Methods, systems and applications of magnetic wall climbers for controlling the climbing path.

Abstract

This application provides a method, system, and application for controlling the climbing path of a magnetic wall climber, relating to the field of structural inspection technology. The method includes: acquiring the planned climbing path of the magnetic wall climber and the corresponding inclination angle information; dividing the planned climbing path into several climbing segments and climbing stations based on the inclination angle information; setting climbing motion information for each climbing segment and constructing a motion model for the magnetic wall climber; acquiring the current position information of the magnetic wall climber and calculating the theoretical motion information of the current magnetic wall climber based on the motion model; acquiring the actual motion information of the current magnetic wall climber; constructing a climbing adjustment model and performing climbing adjustments based on the theoretical and actual motion information. This application solves the problem of the lack of effective control for magnetic wall climbers in structural inspection processes.

Description

Technical Field

[0001] This application relates to the field of magnetic wall climber path control technology, and more specifically, to a magnetic wall climber climbing control method, system, and application. Background Technology

[0002] A magnetic wall-climbing robot (or magnetic adsorption wall-climbing robot) is a special type of robot that uses magnetic adsorption to move autonomously on vertical or inverted ferromagnetic surfaces (such as steel tanks, ships, bridges, wind turbine towers, etc.). It overcomes gravity with magnetic force to achieve stable adhesion, and combined with a walking mechanism, completes tasks such as inspection, maintenance, and cleaning in high-altitude or hazardous environments.

[0003] Large indoor and outdoor equipment with crossbeams involves bridge and gantry crane machinery. Most of the main load-bearing components, the crossbeams, are formed by welding. The welds play a key role in safety. However, due to the limitations of the crossbeam's structural height, traditional weld inspection mainly relies on manual inspection using the corresponding inspection equipment.

[0004] As mentioned earlier, this type of inspection also involves high-altitude and dangerous inspection conditions, and the inspection cost, efficiency and results are not ideal. However, the current inspection mainly takes into account that the height of the beams of bridge gantry cranes and other similar machinery is much smaller than that of traditional steel tanks, ships, bridges and wind turbine towers. In addition, the focus of the inspection is on the welds rather than the traditional structural flaw detection on higher structural components. Therefore, the welds of beams are still inspected manually.

[0005] This application proposes to use a magnetic climbing device for the inspection of bridge and gantry crane machinery, especially for weld inspection. When using the magnetic climbing device for the inspection of bridge and gantry crane machinery, the planned climbing path is relatively complex, and there is currently a lack of corresponding climbing control technology. Summary of the Invention

[0006] 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 current lack of effective wall climbing path control technology for magnetic wall climbers. The technical solutions are as follows:

[0007] According to one aspect of this application, a method for controlling the climbing path of a magnetic wall climber is disclosed, comprising:

[0008] Step 1: Plan the crawling path and task stations according to the task requirements;

[0009] Step 2: Extract the tilt angle information corresponding to the planned crawling path, perform crawling theoretical planning, and construct a theoretical motion model;

[0010] 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 its position, actual magnetic force, actual climbing speed, and actual acceleration. Calculate the theoretical motion information at the current position based on the theoretical motion model. The theoretical motion information includes the position of the magnetic wall climber, the theoretical climbing speed, theoretical climbing acceleration, and theoretical magnetic force corresponding to that position. The vertical component of the theoretical magnetic force is greater than the weight of the magnetic wall climber and its load.

[0011] Step 4: Based on theoretical and actual motion information, adjust the magnetic wall climber's crawling motion, including adjusting the crawling speed, crawling acceleration, and magnetic force.

[0012] According to another aspect of this application, this application discloses a wall-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;

[0013] The system includes:

[0014] The path planning module is used to plan the crawling path. The crawling path planning is based on the operation task of the magnetic wall climber to obtain the planned crawling path and task station.

[0015] The crawling tilt angle extraction module is used to extract the tilt angle information of the corresponding planned crawling path;

[0016] A crawling planning module is used for theoretical crawling planning of the magnetic wall climber along the planned crawling path;

[0017] The crawling planning module includes a crawling segment division module, which is used to divide the planned crawling path into several crawling stations based on the planned crawling path, the corresponding tilt angle information, and the task station. Crawling segments are formed between adjacent crawling stations. The task station is located within the working radius of the magnetic wall climber on the corresponding crawling station.

[0018] The motion information setting module is used to set the planned motion information for the several crawling sections; according to the operation requirements of the magnetic wall climber in the crawling section, the crawling motion information is set, and the planned motion information includes the crawling time to complete the crawling section, the speed and acceleration at the start and end of the crawling section;

[0019] And a motion model construction and calculation module, used to construct a crawling motion model based on the crawling road segment and the planned motion information, and to calculate the theoretical motion information of the magnetic wall climber based on the position information of the magnetic wall climber. The theoretical motion information includes the position of the magnetic wall climber, the theoretical crawling speed, theoretical acceleration and theoretical magnetic force corresponding to the position of the magnetic wall climber;

[0020] The actual motion information acquisition module is used to acquire 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 force, the actual climbing speed, and the actual acceleration.

[0021] The crawling adjustment module is used to perform crawling adjustment calculations based on actual motion information and theoretical motion information. Crawling adjustment includes speed, acceleration, and magnetic attraction force adjustment.

[0022] And a controller for performing magnetic climbing control of the magnetic wall climber.

[0023] The beneficial effects of the technical solution provided in this application are:

[0024] Based on the application scenarios and tasks of the magnetic wall climber, this application plans the crawling path and divides it into several crawling segments according to the inclination angle and the task. The motion information of the crawling segments is set to facilitate crawling detection. By constructing a theoretical motion model and collecting actual operation information, the magnetic wall climber is adapted to the operation needs and ensures safety through crawling adjustments. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of the magnetic wall climber according to the embodiments of this application;

[0027] Figure 2 This is a structural block diagram of the wall-climbing path control system of the magnetic wall climber according to the embodiments of this application;

[0028] Figure 3 This is a flowchart of the method involved in the embodiments of this application;

[0029] Figure 4 This is a schematic diagram of the planned crawling path according to the embodiments of this application;

[0030] Figure 5 This is a schematic diagram illustrating the magnetic attraction force according to the embodiments of this application.

[0031] Figure 6 It is a graph showing the relationship between speed and position in the crawling motion information involved in the embodiments of this application. Detailed Implementation

[0032] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0033] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this disclosure means the presence of the stated 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 say an element is “connected” or “coupled” to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein may include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0035] Please see Figures 1-6 This application discloses a magnetic wall climber 100 involved in the wall climbing path control system of a magnetic wall climber. The magnetic wall climber 100 includes a rectangular body 101 with a length of 450mm and a width of 400mm. The magnetic wall climber 100 is equipped with three moving wheels corresponding to the rectangular body 101, including two front wheels 102 and one rear wheel 103. The front wheels 102 are the main source of driving force, controlling the climber's forward, backward, and turning movements. The climber's turning is achieved by adjusting the speed difference between the left and right front wheels 102.

[0036] The rectangular vehicle body 101 is equipped with a servo motor 104 and a reducer 105 for each of the two front wheels 102;

[0037] The rear wheel 103 is a driven wheel (such as a caster wheel), which does not provide driving force, but is only used to support and balance the structure of the magnetic wall climber 100, and rotates freely with its direction of movement;

[0038] The bottom of the rectangular body 101 of the magnetic wall climber 100 is equipped with four permanent magnets 106 to provide magnetic attraction.

[0039] The bottom of the rectangular body 101 of the magnetic wall climber is also equipped with an electromagnetic force module 107 for generating additional electromagnetic force. For example, the electromagnetic force module 107 is an electromagnet.

[0040] In one exemplary embodiment, the magnetic wall climber wall climbing control system 200 includes:

[0041] The path planning module 201 is used to plan the crawling path. The crawling path planning is based on the operation task of the magnetic wall climber to obtain the planned crawling path and task station. In this embodiment, the operation task of the magnetic wall climber is weld inspection. For example, the task station W is the target point for the magnetic wall climber to perform the operation task.

[0042] The crawling tilt angle extraction module 202 is used to extract the tilt angle information of the corresponding planned crawling path;

[0043] The crawling planning module 203 is used for the theoretical crawling planning of the magnetic wall climber along the planned crawling path;

[0044] The crawling planning module 203 includes a crawling segment division module 2031, which is used to divide the planned crawling path L into several crawling stations according to the planned crawling path L, the corresponding tilt angle information and the task station W, and form a crawling segment D between adjacent crawling stations; the task station W is located within the working radius R of the magnetic wall climber on the corresponding crawling station.

[0045] The motion information setting module 2032 is used to set the planned motion information for the plurality of crawling segments; the planned motion information includes the crawling time to complete the crawling segment, the speed and acceleration at the start and end of the crawling segment;

[0046] And a motion model construction and calculation module 2033, used to construct a crawling motion model based on the crawling road segment and the planned motion information, and to calculate the theoretical motion information of the magnetic wall climber based on the position information of the magnetic wall climber. The theoretical motion information includes the position of the magnetic wall climber, and the theoretical crawling speed, theoretical acceleration and theoretical magnetic force corresponding to the position of the magnetic wall climber.

[0047] The actual motion information acquisition module 204 is used to acquire 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 force, the actual climbing speed and the actual acceleration.

[0048] 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 a ring force sensor, which is mounted between the axle of the motion wheel and the bearing of the rectangular vehicle body. In some embodiments, the force sensor can also be a pin-type sensor that directly replaces the axle of the motion wheel, with the motion wheel directly mounted on the pin-type sensor.

[0049] The crawling adjustment module 205 is used to perform crawling adjustment calculations based on actual motion information and theoretical motion information. The crawling adjustment includes speed, acceleration, and magnetic attraction force supplementary adjustment.

[0050] And controller 206, used to control the above modules to work together and realize the magnetic climbing control of the magnetic wall climber.

[0051] Based on the above-mentioned path control system, this application discloses a method for controlling the climbing path of a magnetic wall climber, including:

[0052] Step 1: Plan the crawling path and task stations according to the task requirements;

[0053] In an exemplary embodiment, the method for planning a planned crawling path L and a task station W based on a task includes planning a crawling path based on the task of the magnetic wall climber to obtain the planned crawling path L and the task station W; exemplarily, the task station W is the target point for the magnetic wall climber to perform the task.

[0054] Task station W is located within the operating radius R of the magnetic wall climber on the planned crawling path L;

[0055] Step 2: Extract the tilt angle information corresponding to the planned crawling path, perform crawling theoretical planning, and construct a theoretical motion model; In an exemplary embodiment, the method for extracting the tilt angle information corresponding to the planned crawling path, performing crawling theoretical planning, and constructing a theoretical motion model includes,

[0056] Extract the tilt angle information corresponding to the planned crawling path; divide the planned crawling path to obtain crawling stations, and form crawling segments between adjacent crawling stations. Any task station W is within the working radius R of the magnetic wall climber at at least one crawling station.

[0057] In one exemplary embodiment, the method for extracting the tilt angle information corresponding to the planned crawling path, performing crawling theoretical planning, and constructing a theoretical motion model further includes,

[0058] For each crawling section, crawling motion information is set, and a motion model of the magnetic wall climber is constructed; the crawling motion information meets the operational needs of the crawling section; that is, the crawling motion information is set according to the operational needs of the magnetic wall climber in the crawling section, and the crawling motion information includes the crawling time to complete the crawling section, the speed and acceleration at the start and end of the crawling section.

[0059] In an exemplary embodiment, a crawling station is defined on the planned crawling path L. For the first Point, number The angle of inclination of the point is When from the first Starting from point L, follow the planned crawling path L to find the nearest point. The angle of inclination of the point is When satisfied , For the set tilt angle change threshold, then in the th Set the point as another crawling site The path between adjacent crawling stations is defined as a crawling segment D.

[0060] 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 the starting speed and ending speed of each crawling segment D to the same set value; the same set value is 0; a motion model in which the speed V and position S form a trapezoid between the starting point S0 and the ending point S1 is adopted; the motion model includes an acceleration segment a, a constant speed segment b, and a deceleration segment c;

[0061] In acceleration segment a, the magnitude of acceleration is constant; in uniform velocity segment b, the magnitude of acceleration is 0, and the magnitude of velocity is constant; in deceleration segment c, the magnitude of acceleration is constant.

[0062] 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 force, the actual climbing speed, and the actual acceleration. Calculate the theoretical motion information at the current position based on the theoretical motion model. The theoretical motion information includes 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.

[0063] Step 4: Based on theoretical and actual motion information, adjust the magnetic wall climber's crawling motion, including adjusting the crawling speed, crawling acceleration, and magnetic force.

[0064] In one exemplary embodiment, the method for adjusting the crawling motion of a magnetic wall climber based on theoretical and actual motion information includes: constructing a crawling adjustment model; wherein the adjustment of crawling speed and crawling acceleration in the crawling adjustment model employs a PID control algorithm; after performing the crawling adjustment, the actual motion information is re-acquired, and the crawling adjustment model is optimized using the least squares method. In one exemplary embodiment, the adjustment of the magnetic attraction force in the crawling adjustment model employs an additional matching electromagnetic force, such 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; 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 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 by 10%-20%.

[0065] In one exemplary embodiment, such as Figure 5 At an inclination angle of At that time, the resultant force of the original magnetic attraction force FC and electromagnetic force DC of the magnetic wall climber 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 the safety factor. In an exemplary embodiment, the safety factor is 1.1.

[0066] In some embodiments, when setting crawling motion information for each crawling segment, the starting point S1 of the crawling segment has a velocity of 0, the ending point S2 has a velocity of 0, and a motion model in which the velocity V and position S form a trapezoid is used in the middle; In an exemplary embodiment, when the crawling segment is a horizontal straight segment, the lengths of the acceleration segment and the deceleration segment are equal, and the magnitudes of the acceleration segments and the deceleration segments are equal, but the directions are opposite.

[0067] In some embodiments, the crawling adjustment model is constructed using a PID control algorithm, and the crawling adjustment control quantity includes the adjustment quantity of the movement speed of the magnetic wall climber and the adjustment quantity of acceleration, which correspond to different components of the output of the PID control algorithm.

[0068] Preferably, after performing the crawling adjustment, the current position information and actual motion information of the magnetic wall climber are re-acquired, and the parameters of the motion model and crawling adjustment model of the magnetic wall climber are optimized using the least squares method.

[0069] Another aspect of this application discloses the application of a wall-climbing control system based on a magnetic wall climber in beam inspection.

[0070] Compared with related technologies, the above technical solution involves: collecting the planned crawling path of the magnetic wall climber and the corresponding inclination angle information; dividing the planned crawling path into several crawling segments and crawling stations based on the inclination angle information; setting crawling motion information for each crawling segment, including the crawling time to complete the segment, the speed and acceleration at the start and end points of the segment; constructing a motion model of the magnetic wall climber based on the crawling motion information of each segment; collecting the current position information of the magnetic wall climber; and calculating the theoretical motion information of the current magnetic wall climber based on the motion model. The system performs real-time magnetic force calculations on the position of the magnetic wall climber to determine whether the magnetic force can withstand the weight of the magnetic wall climber and the load; it collects the actual motion information of the current magnetic wall climber; it constructs a crawling adjustment model and outputs crawling adjustment control quantities based on theoretical and actual motion information; it outputs the crawling adjustment control quantities to the controller of the magnetic wall climber, which then performs the crawling adjustment. This application innovatively adjusts the crawling parameters in real time according to the planned crawling path, ensuring safety while facilitating efficient adaptation to testing needs. It is particularly suitable for the relatively complex planned crawling paths of bridge and gantry crane machinery and is adapted for crawling control of crawling weld inspection.

[0071] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated 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 steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0072] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for controlling the climbing of a magnetic wall climber, characterized in that, include: Step 1: Plan the crawling path and task stations according to the task requirements; Step 2: Extract the tilt angle 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 force, the actual climbing speed, and the actual acceleration. The theoretical motion information at the current position is calculated based on the theoretical motion model. The theoretical motion information includes the position of the magnetic wall climber, the theoretical crawling speed, theoretical crawling acceleration and theoretical magnetic force corresponding to the position of the magnetic wall climber. The vertical component of the theoretical magnetic force is greater than the weight of the magnetic wall climber and its load. Step 4: Based on theoretical and actual motion information, adjust the magnetic wall climber's crawling motion, including adjusting the crawling speed, crawling acceleration, and magnetic force. The tilt angle is the angle between the corresponding position on the crawling path and the horizontal plane; Methods for extracting the tilt angle information corresponding to the planned crawling path, performing crawling theoretical planning, and constructing a theoretical motion model include: Extract the tilt angle information corresponding to the planned crawling path; The planned crawling path is divided to obtain crawling stations. Crawling sections are formed between adjacent crawling stations. Any task station is within the working radius of the magnetic wall climber at at least one crawling station. Methods for extracting the tilt angle information corresponding to the planned crawling path, performing crawling theoretical planning, and constructing a theoretical motion model also include, For each crawling section, crawling motion information is set, 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 to complete the crawling section, the speed and acceleration at the start and end points of the crawling section.

2. The wall-climbing control method for the magnetic wall climber according to claim 1, characterized in that, Methods for planning crawling paths and task stations based on job tasks include: Based on the task of the magnetic wall climber, a crawling path is planned to obtain the planned crawling path and task stations; The task site is located within the operating radius of the magnetic wall climber on the planned crawling path.

3. The wall-climbing control method for the magnetic wall climber according to claim 1, characterized in that, Let the crawling station on the planned crawling path be the first... Point, number The angle of inclination of the point is When from the first Starting from point A, follow the planned crawling path to find the nearest [location / location]. The angle of inclination of the point is When satisfied , For the set tilt angle change threshold, then in the first... The point is set as another crawling station; the path between adjacent crawling stations is set as a crawling segment.

4. The wall-climbing control method for the magnetic wall climber according to claim 3, characterized in that, A method for setting crawling motion information for each crawling segment and constructing a motion model for a magnetic wall climber includes setting the starting speed and ending speed of each crawling segment to the same set value; the same set value is 0. A motion model with a trapezoidal relationship between velocity and position is used between the starting point and the ending point. The motion model includes an acceleration phase, a constant velocity phase, and a deceleration phase; During the acceleration phase, the magnitude of the acceleration is a constant value; During the uniform velocity segment, the magnitude of acceleration is 0, and the magnitude of velocity is a constant value; During the deceleration phase, the magnitude of the acceleration remains constant.

5. The wall-climbing control method for the magnetic wall climber according to claim 1, characterized in that, The method for adjusting the crawling of a magnetic wall climber based on theoretical and actual motion information includes: constructing a crawling adjustment model; using a PID control algorithm to adjust the crawling speed and acceleration in the crawling adjustment model; and after performing the crawling adjustment, re-collecting and re-collecting actual motion information and optimizing the crawling adjustment model using the least squares method.

6. The wall-climbing control method for the magnetic wall climber according to claim 5, characterized in that, In the crawling adjustment model, the magnetic attraction force 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.

7. A magnetic wall-climbing device control system based on the method of claim 1, characterized in that, This system is applied to a magnetic wall climber; the bottom of the magnetic wall climber is equipped with an electromagnetic force module to generate additional electromagnetic force; The system includes: The path planning module is used to plan the crawling path. The crawling path planning is based on the operation task of the magnetic wall climber to obtain the planned crawling path and task station. The crawling tilt angle extraction module is used to extract the tilt angle information of the corresponding planned crawling path; A crawling planning module is used for theoretical crawling planning of the magnetic wall climber along the planned crawling path; The crawling planning module includes a crawling segment division module, which is used to divide the planned crawling path into several crawling stations based on the planned crawling path, the corresponding tilt angle information, and the task station. Crawling segments are formed between adjacent crawling stations. The task station is located within the working radius of the magnetic wall climber on the corresponding crawling station. The motion information setting module is used to set the planned motion information for the several crawling segments; the planned motion information includes the crawling time to complete the crawling segment, the speed and acceleration at the start and end of the crawling segment; And a motion model construction and calculation module, used to construct a crawling motion model based on the crawling road segment and the planned motion information, and to calculate the theoretical motion information of the magnetic wall climber based on the position information of the magnetic wall climber. The theoretical motion information includes the position of the magnetic wall climber, the theoretical crawling speed, theoretical acceleration and theoretical magnetic force corresponding to the position of the magnetic wall climber; The actual motion information acquisition module is used to acquire 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 force, the actual climbing speed, and the actual acceleration. The crawling adjustment module is used to perform crawling adjustment calculations based on actual motion information and theoretical motion information. Crawling adjustment includes speed, acceleration, and magnetic attraction force adjustment. And a controller for performing magnetic climbing control of the magnetic wall climber.

8. An application of a wall-climbing control system based on the magnetic wall-climbing device described in claim 7 in the inspection of crossbeam welds of bridge gantry cranes.

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