Wall climbing path control method and system of magnetic wall climbing device and application

Abstract

The invention provides a wall climbing path control method and system of a magnetic wall climbing device and application, and relates to the technical field of structure detection. The method comprises the following steps: acquiring a planned crawling path of the magnetic wall climbing device and inclination angle information corresponding to the planned crawling path; dividing the planned crawling path into a plurality of crawling road sections and crawling stations according to the inclination angle information in the planned crawling path; setting crawling motion information for each crawling road section, and constructing a magnetic wall climbing device motion model; position information of the current magnetic wall climbing device is collected, and theoretical motion information of the current magnetic wall climbing device is obtained through calculation according to the magnetic wall climbing device motion model; actual motion information of the current magnetic wall climbing device is collected; and constructing a crawling adjustment model, and performing crawling adjustment according to the theoretical motion information and the actual motion information. The magnetic wall climbing device solves the problem that an existing magnetic wall climbing device lacks effective control in the structure detection process.

Description

Technical Field

[0001] The present application relates to the technical field of path control of magnetic wall climbers. Specifically, the present application relates to a wall climbing control method, system and application of a magnetic wall climber. Background Art

[0002] A magnetic wall climber (or magnetic adsorption wall-climbing robot) is a specialized robot that uses magnetic attraction to autonomously move on vertical or inverted ferromagnetic surfaces (such as steel tanks, ships, bridges, and wind turbine towers). It overcomes gravity by magnetic force to achieve stable adsorption, and combined with a walking mechanism, it can perform tasks such as inspection, maintenance, and cleaning at high altitudes or in hazardous environments. Large indoor and outdoor equipment involving gantry cranes uses welded crossbeams, the main load-bearing components of which are mostly welded. Welding seams are a key factor in safety. However, due to factors such as the height of the crossbeams, traditional weld inspections are mainly carried out manually by people carrying corresponding inspection equipment. As mentioned above, this type of inspection also involves high-altitude and dangerous working conditions, and the inspection cost is high, and the inspection efficiency and results are not ideal. However, the current inspection is mainly based on the fact that the height of the beams of gantry cranes is much smaller than that of traditional steel tanks, ships, bridges, and wind turbine towers. In addition, the inspection focuses on welds rather than traditional structural flaw detection on higher structures. Therefore, the current inspection of beam welds is still done manually. This application proposes to use a magnetic wall climber for the inspection of gantry crane machinery, especially weld inspection. When the magnetic wall climber is used for the inspection of gantry crane machinery, the planning of the crawling path is relatively complicated, and there is currently a lack of corresponding wall climbing control technology. Summary of the Invention

[0003] This application provides a method, system, and application for controlling the climbing path of a magnetic wall climber, which can solve the problem of the lack of effective technology for controlling the climbing path of magnetic wall climbers in the related art. The technical solution is as follows: According to one aspect of the present application, the present application discloses a method for controlling a climbing path of a magnetic wall climber, comprising: Step 1: Plan according to the task and obtain the planned crawling path and task site; Step 2: Extract the inclination information corresponding to the planned crawling path, perform crawling theoretical planning, and construct a theoretical motion model; Step 3: Collecting actual motion information of the magnetic wall climber at its current position, including the position of the magnetic wall climber, actual magnetic force, actual climbing speed, and actual acceleration; calculating theoretical motion information at its current position based on a theoretical motion model, including the position of the magnetic wall climber, the theoretical climbing speed corresponding to the position of the magnetic wall climber, the theoretical climbing acceleration, and the theoretical magnetic force; the vertical component of the theoretical magnetic force being greater than the gravity of the magnetic wall climber and its load; Step 4: Based on the theoretical motion information and the actual motion information, the crawling adjustment of the magnetic wall climber is performed, wherein the crawling adjustment includes the crawling speed, the crawling acceleration, and the magnetic attraction force adjustment; According to another aspect of the present application, the present application discloses a climbing path control system for a magnetic wall climber, which is applied to the magnetic wall climber; the bottom of the magnetic wall climber is equipped with an electromagnetic force module for generating additional electromagnetic force; The system comprises: The path planning module is used to plan the crawling path. The crawling path planning is planned according to the operation task of the magnetic wall climber to obtain the planned crawling path and task station; A crawling inclination angle extraction module is used to extract the inclination angle information of the corresponding planned crawling path; A crawling planning module, used for theoretical planning of crawling of the magnetic wall climber along the planned crawling path; The crawling planning module includes a crawling section division module for dividing the planned crawling path into a number of crawling sites based on the planned crawling path, corresponding inclination information, and task sites, with crawling sections formed between adjacent crawling sites; the task sites are within the operating radius of the magnetic wall climber on the corresponding crawling site; a motion information setting module, configured to set planned motion information for the plurality of crawling sections; setting crawling motion information according to the operation requirements of the magnetic wall climber in the crawling section, the planned motion information including the crawling time required to complete the crawling section, the speed at the starting point and the end point of the crawling section, and the acceleration; and a motion model construction and calculation module for constructing a crawling motion model based on the crawling section and the planned motion information, and calculating the theoretical motion information of the magnetic wall climber based on the position information of the magnetic wall climber, wherein the theoretical motion information includes the position of the magnetic wall climber, the theoretical crawling speed, the theoretical acceleration, and the theoretical magnetic attraction force corresponding to the position of the magnetic wall climber; The actual motion information acquisition module is used to collect the actual motion information of the magnetic wall climber. The actual motion information of the magnetic wall climber includes the position of the magnetic wall climber, the actual magnetic attraction force, the actual climbing speed and the actual acceleration; The creep adjustment module is used to perform creep adjustment calculations based on actual motion information and theoretical motion information. The creep adjustment includes speed, acceleration, and magnetic attraction force adjustment. and a controller for executing magnetic wall climbing control of the magnetic wall climber.

[0004] The beneficial effects of the technical solution provided by this application are: This application plans the crawling path according to the application scenarios and operating tasks of the magnetic wall climber, and divides it into several crawling sections according to the inclination angle and operating tasks. The motion information of the crawling sections is set to facilitate crawling detection. By constructing a theoretical motion model and collecting actual operation information, and through crawling adjustments, the magnetic wall climber is adapted to the operating needs and ensures safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without inventive efforts.

[0006] Figure 1 This is a schematic diagram of the structure of the magnetic wall climber according to an embodiment of the present application; Figure 2 This is a structural block diagram of a wall climbing path control system of a magnetic wall climber according to an embodiment of the present application; Figure 3 is a flowchart of a method according to an embodiment of the present application; Figure 4 is a schematic diagram of a planned crawling path according to an embodiment of the present application; Figure 5 It is a schematic diagram of the magnetic attraction force involved in the embodiment of the present application.

[0007] Figure 6 This is a diagram showing the relationship between speed and position in crawling motion information according to an embodiment of the present application. DETAILED DESCRIPTION

[0008] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and are not to be construed as limiting the present application.

[0009] It will be understood by those skilled in the art that, unless expressly stated otherwise, the singular forms "a", "an", "said" and "the" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the specification of the present disclosure refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, "connected" or "coupled" as used herein may include wireless connections or wireless couplings. The term "and / or" used herein includes all or any units and all combinations of one or more associated listed items.

[0010] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0011] See also Figures 1-6 The present invention discloses a magnetic wall climber 100, which is involved in a wall climbing path control system. The magnetic wall climber 100 includes a rectangular body 101, 450 mm long and 400 mm wide. Corresponding to the rectangular body 101, the magnetic wall climber 100 is equipped with three moving wheels, including two front wheels 102 and one rear wheel 103. The front wheels 102 are the primary driving force, controlling the crawler's forward, backward, and steering movements. Steering is achieved by adjusting the speed difference between the left and right front wheels 102.

[0012] The rectangular vehicle body 101 is equipped with a servo motor 104 and a reducer 105 corresponding to the two front wheels 102; The rear wheel 103 is a driven wheel (e.g., a universal wheel) that does not provide driving force and is only used to support and balance the structure of the magnetic wall climber 100. It can rotate freely in the direction of its movement. The bottom of the rectangular body 101 of the magnetic wall climber 100 is equipped with four permanent magnets 106 for providing magnetic attraction; The bottom of the rectangular body 101 of the magnetic wall climber is further provided with an electromagnetic force module 107 for generating additional electromagnetic force. Exemplarily, the electromagnetic force module 107 is an electromagnet.

[0013] In an exemplary embodiment, a magnetic wall climber climbing control system 200 includes: The path planning module 201 is used to plan the crawling path. The crawling path planning is planned according to the operating task of the magnetic wall climber to obtain the planned crawling path and task site. The operating task of the magnetic wall climber in the embodiment of the present application is weld detection; illustratively, the task site W is the target point for the magnetic wall climber to perform the operating task.

[0014] A crawling inclination extraction module 202 is used to extract the inclination information of the corresponding planned crawling path; A crawling planning module 203 is used for theoretical planning of crawling of the magnetic wall climber along a planned crawling path; The crawling planning module 203 includes a crawling segment division module 2031 for dividing the planned crawling path L into a plurality of crawling sites based on the planned crawling path L, the corresponding inclination information, and the task site W, with crawling segments D formed between adjacent crawling sites; the task site W is within the operating radius R of the magnetic wall climber at the corresponding crawling site; The motion information setting module 2032 is used to set planned motion information for the plurality of crawling sections; the planned motion information includes the crawling time required to complete the crawling section, the speed and acceleration at the starting point and the end point of the crawling section; and a motion model construction and calculation module 2033 for constructing a crawling motion model based on the crawling section and the planned motion information, and calculating theoretical motion information of the magnetic wall climber based on the position information of the magnetic wall climber, wherein the theoretical motion information includes the position of the magnetic wall climber, and the theoretical crawling speed, theoretical acceleration, and theoretical magnetic attraction force corresponding to the position of the magnetic wall climber; The actual motion information acquisition module 204 is used to collect the actual motion information of the magnetic wall climber, and the actual motion information of the magnetic wall climber includes the position of the magnetic wall climber, the actual magnetic attraction force, the actual climbing speed and the actual acceleration; In an exemplary embodiment, the actual motion information acquisition module 204 includes a position encoder, an IMU module, and a force sensor. In some embodiments, the force sensor can be an annular force sensor, which is mounted between the axle of the moving wheel and the bearing of the rectangular vehicle body; in some embodiments, the force sensor can also be an axle-pin type sensor that directly replaces the axle of the moving wheel, and the moving wheel is directly mounted on the axle-pin type sensor.

[0015] The creep adjustment module 205 is used to perform creep adjustment calculations based on actual motion information and theoretical motion information. The creep adjustment includes speed, acceleration, and magnetic attraction force supplementary adjustment.

[0016] And the controller 206 is used to control the above modules to work together to achieve magnetic climbing control of the magnetic wall climber.

[0017] Based on the above path control system, the embodiment of the present application discloses a method for controlling the climbing path of a magnetic wall climber, including: Step 1: Plan according to the task and obtain the planned crawling path and task site; In an exemplary embodiment, a method for planning according to an operation task to obtain a planned crawling path L and a task site W includes planning a crawling path according to the operation task of the magnetic wall climber to obtain the planned crawling path L and the task site W; illustratively, the task site W is a target point for the magnetic wall climber to perform the task; The task site W is located within the operating radius R of the magnetic wall climber on the planned crawling path L; Step 2: Extract the inclination information corresponding to the planned crawling path, perform crawling theoretical planning, and construct a theoretical motion model; In an exemplary embodiment, the method of extracting the inclination information corresponding to the planned crawling path, performing crawling theoretical planning, and constructing a theoretical motion model includes: Extract the inclination information corresponding to the planned crawling path; divide the planned crawling path into crawling stations, and form crawling sections between adjacent crawling stations. Any task station W is within the operating radius R of the magnetic wall climber on at least one crawling station; In an exemplary embodiment, the method of extracting the inclination information corresponding to the planned crawling path, performing crawling theoretical planning, and constructing a theoretical motion model further includes: Crawling motion information is set for each crawling section, and a motion model of the magnetic wall climber is constructed; the crawling motion information meets the operating task requirements in the crawling section; that is, the crawling motion information is set according to the operating requirements of the magnetic wall climber in the crawling section, and the crawling motion information includes the crawling time required to complete the crawling section, the speed at the starting point and the end point, and the acceleration.

[0018] In an exemplary embodiment, a crawling site on a planned crawling path L is assumed to be For the point, The inclination angle of the point is , when from the Starting from point L, we search for the nearest The inclination angle of the point is , when satisfied , is the set tilt angle change threshold, then in this Set to another crawl site ; The path between adjacent crawling sites is set as a crawling section D.

[0019] In an exemplary embodiment, a method for setting crawling motion information for each crawling segment and constructing a motion model for a magnetic wall climber includes setting, for each crawling segment D, the speed at the start and end of the crawling segment D to the same set value; the set value being 0; and adopting a motion model in which the velocity V and position S are trapezoidal between the start point S0 and the end point S1; the motion model includes an acceleration segment a, a constant speed segment b, and a deceleration segment c. In the acceleration section a, the acceleration is constant; in the uniform speed section b, the acceleration is 0 and the speed is constant; in the deceleration section c, the acceleration is constant.

[0020] Step 3: Collect the actual motion information of the magnetic wall climber at its current position, including the position of the magnetic wall climber, the actual magnetic force, the actual climbing speed, and the actual acceleration; and calculate the theoretical motion information at its current position based on the theoretical motion model, including the position of the magnetic wall climber, the theoretical climbing speed, the theoretical climbing acceleration, and the theoretical magnetic force corresponding to the position of the magnetic wall climber. Step 4: Based on the theoretical motion information and the actual motion information, the crawling adjustment of the magnetic wall climber is performed, and the crawling adjustment includes the adjustment of the crawling speed, the crawling acceleration and the magnetic attraction force.

[0021] In one exemplary embodiment, a method for adjusting the crawling of a magnetic wall climber based on theoretical and actual motion information includes constructing a crawling adjustment model. The crawling adjustment model uses a PID control algorithm to adjust crawling speed and acceleration. After performing the crawling adjustment, the actual motion information is recollected and the crawling adjustment model is optimized using a least-squares method. In one exemplary embodiment, the crawling adjustment model adjusts the magnetic attraction force by matching an additional electromagnetic force so that the combined force of the electromagnetic force and the original magnetic attraction force of the magnetic wall climber is greater than the theoretical magnetic attraction force. The vertical component of the theoretical magnetic attraction force is greater than the weight of the magnetic wall climber and its load. In one exemplary embodiment, the combined force of the electromagnetic force and the original magnetic attraction force of the magnetic wall climber is greater than 10%-20% of the theoretical magnetic attraction force.

[0022] In an exemplary embodiment, Figure 5 , at an inclination angle of When the magnetic wall climber is in a vertical direction, the resultant force of the original magnetic attraction force FC and the electromagnetic force DC is greater than the theoretical magnetic attraction force LC. The vertical component of the theoretical magnetic attraction force LC is equal to the resultant force of the gravity of the magnetic wall climber and its load multiplied by a safety factor. In an exemplary embodiment, the safety factor is 1.1.

[0023] In some embodiments, when setting the crawling motion information for each crawling section, the speed of the starting point S1 of the crawling section is set to 0, the speed of the end point S2 is also set to 0, and a trapezoidal motion model of speed V and position S is adopted in the middle; in an exemplary embodiment, when the crawling section is a horizontal straight section, the lengths of the acceleration section and the deceleration section are equal, and the accelerations of the corresponding acceleration section and deceleration section are equal in magnitude and opposite in direction.

[0024] In some embodiments, the creep adjustment model is constructed using a PID control algorithm, and the creep adjustment control amount includes a movement speed adjustment amount and an acceleration adjustment amount for controlling the magnetic wall climber, which respectively correspond to different components output by the PID control algorithm.

[0025] Preferably, after performing the crawling adjustment, the position information and actual motion information of the current magnetic wall climber are recollected, and the least squares method is used to optimize the parameters of the motion model and the crawling adjustment model of the magnetic wall climber.

[0026] Another aspect of the present application discloses the application of a wall climbing control system based on a magnetic wall climber in beam detection.

[0027] Compared with the related art, in the above technical solution, the planned crawling path of the magnetic wall climber and the inclination information corresponding to the planned crawling path are collected; the planned crawling path is divided into several crawling sections and crawling stations according to the inclination information in the planned crawling path; crawling motion information is set for each crawling section, and the crawling motion information includes the crawling time taken to complete the crawling section, the speed and acceleration at the starting point and end point of the crawling section; based on the crawling motion information of each crawling section, a motion model of the magnetic wall climber is constructed; the current position information of the magnetic wall climber is collected, and the theoretical motion information of the current magnetic wall climber is calculated based on the motion model of the magnetic wall climber ; Perform real-time magnetic force verification on the position of the magnetic wall climber to determine whether the magnetic force can withstand the gravity of the magnetic wall climber and the load; collect the actual motion information of the current magnetic wall climber; construct a crawling adjustment model, and output the crawling adjustment control amount based on the theoretical motion information and the actual motion information; output the crawling adjustment control amount to the controller of the magnetic wall climber, and the controller of the magnetic wall climber executes the crawling adjustment. The present application creatively adjusts the crawling parameters in real time according to the planned crawling path, ensuring safety while facilitating efficient adaptation to detection needs, especially suitable for gantry crane machinery with relatively complex planned crawling paths, and suitable for crawling control of crawling weld detection.

[0028] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0029] The above description is only part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for controlling the climbing path of a magnetic wall climber, characterized in that: include: Step 1: Plan according to the task and obtain the planned crawling path and task site; Step 2: Extract the inclination information corresponding to the planned crawling path, perform crawling theoretical planning, and construct a theoretical motion model; Step 3: Collect the actual motion information of the magnetic wall climber at its current position. The actual motion information of the magnetic wall climber includes the position of the magnetic wall climber, the actual magnetic attraction force, the actual climbing speed, and the actual acceleration. Obtain theoretical motion information at the current position based on a theoretical motion model. The theoretical motion information includes the position of the magnetic wall climber, a theoretical climbing speed, a theoretical climbing acceleration, and a theoretical magnetic attraction force corresponding to the position of the magnetic wall climber. The vertical component of the theoretical magnetic attraction force is greater than the gravity of the magnetic wall climber and its load. Step 4: Based on the theoretical motion information and the actual motion information, the crawling adjustment of the magnetic wall climber is performed, and the crawling adjustment includes the adjustment of the crawling speed, the crawling acceleration and the magnetic attraction force.

2. The method for controlling the climbing path of a magnetic wall climber according to claim 1, characterized in that: The method of planning according to the task and obtaining the planned crawling path and task site includes: Plan the crawling path according to the operation task of the magnetic wall climber to obtain the planned crawling path and task site; The task site is located within the operating radius of the magnetic wall climber on the planned crawling path.

3. The method for controlling the climbing path of a magnetic wall climber according to claim 1, characterized in that: The method of extracting the inclination information corresponding to the planned crawling path, performing crawling theoretical planning, and constructing a theoretical motion model includes: Extract the inclination information corresponding to the planned crawling path; The planned crawling path is divided to obtain crawling sites, and crawling sections are formed between adjacent crawling sites. Any task site is within the operating radius of the magnetic wall climber on at least one crawling site.

4. The method for controlling the climbing path of a magnetic wall climber according to claim 3, characterized in that: The method of extracting the inclination information corresponding to the planned crawling path, performing crawling theoretical planning, and constructing a theoretical motion model also includes: Crawling motion information is set for each crawling section, and a motion model of the magnetic wall climber is constructed; the crawling motion information is set according to the operational needs of the magnetic wall climber in the crawling section; the crawling motion information includes the crawling time required to complete the crawling section, the speed at the starting point and the end point of the crawling section, and the acceleration.

5. The method for controlling the climbing path of a magnetic wall climber according to claim 3, wherein: Assume that the last crawling site on the planned crawling path is the first point, The inclination angle of the point is , when from the Starting from the point, along the direction of the planned crawling path, find the nearest The inclination angle of the point is , when satisfied , is the set tilt angle change threshold, then in this The point is set as another crawling site; the path between adjacent crawling sites is set as a crawling section.

6. The method for controlling the climbing path of a magnetic wall climber according to claim 4, characterized in that: The method of setting crawling motion information for each crawling section and constructing a motion model of a magnetic wall climber includes setting the speed of the starting point and the speed of the end point of each crawling section to the same set value; the same set value is 0; A motion model with a trapezoidal velocity and position is used between the starting point and the end point; The motion model includes acceleration segment, constant speed segment and deceleration segment; The acceleration is constant in the acceleration section; In the uniform speed segment, the acceleration is 0 and the speed is a constant value; The acceleration is constant in the deceleration section.

7. The method for controlling the climbing path of a magnetic wall climber according to claim 1, wherein: Based on theoretical motion information and actual motion information, the method for crawling adjustment of a magnetic wall climber includes constructing a crawling adjustment model, in which a PID control algorithm is used to adjust the crawling speed and crawling acceleration. After executing the crawling adjustment, the actual motion information is re-collected and the least squares method is used to optimize the crawling adjustment model.

8. The method for controlling the climbing path of a magnetic wall climber according to claim 7, characterized in that: The magnetic attraction force in the crawling adjustment model is adjusted by matching an additional electromagnetic force so that the resultant force of the electromagnetic force and the original magnetic attraction force of the magnetic wall climber is greater than the theoretical magnetic attraction force.

9. The climbing path control system of the magnetic wall climber is characterized by: The system is applied to a magnetic wall climber; the bottom of the magnetic wall climber is equipped with an electromagnetic force module for generating additional electromagnetic force; The system comprises: The path planning module is used to plan the crawling path. The crawling path planning is planned according to the operation task of the magnetic wall climber to obtain the planned crawling path and task station; A crawling inclination angle extraction module is used to extract the inclination angle information of the corresponding planned crawling path; A crawling planning module, used for theoretical planning of crawling of the magnetic wall climber along the planned crawling path; The crawling planning module includes a crawling section division module for dividing the planned crawling path into a number of crawling sites based on the planned crawling path, corresponding inclination information, and task sites, with crawling sections formed between adjacent crawling sites; the task sites are within the operating radius of the magnetic wall climber on the corresponding crawling site; A motion information setting module is used to set planned motion information for the plurality of crawling sections; the planned motion information includes the crawling time required to complete the crawling section, the speed and acceleration at the starting point and the end point of the crawling section; and a motion model construction and calculation module for constructing a crawling motion model based on the crawling section and the planned motion information, and calculating the theoretical motion information of the magnetic wall climber based on the position information of the magnetic wall climber, wherein the theoretical motion information includes the position of the magnetic wall climber, the theoretical crawling speed, the theoretical acceleration, and the theoretical magnetic attraction force corresponding to the position of the magnetic wall climber; The actual motion information acquisition module is used to collect the actual motion information of the magnetic wall climber. The actual motion information of the magnetic wall climber includes the position of the magnetic wall climber, the actual magnetic attraction force, the actual climbing speed and the actual acceleration; The creep adjustment module is used to perform creep adjustment calculations based on actual motion information and theoretical motion information. The creep adjustment includes speed, acceleration, and magnetic attraction force adjustment. and a controller for executing magnetic wall climbing control of the magnetic wall climber.

10. Application of a wall climbing path control system based on the magnetic wall climber according to claim 9 in the detection of crossbeam welds of a gantry crane.

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