data includes a plurality of historical adsorption forces and the adsorption duration corresponding to each historical adsorption force; According to the historical adsorption data of each adjacent independent negative pressure chamber, determining the load of each adjacent independent negative pressure chamber includes: Determine the product of each historical adsorption force and its respective adsorption duration; Based on each product, obtain the load of each adjacent independent negative pressure chamber.

5. The control method of the bionic adsorption device applicable to non-flat surfaces according to claim 3, characterized in that, Compensating for the overload adsorption force of the i-th independent negative pressure chamber includes: According to the loads of the j adjacent independent negative pressure chambers and the distances between the j adjacent independent negative pressure chambers and the i-th independent negative pressure chamber respectively, determine the respective compensation ratios of the j adjacent independent negative pressure chambers; Compensate the overload adsorption force of the $i$-th independent negative pressure chamber according to the compensation ratio of each of the $j$ adjacent independent negative pressure chambers.

6. The control method of the bionic adsorption device applicable to uneven surfaces according to any one of claims 1 to 5, characterized in that Shape memory alloy wires are provided at the roots of the multiple hierarchical micro-nano bristle arrays; the method further includes: If a crack is detected in the crawling object, control the multiple hierarchical micro-nano bristle arrays to fill the crack through the shape memory alloy wires.

7. The control method of the bionic adsorption device applicable to uneven surfaces according to claim 6, wherein, It further includes: If it is detected that the multiple hierarchical micro-nano bristle arrays are broken, repair the multiple hierarchical micro-nano bristle arrays through the shape memory alloy wires.

8. The control method of the bionic adsorption device applicable to uneven surfaces according to any one of claims 1 to 5, characterized in that, The attribute information of the bionic adsorption device includes the weight of the bionic adsorption device and the effective utilization rate of the bionic adsorption device; Determine the required adsorption force of the bionic adsorption device according to the overall surface roughness, the attribute information of the bionic adsorption device, the environmental interference force, and a preset safety factor, including: Input the overall surface roughness, the weight of the bionic adsorption device, the effective utilization rate of the bionic adsorption device, the environmental interference force, and the preset safety factor into a preset adsorption force calculation formula for calculation to obtain the required adsorption force of the bionic adsorption device.

9. A bionic adsorption device applicable to non-planar surfaces, characterized in that, It includes: Multiple independent suction cups, a data acquisition component, a self-repair component, and a control device for a bionic adsorption device applicable to non-planar surfaces; wherein each independent suction cup includes an independent negative pressure chamber and multiple hierarchical micro-nano bristle arrays; The control device is used to implement the control method of the bionic adsorption device applicable to non-planar surfaces according to any one of claims 1 to 8.

10. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the control method of the bionic adsorption device applicable to non-planar surfaces according to any one of claims 1 to 8.

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