A dust removal robot, a dust removal robot control method, a system and an electronic device

Abstract

This application discloses a dust removal robot, a dust removal robot control method, a system, and electronic equipment, relating to the field of robotics. It includes: a magnetic attraction module disposed on the underside of a chassis frame module, used to generate magnetic attraction on an iron surface, maintaining the chassis frame module at a vertical distance relative to the iron surface; a wheel assembly module disposed on the periphery of the chassis frame module, used to drive the chassis frame module to move parallel to the iron surface; a working unit module disposed on the chassis frame module, used to perform preset dust removal tasks; a position module disposed on the periphery and underside of the chassis frame module, used to monitor the risk of movement of the chassis frame module on the iron surface; and a posture module disposed on the chassis frame module and the working unit module, used to monitor the posture risk of the dust removal robot on the iron surface. The iron surface is a vertically oriented iron plate surface, on which the dust removal robot walks; the iron plate has upper and lower boundaries and left and right boundaries.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to dust removal robots, dust removal robot control methods, dust removal robot control systems, electronic devices, storage media, and anode plate dust removal platforms. Background Technology

[0002] Thermal power plants are equipped with electrostatic precipitators (ESPs) to assist in dust removal during plant operation. However, the anode plates and cathode wires of these ESPs inevitably accumulate a large amount of dust during the operation of the power plant.

[0003] By regularly inspecting and cleaning components, including the anode plates, the electrostatic precipitator can restore, to some extent, the cleaning capability of the power plant it is paired with.

[0004] The current maintenance method involves manually inspecting the electrostatic precipitator and cleaning dust from the anode plates. Due to the special working environment, this method faces many risks.

[0005] For example, it is impossible to set up a lifting platform or scaffolding inside the electrostatic precipitator. The safety of personnel is ensured entirely by safety belts and fall arrestors, which is a high-risk operation.

[0006] For example, taking a 600,000 kW unit as an example, the electrostatic precipitator has about 5,000 anode plates, requiring many testing points. Under the premise of low testing efficiency, this conflicts with the time window for regular maintenance.

[0007] For example, the testing space is small, with the distance between the needle wire and the anode plate being only 150-225mm. Workers need to squeeze into this narrow space to clean the anode plate and cathode wire, and check for potential hazards. During maintenance, the personnel will be extremely inconvenient to move around, and there will be blind spots in the testing, which will make it impossible to guarantee the quality of maintenance.

[0008] For example, a testing environment with high dust content, stuffiness, and insufficient light is extremely poor and has a significant impact on the health and mental well-being of the inspectors.

[0009] Based on the above situation, some manufacturers have attempted to use wheeled robots to replace manual labor in cleaning and maintenance of electrostatic precipitators, including removing dust from the anode plates. However, due to the special environment, the results have not been ideal.

[0010] Specifically, the robot crawls along the surface of an anode plate by attaching a magnet to its abdomen. As observed on-site, the anode plate is a vertically placed long iron plate. The robot needs to clean the dust while walking on this surface, but the anode plate itself already has a large amount of accumulated dust, making the surface conditions extremely poor. This increases the wheel's grip strength requirements and raises the risk of falls. The dust-cleaning unit is located on the robot, and this unit needs to maintain a certain cleaning range by changing the font, which leads to a shift in the center of gravity. This further causes fluctuations in the magnet's grip strength, further increasing the risk of falls. The manufacturer tried to increase the magnet's grip strength to reduce the risk of falls, but because the anode plate is a thin iron plate, the excessive grip strength on the robot's abdomen causes the magnet to bend and deform the thin iron plate, tightly binding it to the magnet, preventing the robot from walking normally. This led to the need to add wheels, motors, batteries, and increase the overall size, creating a vicious cycle of adding more flour when there's too much water, and adding more water when there's too much flour.

[0011] In summary, a robot strategy is needed to rationally arrange the robot chassis, monitor the robot's walking status, predict the risk of falls, and effectively and reliably control the robot's movement on the anode plate surface. Summary of the Invention

[0012] The purpose of this invention is to provide a dust removal robot, a dust removal robot control method, a dust removal robot control system, electronic equipment, a storage medium, and an anode plate dust removal platform, at least solving one of the following technical problems: the reliable adsorption of a robot with a magnetic chassis on a vertical thin iron plate surface; the monitoring of the robot's walking status on a vertical thin iron plate surface; the judgment of the risk of falling when the robot walks, turns, or moves its working parts; and the prevention of falling risks to ensure reliable magnetic adsorption control of the robot.

[0013] This invention provides the following solution:

[0014] According to a first aspect of the present invention, a dust removal robot is provided, comprising:

[0015] Magnetic suction module, wheel assembly module, position module, attitude module, working part module, and chassis frame module;

[0016] The magnetic module is located on the underside of the chassis frame module. It is used to generate magnetic force to attract the iron surface, so that the chassis frame module maintains a position relative to the iron surface at a perpendicular distance.

[0017] The wheel assembly module is located on the periphery of the chassis frame module and is used to drive the chassis frame module to move parallel to the iron surface.

[0018] The working module, located on the chassis frame module, is used to perform preset dust removal tasks;

[0019] The position module, located on the periphery and belly of the chassis frame module, is used to monitor the risk of movement of the chassis frame module on the iron surface.

[0020] The attitude module, located in the chassis frame module and the working part module, is used to monitor the attitude risk of the dust removal robot on the iron surface.

[0021] Among them, the iron surface is a vertically arranged iron plate surface, and the dust removal robot walks on the plate surface;

[0022] Among them, the iron plate has upper and lower boundaries and left and right boundaries;

[0023] Based on the vertically oriented iron plate surface and the fact that the iron plate has upper and lower boundaries and left and right boundaries, data from the position module and attitude module are obtained to assess movement risk and / or attitude risk.

[0024] The strategy of controlling the magnetic attraction module to generate an adsorption effect on the iron surface and / or the strategy of controlling the wheel assembly module to drive the chassis frame module to move parallel to the iron surface are set to control the movement risk and / or posture risk of the dust removal robot walking on the plate surface.

[0025] Furthermore, the position module includes: a first position sensor and a second position sensor;

[0026] Based on the fact that the iron plate has upper and lower boundaries and left and right boundaries, a first position sensor and a second position sensor are used to assess the risk of movement of the dust removal robot on the iron surface.

[0027] The boundaries of the iron plates include connecting boundaries and disconnected boundaries;

[0028] Among them, the first position sensor is set on the chassis frame module based on the contour range trajectory generated by the position movement of the dust removal robot and the boundary interference of the connection type of the iron plate.

[0029] Among them, the contour range trajectory generated based on the position movement of the dust removal machine interferes with the disconnected boundary of the iron plate, and a second position sensor is set on the chassis frame module;

[0030] The first position sensor includes sensing the direction of the parallel iron plate surface and a sensing threshold to prevent interference with the connecting boundary of the iron plate.

[0031] The second position sensor includes sensing the direction perpendicular to the surface of the iron plate and a sensing threshold to prevent interference with the disconnected boundary of the iron plate.

[0032] Furthermore, the position module also includes a second position sensor:

[0033] Based on the positional state of maintaining the chassis frame module at a vertical distance relative to the iron surface, a second position sensor is used to monitor the risk of movement of the dust removal robot on the iron surface.

[0034] Among them, based on the deformation of the iron plate caused by the adsorption effect of the magnetic module on the iron surface, a second position sensor is set on the chassis frame module;

[0035] The second position sensor includes setting a sensing threshold for the deformation state of the iron plate adsorbed by the feedback magnetic module.

[0036] Furthermore, the attitude module includes:

[0037] First attitude sensor and second attitude sensor;

[0038] The first attitude sensor is installed on the chassis frame module and is used to acquire the attitude data of the chassis frame module.

[0039] The second attitude sensor is installed in the working module and is used to acquire the attitude data of the working module based on the attitude data of the chassis frame module.

[0040] Obtain mass distribution information of the dust removal robot;

[0041] Based on the mass distribution information of the dust removal robot, data from the first attitude sensor and the second attitude sensor are read to obtain the center of gravity offset information;

[0042] Based on the center of gravity shift information, monitor the posture risk of the dust removal robot on the iron surface.

[0043] Furthermore, monitoring the posture risks of dust removal robots on ferrous surfaces includes:

[0044] By integrating the feedback from the second position sensor to the sensing threshold of the deformation state of the magnetic adsorption module on the iron plate, the posture risk of the dust removal robot on the iron surface can be monitored.

[0045] The motion range information of the dust robot is obtained based on the first attitude sensor and the second attitude sensor;

[0046] Based on the motion range of the dust removal robot, obtain the range information of the center of gravity offset of the dust removal robot;

[0047] Based on the information on the range of center of gravity offset, the sensing threshold of the second position sensor for the deformation state of the iron plate adsorbed by the feedback magnetic module is set.

[0048] Furthermore, the second position sensor includes: multiple second position sensors, forming a monitoring surface composed of sensor sensing thresholds;

[0049] Based on the initial posture of the dust removal robot, obtain the center of gravity position information;

[0050] Corresponding to the initial posture of the dust removal robot, the sensing threshold of the second position sensor of multiple feedback magnetic adsorption modules adsorbing the deformation state of the iron plate is initialized to form a monitoring threshold surface;

[0051] Based on the first attitude sensor and / or the second attitude sensor, the orientation of the dust removal robot's front end on the iron surface and / or the offset of the dust removal robot's center of gravity are obtained;

[0052] Based on the orientation of the dust removal robot's head on the iron surface and / or the offset of the dust removal robot's center of gravity, control the tilt angle and / or deformation state of the monitoring threshold surface.

[0053] The tilt angle and / or deformation state of the corresponding monitoring threshold surface are used to coordinate the adsorption state of the magnetic adsorption module.

[0054] According to a second aspect of the present invention, a method for controlling a dust removal robot is provided, comprising:

[0055] Reset the dust removal robot to its initial posture and position;

[0056] Reset the initial posture and position of the dust removal robot, including the initial position when working on the vertically set iron plate surface and the initial posture when retracting the working module;

[0057] Initialize the posture module data based on the initial posture and position of the dust removal robot;

[0058] Read the mass distribution information of the dust removal robot and the range of center of gravity offset information under the activity capability of the dust removal robot from the database;

[0059] Based on the mass distribution information of the dust removal robot and the range of center of gravity offset information under the activity capacity of the dust removal robot, the adsorption force requirement threshold data is generated.

[0060] Based on the adsorption force requirement threshold data and the mass distribution information of the dust removal robot, and based on the position of the magnetic adsorption module, the contribution share of the magnetic adsorption capacity and the threshold range for controlling the adsorption force are allocated.

[0061] Furthermore, operations on the surface of vertically arranged iron plates include:

[0062] Obtain the thickness and deflection information of the iron plate;

[0063] Based on the thickness and deflection information of the iron plate and the contribution share of the magnetic adsorption capacity of the magnetic module, the field strength of the magnetic module and the distance between the magnetic module and the iron plate are set.

[0064] Based on the distance between the magnetic module and the iron plate, and the threshold data of the required adsorption force, the installation position of the second position sensor and the sensing threshold for feedback of the adsorption state of the magnetic module are set.

[0065] The magnetic module includes one or more magnets;

[0066] Based on the distribution of magnets on the underside of the chassis frame module, multiple second position sensors are correspondingly arranged on the underside of the chassis frame module.

[0067] According to a third aspect of the present invention, a dust removal robot control system is provided, comprising:

[0068] The initialization module is used to reset the initial posture and initial position of the dust removal robot;

[0069] Reset the initial posture and position of the dust removal robot, including the initial position when working on the vertically set iron plate surface and the initial posture when retracting the working module;

[0070] The attitude module initialization module is used to initialize the attitude module data based on the initial attitude and initial position of the dust removal robot;

[0071] The data reading module is used to read the mass distribution information of the dust removal robot and the center of gravity offset range information under the activity capability of the dust removal robot from the database;

[0072] Adsorption force requirement module, used for

[0073] Based on the mass distribution information of the dust removal robot and the range of center of gravity offset information under the activity capacity of the dust removal robot, the adsorption force requirement threshold data is generated.

[0074] The share allocation module is used to allocate the adsorption capacity contribution share of the magnetic module and control the threshold range of adsorption force based on the adsorption force demand threshold data and the mass distribution information of the dust removal robot, according to the position of the magnetic module.

[0075] According to a fourth aspect of the present invention, an electronic device is provided, comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0076] The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the dust removal robot control method.

[0077] According to a fifth aspect of the present invention, a computer-readable storage medium is provided, comprising storing a computer program executable by an electronic device, wherein when the computer program is run on the electronic device, the electronic device causes the electronic device to perform the steps of a dust removal robot control method.

[0078] According to a sixth aspect of the present invention, an anode plate dust removal platform is provided, comprising:

[0079] The dust removal workpiece uses a dust removal robot.

[0080] Electronic equipment used to implement the steps of a dust removal robot control method;

[0081] The processor runs a program, and when the program runs, it executes the steps of the dust removal robot control method based on data output from the electronic device.

[0082] Storage medium for storing programs that, when running, execute steps of a dust removal robot control method based on data output from electronic devices.

[0083] The above solution achieves the following beneficial technical effects:

[0084] This application utilizes a first position sensor and a second position sensor, corresponding to different boundary types, to effectively avoid the robot's walking boundaries and prevent the risk of falling due to walking beyond the boundaries.

[0085] This application monitors the center of gravity shift of the robot in its posture state by deploying a first attitude sensor and a second attitude sensor, thereby preventing the risk of falling due to the shift in the center of gravity.

[0086] This application monitors minute changes in the dust removal robot's detachment from the iron surface by integrating the sensing threshold of the magnetic adsorption module's adsorption state feedback from the second position sensor, thus preventing the risk of falling caused by changes in the adsorption force requirement.

[0087] This application balances the adsorption force requirement and the deformation of the iron plate by controlling the placement and number of magnets, ensuring that movement is not affected by the deformation of the iron plate, and preventing the risk of falling caused by changes in the adsorption force requirement.

[0088] This application combines the control of multiple magnets to release the overall adsorption capacity of the robot. Depending on changes in the robot's posture and movement, the adsorption capacity is tilted towards different magnets or different positions on the chassis frame to ensure that the robot as a whole remains in a safe state on the iron surface. Attached Figure Description

[0089] Figure 1 This is the structure of a dust removal robot provided in one or more embodiments of the present invention. Figure 1 .

[0090] Figure 2 This is the structure of a dust removal robot provided in one or more embodiments of the present invention. Figure 2 .

[0091] Figure 3This is the structure of a dust removal robot provided in one or more embodiments of the present invention. Figure 3 .

[0092] Figure 4 This is a flowchart of a dust removal robot control method provided by one or more embodiments of the present invention.

[0093] Figure 5 This is a structural diagram of a dust removal robot control system provided in one or more embodiments of the present invention.

[0094] Figure 6 This is a block diagram of an electronic device structure for a dust removal robot control method provided in one or more embodiments of the present invention.

[0095] Icon labels:

[0096] 1. Magnetic suction module; 2. Wheel assembly module; 3. Position module; 4. Attitude module; 5. Working part module; 6. Chassis frame module; 7. Iron plate; 8. Upper and lower boundaries; 9. Left and right boundaries; 10. First position sensor; 11. Second position sensor; 12. First attitude sensor; 13. Second attitude sensor. Detailed Implementation

[0097] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0098] Figure 1 This is the structure of a dust removal robot provided in one or more embodiments of the present invention. Figure 1 .

[0099] Figure 2 This is the structure of a dust removal robot provided in one or more embodiments of the present invention. Figure 2 .

[0100] Figure 3 This is the structure of a dust removal robot provided in one or more embodiments of the present invention. Figure 3 .

[0101] like Figure 1 , 2 The dust removal robots shown in Figure 3 include:

[0102] Magnetic suction module 1, wheel assembly module 2, position module 3, attitude module 4, working part module 5, and chassis frame module 6;

[0103] The magnetic module 1 is located on the underside of the chassis frame module 6 and is used to generate magnetic force to attract the iron surface, so that the chassis frame module 6 maintains a position relative to the iron surface at a perpendicular distance.

[0104] Wheel assembly module 2 is located on the periphery of chassis frame module 6 and is used to drive chassis frame module 6 to move parallel to the iron surface.

[0105] The working module 5 is mounted on the chassis frame module 6 and is used to perform preset dust removal tasks.

[0106] Position module 3 is located on the periphery and belly of chassis frame module 6 and is used to monitor the risk of movement of chassis frame module 6 on iron surface.

[0107] The attitude module 4, located in the chassis frame module 6 and the working part module 5, is used to monitor the attitude risk of the dust removal robot on the iron surface.

[0108] Among them, the iron surface is the surface of the vertically arranged iron plate 7, and the dust removal robot walks on the surface of the plate;

[0109] Among them, the iron plate 7 has upper and lower boundaries 8 and left and right boundaries 9;

[0110] Based on the vertically oriented iron plate 7 surface and the fact that the iron plate 7 has upper and lower boundaries 8 and left and right boundaries 9, data from the position module 3 and attitude module 4 are obtained to assess the movement risk and / or attitude risk.

[0111] The strategy of controlling the magnetic attraction module 1 to generate an adsorption effect on the iron surface and / or the strategy of controlling the wheel assembly module 2 to drive the chassis frame module 6 to move parallel to the iron surface are set to control the movement risk and / or posture risk of the dust removal robot walking on the plate surface.

[0112] Specifically, the dust removal robot disclosed in this application is a robot specifically designed for walking and removing dust from the surface of vertically placed iron plates, such as the anode plate surface in the dust removal workshop of a thermal power plant. The anode plate is composed of multiple independent thin iron plates (anode plate units) that are horizontally spliced ​​together and then vertically placed in the dust removal workshop.

[0113] The magnetic module 1 includes a permanent magnet, an electromagnet, or a combination of an electromagnet and a permanent magnet. The magnetic module 1 ensures the dust removal robot maintains vertical pressure on the anode plate surface, allowing the wheel assembly module 2 to make tight contact with the iron plate surface 7, generating friction. The wheel assembly module 2 includes wheels, tracks, or Mecanum wheels, etc.

[0114] The chassis frame module 6 serves as the chassis frame of the robot, on which the magnetic suction module 1, wheel assembly module 2, position module 3, posture module 4, and working part module 5 are assembled.

[0115] The working module 5 includes a dust removal unit with a robotic arm and a rotating brush head, which is installed on the front part of the robot.

[0116] The attitude module 4 includes two gyroscopes (electronic gyroscopes are built into the circuit board and are not shown precisely in the diagram, only their approximate positions are indicated), which are respectively mounted on the chassis frame module 6 and the working part module 5. These gyroscopes generate sensing signals as the robot moves and the working part module 5 is raised and lowered. The attitude module 4 sends the data to the calculation module to calculate the center of gravity offset.

[0117] The position module 4 includes multiple pressure sensors, which are respectively installed on the chassis frame module 6 and the working part module 5. By coupling pressure signals, the state information of the robot's movement position interference boundary is obtained.

[0118] The iron plate 7 is made up of multiple anode plate units spliced ​​horizontally. There are raised areas (connecting boundaries) at the splicing points, forming left and right boundaries 9. The upper and lower suspended areas (disconnecting boundaries) form upper and lower boundaries 8. The dust removal robot walks and removes dust within the area enclosed by the boundaries.

[0119] Figure 1 , 2 It's the abdomen of the dust removal robot. Figure 3 This is the back of the dust removal robot, which crawls on the anode plate. When the working module 5 is lowered, the signal of the first position sensor 10 mounted on it is set to active. When the working module 5 is raised, the signal of the first position sensor 10 mounted on it is set to inactive, or used for sensing purposes in other positions.

[0120] In another embodiment, the signal of the first position sensor 10 on the working module 5 is always valid. The signal of the first position sensor 10 is used to check for unexpected obstructions in the movement stroke of the working module 5, or to check whether a predetermined feedback signal is obtained after the working module 5 moves to a predetermined position.

[0121] For example, when the working module 5 is lowered, if the first position sensor 10 on the head of the dust removal robot and the first position sensor 10 on the working module 5 both generate pressure value signals, the dust removal robot outputs the first warning information to report abnormal anode plate shape (e.g., local irregular deformation).

[0122] In another embodiment, the second position sensor 11 maintains contact with the anode plate under a certain pressure state. When the pressure value signals from both the second position sensors 11 at the front and rear of the dust removal robot return to zero, the dust removal robot outputs a second warning message to indicate that it has detached from the anode plate (e.g., the dust removal robot has fallen or been forcibly removed from the surface of the anode plate). If only the pressure value signals from the second position sensors 11 at the front or rear of the robot return to zero, a third warning message can be issued to indicate that the robot has reached its limit position.

[0123] In this embodiment, the position module 3 includes: a first position sensor 10 and a second position sensor 11;

[0124] Based on the iron plate 7 having upper and lower boundaries 8 and left and right boundaries 9, a first position sensor 10 and a second position sensor 11 are used to monitor the movement risk of the dust removal robot on the iron surface.

[0125] Among them, the boundaries of the iron plate 7 include connecting boundaries and disconnected boundaries;

[0126] Among them, the contour range trajectory generated by the position movement of the dust removal robot interferes with the boundary of the connection of the iron plate 7, and a first position sensor 10 is set on the chassis frame module 6;

[0127] Among them, the contour range trajectory generated based on the position movement of the dust removal machine interferes with the disconnected boundary of the iron plate 7, and a second position sensor 11 is set on the chassis frame module 6;

[0128] The first position sensor 10 includes sensing the direction of the parallel iron plate 7 surface and a sensing threshold to prevent interference with the connecting boundary of the iron plate 7.

[0129] The second position sensor 11 includes sensing the direction perpendicular to the surface of the iron plate 7, and a sensing threshold to prevent interference with the disconnected boundary of the iron plate 7.

[0130] Specifically, the first position sensor 10 and the second position sensor 11 can be pressure sensors. The first position sensor 10 is located around the chassis frame module 6 and on both sides of the working part module 5, protruding outwards. It is mainly used to monitor the interference between the robot's trajectory contour and the connecting boundary. That is, when the pressure signal of the first position sensor 10 changes from zero to one, or from small to large, the position of the first position sensor 10 that generates the signal can be used to determine that the robot will touch the raised part of the transverse splicing of the anode plate unit, thereby controlling its direction of travel.

[0131] The second position sensor 11 is located in front of and behind the chassis frame module 6, and is vertically downward to maintain contact and pressure with the iron plate 7. When the robot travels to the suspended part of the anode plate (such as when it is about to exceed the upper and lower boundaries 8), the pressure signal of the second position sensor 11 changes from present to absent. Based on the position of the generated second position sensor 11, it can be determined that the robot will fall off the surface of the anode plate unit in this direction of travel.

[0132] In this embodiment, the robot's direction of travel and attitude can be basically determined by the first attitude sensor 12 and / or the second attitude sensor 13. Combined with encoder data, the position can be roughly determined. However, in specific working environments (e.g., abnormal deformation or abnormal size of the anode plate), even with pre-defined three-dimensional coordinate data, there are still unknown risks such as error accumulation. Therefore, the first position sensor 10 and the second position sensor 11 are needed to compensate for these risks with the control strategy. For example, if the robot is kept moving upwards by the first attitude sensor 12 and / or the second attitude sensor 13, and the anode plate is partially cut, the second position sensor 11 will detect that it cannot continue moving upwards and will feed back encoder data to mark this position. If the robot fails to receive feedback from the second position sensor 11 regarding the pressure signal at the upper or lower boundary 8 that it should have reached according to the preset encoder data, there may be slippage causing accumulated errors. In this case, the robot can crawl at a low speed for a preset distance. If feedback from the second position sensor 11 regarding the pressure signal at the lower boundary is received during this process, the position data measured by the encoder will be corrected.

[0133] In another embodiment, the first position sensor 10 on the working module 5 assists the second position sensor 11 at the front of the vehicle in correcting the position data measured by the encoder. For example, the working module 5 is lowered so that the first position sensor 10 contacts one side of the left and right boundaries 9 to generate a feedback signal. While maintaining the feedback signal generated by the first position sensor 10, the vehicle crawls at a low speed for a preset first distance. If feedback is received during this process, indicating that the pressure signal from the first position sensor 10 has decreased, the vehicle continues to crawl for a preset second distance. If feedback is received during this process, indicating that the pressure signal from the second position sensor 11 has decreased, the position data measured by the encoder is corrected. The preset second distance can be set according to the vehicle size and sensor installation position, retaining redundancy suitable for the vehicle body size.

[0134] In this embodiment, the position module 3 further includes a second position sensor 11:

[0135] Based on the position state of the chassis frame module 6 maintaining a vertical distance relative to the iron surface, the second position sensor 11 is used to monitor the risk of movement of the dust removal robot on the iron surface.

[0136] Among them, based on the deformation of the iron plate 7 caused by the adsorption effect of the magnetic module 1 on the iron surface, a second position sensor 11 is set on the chassis frame module 6;

[0137] The second position sensor 11 includes setting a sensing threshold for the deformation state of the iron plate 7 adsorbed by the feedback magnetic module 1.

[0138] Specifically, the second position sensor 11 is also located on the underside of the chassis frame module 6 (not shown in the figure), in a position where the iron plate 7 is easily deformed by magnetic attraction, such as near the magnet.

[0139] The second position sensor 11 monitors changes in the distance between the iron plate 7 and the magnetic module 1. For example, increased deformation of the iron plate 7 may cause the robot to bottom out, while decreased deformation may indicate thinning of the iron, reverse deformation, or the robot's center of gravity moving away from the iron plate 7. Setting a sensing threshold for the deformation state of the magnetic module 1 in attracting the iron plate 7 allows for risk assessment and appropriate actions, such as promptly stopping the movement of the working module 5 to prevent further movement away from the iron plate 7, stopping the robot from advancing towards the abnormal area of ​​the anode plate, or increasing the electromagnet current. When the second position sensor 11 is used to monitor changes in the distance between the iron plate 7 and the magnetic module 1, it indirectly measures the distance change by relying on the fluctuating feedback of the pressure value data, rather than through the feedback of the pressure signal from the second position sensor 11 from being present to being absent.

[0140] In this embodiment, the attitude module 4 includes:

[0141] First attitude sensor 12 and second attitude sensor 13;

[0142] The first attitude sensor 12 is installed in the chassis frame module 6 and is used to acquire the attitude data of the chassis frame module 6.

[0143] The second attitude sensor 13 is installed in the working module 5 and is used to acquire the attitude data of the working module 5 based on the attitude data of the chassis frame module 6.

[0144] Obtain mass distribution information of the dust removal robot;

[0145] Based on the mass distribution information of the dust removal robot, the data of the first attitude sensor 12 and the second attitude sensor 13 are read to obtain the center of gravity offset information;

[0146] Based on the center of gravity shift information, monitor the posture risk of the dust removal robot on the iron surface.

[0147] Specifically, in one embodiment, the first attitude sensor 12 and the second attitude sensor 13 are electronic gyroscopes, respectively mounted on the chassis frame module 6 and the working unit module 5 (the positions shown in the illustration are not unique and are only for illustrative purposes). For example, the first attitude sensor 12 can determine the current orientation of the robot's front and its direction of travel, while the second attitude sensor 13 can determine the attitude of the working unit module 5. Based on the first attitude sensor 12, the specific data of the center of gravity offset is calculated according to the attitude changes of the working unit module 5.

[0148] In this embodiment, monitoring the posture risks of the dust removal robot on the ferrous surface includes:

[0149] By integrating the feedback threshold of the second position sensor 11 to the magnetic attraction module 1 to the deformation state of the iron plate 7, the posture risk of the dust removal robot on the iron surface is monitored.

[0150] The motion range information of the dust robot is obtained based on the first attitude sensor 12 and the second attitude sensor 13.

[0151] Based on the motion range of the dust removal robot, obtain the range information of the center of gravity offset of the dust removal robot;

[0152] Based on the information on the range of center of gravity offset, the sensing threshold of the second position sensor 11 for the deformation state of the iron plate 7 adsorbed by the feedback magnetic module 1 is set.

[0153] Specifically, the first attitude sensor 12 and the second attitude sensor 13 can acquire information about the robot's motion range. They can also obtain information about the center of gravity shift in a preset posture (crawling on a vertically placed anode plate). When the center of gravity shifts, it can cause further deformation of the iron plate 7. The second position sensor 11 can provide feedback on the direction and magnitude of the deformation. For example, by setting a sensing threshold for the deformation state of the iron plate 7 held by the magnetic attraction module 1, a safe distance between the magnetic attraction module 1 and the surface of the iron plate 7 can be set accordingly. Based on the data from the second position sensor 11, a warning can be issued regarding whether the shift in the center of gravity will cause the magnetic attraction module 1 to move away from the safe distance from the iron plate 7, thereby controlling the robot's motion range (e.g., the height at which the working module 5 is raised), magnet current, magnet preset position, and mass distribution (e.g., adding carbon fiber material to the working module 5 to replace metal, reducing the downward pressure on the working module 5, using surfaces, reducing the rotation speed of the brushes on the working module 5 to mitigate the gyroscopic effect), etc.

[0154] In this embodiment, the second position sensor 11 includes: a plurality of second position sensors 11, forming a monitoring surface composed of sensor sensing thresholds;

[0155] Based on the initial posture of the dust removal robot, obtain the center of gravity position information;

[0156] Corresponding to the initial posture of the dust removal robot, the sensing threshold of the second position sensor 11 of multiple feedback magnetic attraction modules 1 adsorbing the deformation state of the iron plate 7 is initialized to form a monitoring threshold surface;

[0157] Based on the first attitude sensor 12 and / or the second attitude sensor 13, the orientation of the dust removal robot's front end on the iron surface and / or the offset of the dust removal robot's center of gravity are obtained.

[0158] Based on the orientation of the dust removal robot's head on the iron surface and / or the offset of the dust removal robot's center of gravity, control the tilt angle and / or deformation state of the monitoring threshold surface.

[0159] The tilt angle and / or deformation state of the corresponding monitoring threshold surface are used to coordinate the adsorption state of the magnetic adsorption module 1.

[0160] Specifically, due to the large number of module units arranged on the chassis frame module 6, the available space for the second position sensors 11 is limited. The orientation of the robot's front end on the iron surface and / or the shift in the robot's center of gravity are states that change as a whole within the chassis frame module 6. Therefore, multiple second position sensors 11 can construct a monitoring surface with a sensing threshold. Whether the robot is crawling up and down or sideways, the shift in the center of gravity can be expressed based on this monitoring surface, thereby coordinating the adsorption states of the multiple magnets in the magnetic module 1.

[0161] For example, at least three second position sensors 11 that are not aligned in a straight line can generate a monitoring surface. For instance, in a dust removal machine with its front end facing upwards and its center of gravity offset from the iron plate 7, the magnetic attraction required at the robot's head increases (to prevent backward tilting), while the magnetic attraction required at the robot's tail does not increase, or may even decrease. The slope of the monitoring surface formed by the corresponding sensing threshold increases as the center of gravity deviates from the iron plate 7. That is, it indicates that the sensing threshold (e.g., distance threshold) at the robot's head decreases. The sensing threshold is the sensing threshold of the distance between the second position sensor 11 and the iron plate 7. The further the center of gravity deviates from the iron plate 7, the closer the magnet at the robot's front end needs to be to the iron plate 7, or the stronger the magnetic field needs to be by increasing the current.

[0162] Figure 4 This is a flowchart of a dust removal robot control method provided by one or more embodiments of the present invention.

[0163] like Figure 4 The dust removal robot control method shown includes:

[0164] Step S1: Reset the initial posture and initial position of the dust removal robot;

[0165] Reset the initial posture and initial position of the dust removal robot, including the initial position when working on the surface of the vertically set iron plate 7 and the initial posture when retracting the working module 5;

[0166] Step S2: Initialize the posture module 4 data based on the initial posture and initial position of the dust removal robot;

[0167] Step S3: Read the mass distribution information of the dust removal robot and the center of gravity offset range information under the activity capability of the dust removal robot from the database;

[0168] Step S4: Generate adsorption force requirement threshold data based on the mass distribution information of the dust removal robot and the center of gravity offset range information under the activity capability of the dust removal robot.

[0169] Step S5: Based on the adsorption force requirement threshold data and the mass distribution information of the dust removal robot, and based on the position of the magnetic adsorption module 1, allocate the adsorption capacity contribution share of the magnetic adsorption module 1 and control the threshold range of adsorption force.

[0170] Specifically, the dust removal robot is modularly designed, allowing for adjustments to the assembled configuration. By reading the mass distribution information of the dust removal robot from the database, the range of center of gravity offset can be calculated based on the robot's mobility. From this, the suction force required to maintain the robot's crawling motion can be calculated. That is, the required suction force is used to maintain a certain pressure so that the wheels can move the robot without it detaching from the vertically mounted anode plate.

[0171] In this embodiment, the operation on the surface of the vertically arranged iron plate 7 includes:

[0172] Obtain the thickness and deflection information of the iron plate 7;

[0173] Based on the thickness and deflection information of the iron plate 7 and the contribution share of the adsorption capacity of the magnetic module 1, the field strength of the magnetic module 1 and the distance between the magnetic module 1 and the iron plate 7 are set.

[0174] Based on the distance between the magnetic module 1 and the iron plate 7, and the adsorption force requirement threshold data, the installation position of the second position sensor 11 and the sensing threshold for feedback of the adsorption state of the magnetic module 1 are set.

[0175] The magnetic module 1 includes one or more magnets;

[0176] Based on the distribution of magnets on the underside of the chassis frame module 6, a plurality of second position sensors 11 are correspondingly arranged on the underside of the chassis frame module 6.

[0177] Specifically, when the center of gravity shift caused by the action of the working module 5 is large and exceeds the range of the existing permanent magnets that maintain the safety of adsorption, a certain amount of electromagnets can be added to assist the transition of the extreme actions of the working module 5 in extreme cases.

[0178] While permanent magnets offer the advantage of energy saving, the iron plate 7 may deform and cause the robot to bottom out. Therefore, permanent magnets must be used appropriately, and excessive use of strong magnets should be avoided. Adding electromagnets, although consuming more power and increasing weight, strengthens the robot's adhesion during brief periods of extreme movement in the working module 5 (e.g., preventing backward tilting, increasing the front-end adhesion) to prevent falls. In other words, permanent magnets and electromagnets are used in combination on the chassis frame module 6. Normally, the electromagnets are not energized; they are only energized during brief periods of extreme movement in the working module 5 to prevent falls. Once the extreme movement of the working module 5 ends, the power supply to the electromagnets is immediately stopped.

[0179] Figure 5 This is a structural diagram of a dust removal robot control system provided in one or more embodiments of the present invention.

[0180] like Figure 5 The dust removal robot control system shown includes: an initialization module, a posture initialization module, a data reading module, an adsorption force requirement module, and a share allocation module;

[0181] The initialization module is used to reset the initial posture and initial position of the dust removal robot;

[0182] Reset the initial posture and initial position of the dust removal robot, including the initial position when working on the surface of the vertically set iron plate 7 and the initial posture when retracting the working module 5;

[0183] The attitude module 4 initialization module is used to initialize the attitude module 4 data according to the initial attitude and initial position of the dust removal robot;

[0184] The data reading module is used to read the mass distribution information of the dust removal robot and the center of gravity offset range information under the activity capability of the dust removal robot from the database;

[0185] The adsorption force requirement module is used to generate adsorption force requirement threshold data based on the mass distribution information of the dust removal robot and the range of center of gravity offset information under the activity capacity of the dust removal robot.

[0186] The share allocation module is used to allocate the adsorption capacity contribution share of the magnetic adsorption module 1 and control the threshold range of adsorption force based on the adsorption force demand threshold data and the mass distribution information of the dust removal robot, according to the position of the magnetic adsorption module 1.

[0187] It is worth noting that although this system / device only discloses the initialization module, attitude module initialization module, data reading module, adsorption force requirement module, and share allocation module, it does not mean that this device is limited to the above-mentioned basic functional modules. On the contrary, what this invention intends to express is that, based on the above-mentioned basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with existing technology to form an infinite number of embodiments or technical solutions. That is to say, this system / device is open rather than closed. It should not be assumed that the scope of protection of the claims of this invention is limited to the above-disclosed basic functional modules just because this embodiment only discloses a few basic functional modules.

[0188] Figure 6 This is a block diagram of an electronic device structure for a dust removal robot control method provided in one or more embodiments of the present invention.

[0189] like Figure 6 As shown, this application provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0190] The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the dust removal robot control method.

[0191] This application also provides a computer-readable storage medium, including a computer program stored thereon that can be executed by an electronic device, which, when the computer program is run on the electronic device, causes the electronic device to perform the steps of a dust removal robot control method.

[0192] This application also provides an anode plate dust removal platform, comprising:

[0193] The dust removal workpiece uses a dust removal robot.

[0194] Electronic equipment used to implement the steps of a dust removal robot control method;

[0195] The processor runs a program, and when the program runs, it executes the steps of the dust removal robot control method based on data output from the electronic device.

[0196] Storage medium for storing programs that, when running, execute steps of a dust removal robot control method based on data output from electronic devices.

[0197] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0198] The electronic device comprises a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on the operating system. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory. The operating system can be any one or more computer operating systems that control the electronic device through processes, such as Linux, Unix, Android, iOS, or Windows. Furthermore, in this embodiment of the invention, the electronic device can be a smartphone, tablet computer, or other handheld device, or a desktop computer, portable computer, or other electronic device; there is no particular limitation in this embodiment.

[0199] In this embodiment of the invention, the executing entity for electronic device control can be an electronic device itself, or a functional module within an electronic device capable of calling and executing a program. The electronic device can obtain the firmware corresponding to the storage medium. This firmware is provided by the supplier, and different storage media may have the same or different firmware; no limitation is made here. After obtaining the firmware corresponding to the storage medium, the electronic device can write this firmware into the storage medium; specifically, it burns the firmware corresponding to the storage medium into the storage medium. The process of burning the firmware into the storage medium can be implemented using existing technology, and will not be elaborated upon in this embodiment of the invention.

[0200] Electronic devices can also obtain reset commands corresponding to the storage media. The reset commands corresponding to the storage media are provided by the supplier. The reset commands corresponding to different storage media can be the same or different, and no restrictions are imposed here.

[0201] At this time, the storage medium of the electronic device is a storage medium on which the corresponding firmware has been written. The electronic device can respond to the reset command corresponding to the storage medium on which the corresponding firmware has been written, thereby resetting the storage medium on which the corresponding firmware has been written according to the reset command. The process of resetting the storage medium according to the reset command can be implemented by existing technology and will not be described in detail in this embodiment of the invention.

[0202] For ease of description, the above devices are described separately by function as various units and modules. Of course, in implementing this application, the functions of each unit and module can be implemented in one or more software and / or hardware.

[0203] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined.

[0204] For the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0205] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, 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 storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0206] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dust removal robot, characterized in that, The dust removal robot includes: Magnetic suction module, wheel assembly module, position module, attitude module, working part module, and chassis frame module; The magnetic module is located on the underside of the chassis frame module. It is used to generate magnetic force to attract the iron surface, so that the chassis frame module maintains a position relative to the iron surface at a perpendicular distance. The wheel assembly module is located on the periphery of the chassis frame module and is used to drive the chassis frame module to move parallel to the iron surface. The working module, located on the chassis frame module, is used to perform preset dust removal tasks; The position module, located on the periphery and belly of the chassis frame module, is used to monitor the risk of movement of the chassis frame module on the iron surface. The attitude module, located in the chassis frame module and the working part module, is used to monitor the attitude risk of the dust removal robot on the iron surface. Among them, the iron surface is a vertically arranged iron plate surface, and the dust removal robot walks on the plate surface; Among them, the iron plate has upper and lower boundaries and left and right boundaries; Based on the vertically oriented iron plate surface and the fact that the iron plate has upper and lower boundaries and left and right boundaries, data from the position module and attitude module are obtained to assess movement risk and / or attitude risk. Set up strategies to control the magnetic attraction module to generate an adsorption effect on the iron surface and / or control the wheel assembly module to drive the chassis frame module to move parallel to the iron surface, thereby controlling the movement risk and / or posture risk of the dust removal robot walking on the plate surface. The position module includes a second position sensor: Based on the positional state of maintaining the chassis frame module at a vertical distance relative to the iron surface, a second position sensor is used to monitor the risk of movement of the dust removal robot on the iron surface. Based on the deformation of the iron plate caused by the adsorption effect of the magnetic module on the iron surface, a second position sensor is set on the chassis frame module. The second position sensor includes setting a sensing threshold for the deformation state of the iron plate adsorbed by the feedback magnetic module.

2. The dust removal robot according to claim 1, characterized in that, The position module further includes: a first position sensor; Based on the fact that the iron plate has upper and lower boundaries and left and right boundaries, a first position sensor and a second position sensor are used to monitor the movement risk of the dust removal robot on the iron surface. The boundaries of the iron plates include connecting boundaries and disconnected boundaries; Among them, the first position sensor is set on the chassis frame module based on the contour range trajectory generated by the position movement of the dust removal robot and the boundary interference of the connection type of the iron plate. Among them, the contour range trajectory generated based on the position movement of the dust removal machine interferes with the disconnected boundary of the iron plate, and a second position sensor is set on the chassis frame module; The first position sensor includes sensing the direction of the parallel iron plate surface and a sensing threshold to prevent interference with the connecting boundary of the iron plate. The second position sensor includes sensing the direction perpendicular to the surface of the iron plate and a sensing threshold to prevent interference with the disconnected boundary of the iron plate.

3. The dust removal robot according to any one of claims 1 to 2, characterized in that, The attitude module includes: First attitude sensor and second attitude sensor; The first attitude sensor is installed on the chassis frame module and is used to acquire the attitude data of the chassis frame module. The second attitude sensor is installed in the working module and is used to acquire the attitude data of the working module based on the attitude data of the chassis frame module. Obtain mass distribution information of the dust removal robot; Based on the mass distribution information of the dust removal robot, data from the first attitude sensor and the second attitude sensor are read to obtain the center of gravity offset information; Based on the center of gravity shift information, monitor the posture risk of the dust removal robot on the iron surface.

4. The dust removal robot according to claim 3, characterized in that, The posture risks of the monitoring and dust removal robot on the ferrous surface include: By integrating the feedback from the second position sensor to the sensing threshold of the deformation state of the magnetic adsorption module on the iron plate, the posture risk of the dust removal robot on the iron surface can be monitored. The motion range information of the dust robot is obtained based on the first attitude sensor and the second attitude sensor; Based on the motion range of the dust removal robot, obtain the range information of the center of gravity offset of the dust removal robot; Based on the information on the range of center of gravity offset, the sensing threshold of the second position sensor for the deformation state of the iron plate adsorbed by the feedback magnetic module is set.

5. A dust removal robot control method, applied to the dust removal robot as described in any one of claims 1 to 4, characterized in that, The dust removal robot control method includes: Reset the dust removal robot to its initial posture and position; Reset the initial posture and position of the dust removal robot, including the initial position when working on the vertically set iron plate surface and the initial posture when retracting the working module; Initialize the posture module data based on the initial posture and position of the dust removal robot; Read the mass distribution information of the dust removal robot and the range of center of gravity offset information under the activity capability of the dust removal robot from the database; Based on the mass distribution information of the dust removal robot and the range of center of gravity offset information under the activity capacity of the dust removal robot, the adsorption force requirement threshold data is generated. Based on the adsorption force demand threshold data and the mass distribution information of the dust removal robot, the adsorption capacity contribution share of the magnetic adsorption module and the threshold range for controlling the adsorption force are allocated according to the position of the magnetic adsorption module.

6. A dust removal robot control system, applied to a dust removal robot as described in any one of claims 1 to 4, characterized in that, The dust removal robot control system includes: The initialization module is used to reset the initial posture and initial position of the dust removal robot; Reset the initial posture and position of the dust removal robot, including the initial position when working on the vertically set iron plate surface and the initial posture when retracting the working module; The attitude module initialization module is used to initialize the attitude module data based on the initial attitude and initial position of the dust removal robot; The data reading module is used to read the mass distribution information of the dust removal robot and the center of gravity offset range information under the activity capability of the dust removal robot from the database; The adsorption force requirement module is used to generate adsorption force requirement threshold data based on the mass distribution information of the dust removal robot and the range of center of gravity offset information under the activity capacity of the dust removal robot. The share allocation module is used to allocate the adsorption capacity contribution share of the magnetic module and control the threshold range of adsorption force based on the adsorption force demand threshold data and the mass distribution information of the dust removal robot, according to the position of the magnetic module.

7. An electronic device, characterized in that, include: The processor, communication interface, memory, and communication bus are connected, with the processor, communication interface, and memory communicating with each other via the communication bus. The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the dust removal robot control method as described in claim 5.

8. A computer-readable storage medium, characterized in that, It includes a computer program stored that can be executed by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the dust removal robot control method as described in claim 5.

9. An anode plate dust removal platform, characterized in that, include: The dust removal working end adopts the dust removal robot as described in any one of claims 1 to 4; An electronic device for implementing the steps of the dust removal robot control method as described in claim 5; The processor runs a program, and when the program runs, it executes the steps of the dust removal robot control method as described in claim 5 by outputting data from the electronic device. A storage medium for storing a program that, when running, executes the steps of the dust removal robot control method as described in claim 5 in response to data output from an electronic device.

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