A multi-posture anti-corrosion magnetic adsorption robot motion mechanics control method, system and device

Abstract

The application belongs to the technical field of robots, and discloses a multi-pose anticorrosion magnetic adsorption robot motion dynamics control method, system and equipment. The method adopts pure permanent magnetic adsorption, adjusts the magnetic adsorption module fitting gap through a mechanical knob, increases or decreases the number of adsorption pieces, realizes the pre-adaptation of adsorption force and pose and load, detects the wheel fitting state by using the simple pressure contact at the bottom of the machine body, adopts the synchronous speed regulation and differential steering strategy of the symmetric wheel group, reduces the speed of the same side wheel group when there is no feedback of the contact to realize the force balance, establishes the timing linkage mechanism of the polishing or spraying operation module and the adsorption force and the wheel force, preferentially executes the adsorption force switching and force self-checking before operation, controls the start and stop of the priority control module and the wheel speed regulation during operation, and offsets the impact force and load change. The application does not need high-end sensors, has low cost and high reliability, and effectively avoids the slipping and detachment during multi-pose operation.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a kinematic control method, system, and equipment for a multi-posture anti-corrosion magnetic adsorption robot. Background Technology

[0002] Port ship unloaders are core equipment in port bulk cargo handling operations. Their main structure is a large steel structure, constantly exposed to the harsh marine environment of high salt spray, high humidity, and strong sea winds, making the steel surface highly susceptible to corrosion. Corrosion not only reduces the structural strength of the ship unloader and shortens its service life, but can also lead to serious safety accidents. Therefore, regular grinding, rust removal, and anti-corrosion coating of ship unloaders are essential parts of port equipment maintenance.

[0003] Currently, corrosion protection work on port ship unloaders mainly relies on manual high-altitude operations. Workers need to climb to the steel structure surface of the ship unloader, which is tens of meters high, using scaffolding, suspended platforms, and other auxiliary equipment. This traditional method has significant drawbacks: first, it is extremely dangerous, with frequent accidents such as falls from heights and being struck by objects; second, it is inefficient, heavily dependent on weather and worker physical strength, and has a long construction period; third, the quality of the work is inconsistent, as manual operation makes it difficult to ensure the uniformity of grinding and spraying; and fourth, labor costs are high.

[0004] In recent years, magnetic adsorption wall-climbing robots have been increasingly used in high-altitude steel structure operations to replace manual labor in dangerous tasks. However, existing magnetic adsorption robots still face the following technical bottlenecks when applied to corrosion protection operations on the complex steel structures of port ship unloaders: First, the adsorption method poses safety hazards or is too costly. Most existing robots use electromagnetic adsorption, which requires a complex power supply system and real-time closed-loop control circuit, resulting in high energy consumption. Furthermore, in the event of a power outage, the robot will immediately fall, posing a serious safety hazard. If pure permanent magnet adsorption is used, the problem of not being able to dynamically adjust the adsorption force arises.

[0005] Second, multi-pose adaptation and force control rely excessively on complex hardware and high-end sensors. Existing curved surface / multi-pose adaptive robots (such as those employing multi-degree-of-freedom mechanical arm systems or dual-body articulated structures) typically require high-precision force sensors, laser rangefinders, or vision sensors for real-time force calculation and position compensation. This "additional" design results in extremely high equipment costs and system complexity; moreover, in the harsh environments of ports with high salt spray, strong vibrations, and flying dust, high-end sensors are prone to failure, and mechanical arms are prone to jamming, leading to poor robot reliability and difficult maintenance.

[0006] Third, the operation module and motion system lack time-sequential linkage control. Grinding and spraying in anti-corrosion operations generate strong impact and reaction forces. Existing robots only focus on the chassis's walking control and have not established a linkage mechanism between the operation module and the motion system. The vibration from grinding or the reaction force from spraying can easily disrupt the robot's force balance, causing the robot to shift or even fall.

[0007] Fourth, the load adaptive compensation capability is insufficient. During spraying operations, the weight of the paint tank changes significantly from fully loaded to empty. Existing robots cannot effectively adapt to this dynamic load change: when the load is large, the suction force is insufficient and it is easy to detach; when the load is small, there will be slippage and excessive wear caused by excessive wheel driving force. Summary of the Invention

[0008] In order to overcome the shortcomings of the prior art, the present invention aims to provide a kinematic control method, system and equipment for a multi-posture anti-corrosion magnetic adsorption robot.

[0009] To achieve the above objectives, the present invention employs the following technical solution: In a first aspect, the present invention provides a kinematic control method for a multi-posture anti-corrosion magnetic adsorption robot, comprising the following steps: S1: It adopts a pure permanent magnet adsorption method, using the flip-up magnetic adsorption module on the robot. The gap between the module and the working surface can be adjusted by mechanical knob, and the number of adsorption plates can be increased or decreased according to the working load to switch the preset adsorption force level, so as to match the adsorption force with different working postures and loads. S2: The robot adopts a multi-wheel symmetrical arrangement. Simple pressure contacts set at the bottom of the robot body are used to detect the contact status of each wheel with the working surface. Steering is achieved by symmetrical wheel group synchronous speed adjustment strategy and adjusting the speed difference between wheel groups. When there is no feedback from the pressure contact of a certain wheel, the speed of the wheel group on the same side is immediately reduced until all pressure contacts have feedback, so as to achieve balanced contact force between the wheel and the working surface. S3: For the grinding or spraying module mounted on the robot as a working module, establish a time-series linkage mechanism between the working module and the adsorption force and wheel force. Before the grinding or spraying module is started, prioritize the switching of adsorption force level and the self-check of wheel force. During the operation, control the start and stop of the grinding or spraying module and the wheel speed adjustment according to the preset time sequence priority to counteract the impact force and load changes generated by the working module.

[0010] Furthermore, in step S1, the bonding gap is adjusted and the adsorption force level is switched according to the working posture: The working posture includes vertical, top, and inclined surfaces. A corresponding bonding gap reference value is preset according to the working posture. The tighter the bonding, the stronger the adsorption force. According to the working load, including the weight of the paint box and grinding tools, the number of adsorption plates of the magnetic adsorption module is increased or decreased in advance. The greater the load, the more adsorption plates there are, and the greater the adsorption force. Perform a manual or remote fine-tuning when the working posture changes or the load changes.

[0011] Furthermore, in step S1, the switching of the adsorption force level specifically involves: presetting multiple adsorption force levels, and switching to the corresponding adsorption force level according to the weight of the work load when the work load changes.

[0012] Furthermore, regarding the impact force generated by the grinding or spraying module on the robot during operation, the symmetrical wheel set in step S2 includes: The wheels are divided into two symmetrical groups with the fuselage center of gravity as the origin. These two groups are the left wheel group and the right wheel group, or the front wheel group and the rear wheel group. All wheels in the same group rotate at the same speed, and steering is achieved by adjusting the speed difference between the two groups of wheels. The symmetrical wheel assembly synchronous speed regulation strategy achieves speed regulation based on the following force analysis: In the vertical direction: the adsorption force is greater than or equal to the sum of the machine body weight, the load weight and the impact force of the working module, to ensure that the wheels are always in contact with the working surface without being suspended; the vertical force of a single wheel is the total vertical force after subtracting the machine body weight and the load weight from the adsorption force, divided by the number of wheels, to control the force deviation of each wheel within the preset range; In the direction of travel, the driving force of a single wheel is greater than or equal to the resistance to travel. The resistance to travel is calculated in advance using preset operating parameters, including the coefficient of friction of the facade and the wind speed level. The driving force of a single wheel is achieved by adjusting the wheel speed.

[0013] Furthermore, step S2 includes, based on the steering achieved through a symmetrical wheel set synchronous speed regulation strategy and adjusting the speed difference between the left and right wheel sets, adopting a differentiated speed compensation strategy for different working postures: The robot employs a multi-wheel symmetrical arrangement, including wheels located at the bottom of the body and wheels located on the sides of the body; When the robot is working on the vertical surface, increase the speed of the wheels located at the bottom of the robot body and decrease the speed of the wheels located on the sides of the robot body; When the robot is working on the top surface, all wheels rotate at the same speed, and the suction force is increased by one level. When the robot is working on an inclined surface, the wheels on the downhill side decelerate and the wheels on the uphill side accelerate, balancing the component of gravity through the difference in rotational speed.

[0014] Furthermore, step S2 also includes a load replenishment strategy that synchronously adjusts the rotational speed of all wheels according to load changes: When the load increases, the speed of all wheels is reduced simultaneously, and the driving force of a single wheel is increased to ensure that the driving force of a single wheel is always greater than the resistance to travel. When the load decreases, the speed of all wheels is increased synchronously to reduce the driving force and avoid excessive driving force that could cause wheel slippage and excessive wear.

[0015] Furthermore, the linkage control between the grinding module and the adsorption force and the force on the wheel in step S3 specifically includes: Preparation before grinding: Before starting the grinding module, lock all wheels, adjust the adsorption force to the highest level and lock the magnetic adsorption module. At the same time, check and confirm that all wheels are in close contact with the working surface and the force is even through the pressure contacts. Grinding process control: The operation mode of low-speed grinding and small-amplitude movement is adopted. The grinding module speed is fixed. After each preset distance of grinding, grinding is stopped and the grinding module is turned off. The robot is slowly moved to the next grinding area. If uneven pressure contact feedback is detected during grinding, grinding is stopped immediately, the magnetic adsorption module is finely adjusted, the level is restored, and the operation continues. Reset after grinding: After grinding is completed, turn off the grinding module, maintain the suction lock state, release the wheel lock, and slowly move the robot to the next work point.

[0016] Furthermore, the linkage control between the spraying module and the adsorption force and the force on the wheel in step S3 specifically includes: Preparation before spraying: After the spraying module is loaded, adjust the suction force to the corresponding level according to the weight of the spraying module, start the wheel force self-check to confirm that the force is uniform, adjust the spraying module to be perpendicular to the working surface and fix the spraying angle. Spraying process control: The robot adopts a uniform speed movement and uniform speed spraying mode. The robot's movement speed and spraying flow rate are controlled within a preset range. When the weight of the spraying module decreases during the spraying process, the suction force level is reduced simultaneously and the wheel speed is finely adjusted to maintain force balance. Post-coating treatment: After the coating is completed, turn off the coating module, continue to move the robot at a constant speed to a safe position, then stop moving and lock the wheels and suction force, clean the coating module to complete the operation.

[0017] Secondly, the present invention provides a motion dynamics control system for a multi-posture anti-corrosion magnetic adsorption robot, comprising: Control system; A magnetic adsorption module, which can be flipped and mounted on a robot, includes a mounting base, a rotating shaft, a magnetic adsorption unit, and an adjustment knob. The magnetic adsorption unit is hinged to the mounting base via the rotating shaft, and the adjustment knob is used to control the magnetic adsorption unit to rotate around the rotating shaft to adjust the contact gap between it and the working surface. The drive wheel assembly adopts a symmetrical arrangement of multiple wheels, and each wheel is equipped with a simple pressure contact. The simple pressure contact is a mechanical contact switch, which is triggered and outputs a feedback signal when the wheel is in close contact with the working surface. The work module can be either a grinding module or a spraying module; The control system is connected to the magnetic adsorption module, the drive wheel assembly, and the working module respectively, and is configured to perform the following controls: The magnetic adsorption module is controlled by adjusting the contact gap with the working surface through a mechanical knob, and the number of adsorption sheets is increased or decreased according to the working load to switch the preset adsorption force level, so as to match the adsorption force with the working posture and load. Based on the feedback from the simple pressure contact, the drive wheel set is controlled to execute a symmetrical wheel set synchronous speed regulation strategy and adjust the speed difference between the wheel sets to achieve steering. When there is no feedback from the pressure contact of a certain wheel, the speed of the wheel set on the same side is immediately reduced until all pressure contacts have feedback, so as to achieve balanced force between the wheel and the working surface. A time-series linkage mechanism is established between the operation module, the adsorption force, and the wheel force. Before the operation module is started, the adsorption force level switching and wheel force self-check are performed first. During the operation, the start and stop of the operation module and the wheel speed are controlled according to the preset time sequence priority to counteract the impact force and load changes generated by the operation module.

[0018] Thirdly, the present invention also provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the multi-posture anti-corrosion magnetic adsorption robot kinematic control method described above.

[0019] Compared with the prior art, the present invention has the following beneficial effects: This invention employs a pure permanent magnet adsorption method combined with a pre-adaptive strategy that adjusts the contact gap and increases / decreases the number of adsorption plates using a mechanical knob. It eliminates the complex power supply system and closed-loop control circuit required by traditional electromagnetic adsorption methods, fundamentally eliminating the safety hazard of power failure and fall, significantly reducing energy consumption and equipment costs. Furthermore, it eliminates the need for high-precision force sensors and complex real-time force calculation algorithms, greatly simplifying the control system structure and improving reliability and maintenance convenience in harsh environments such as high salt spray and strong sea winds in ports. Through a symmetrical wheel set synchronous speed regulation strategy combined with a simple pressure contact feedback mechanism, the wheel's contact force with the working surface can be achieved solely through speed adjustment and pressure contact detection. The balanced design avoids slippage and detachment issues caused by single wheel suspension or uneven force distribution, effectively adapting to the switching needs of various working postures such as vertical, top, and inclined surfaces. The time-series linkage mechanism established for the grinding or spraying modules prioritizes the switching of adsorption force levels and wheel force self-checks before the operation module starts, and controls the start and stop of the operation module and wheel speed adjustment according to preset time sequence priorities during operation. This effectively counteracts the disruption of the robot's force balance caused by grinding vibration, spraying reaction force, and changes in the weight of the spraying tank, ensuring the stability and safety of the robot in multi-posture anti-corrosion operations, and realizing low-cost, high-reliability automated anti-corrosion operations. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating a kinematic control method for a multi-posture anti-corrosion magnetic adsorption robot provided in Embodiment 1 of the present invention. Figure 2 This is a flowchart of the pre-adaptation adjustment process of permanent magnet adsorption force provided in Embodiment 1 of the present invention; Figure 3 This is a block diagram of the wheel force distribution and differential speed control logic provided in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the overall timing of the motion control of the multi-posture anti-corrosion magnetic adsorption robot provided in Embodiment 2 of the present invention; Figure 5 This is a schematic diagram of the multi-posture operation force adaptation control timing provided in Embodiment 2 of the present invention; Figure 6 This is a schematic diagram of the linkage control timing between the grinding module and the control system provided in Embodiment 2 of the present invention; Figure 7 This is a schematic diagram of the linkage control timing between the spraying module and the control system provided in Embodiment 2 of the present invention. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0023] The present invention will now be described in further detail with reference to the accompanying drawings: Example 1 Combination Figure 1 As shown, this embodiment provides a kinematic control method for a multi-posture anti-corrosion magnetic adsorption robot, including the following steps: S1: The robot adopts a pure permanent magnet adsorption method and utilizes a flip-up magnetic adsorption module. The flip-up magnetic adsorption module is distributed on the bottom and side of the robot body. The fit gap between the module and the working surface can be adjusted by mechanical knobs, and the number of adsorption plates can be increased or decreased according to the working load to switch the preset adsorption force level, so as to match the adsorption force with different working postures and loads. The bonding gap ranges from 0.5 to 2 mm, specifically 1 mm, 1.25 mm, 1.5 mm, 1.75 mm and 1.9 mm are available; the preset adsorption force levels include 3 levels, corresponding to light load, medium load and heavy load working conditions respectively.

[0024] Among them, combined Figure 2 As shown, before the robot starts working, it first undergoes pre-adaptation adjustment to achieve a preliminary match between the adsorption force and the working posture and load.

[0025] 1) Posture adaptation and adjustment Depending on the orientation of the surface to be worked on by the port ship unloader, including vertical, top, and inclined surfaces, the contact gap between the corresponding magnetic adsorption module and the working surface is adjusted via a mechanical knob. Three preset contact gap reference values ​​are provided for standard orientations; a tighter fit indicates stronger adsorption. Reference value 1 (facade work): The gap between the bottom magnetic adsorption modules is adjusted to 1mm, and the gap between the side magnetic adsorption modules is adjusted to 0.5mm; Reference value 2 (top surface operation): The gap between all magnetic adsorption modules is adjusted to 0.8mm; Reference value 3 (sloping surface operation): The gap between the magnetic adsorption modules on the uphill side is adjusted to 0.7mm, and the gap between the magnetic adsorption modules on the downhill side is adjusted to 1.2mm.

[0026] Perform a manual or remote fine-tuning when the working posture changes or the load changes.

[0027] 2) Load pre-adaptation adjustment Based on the weight of the workload, the number of magnetic adsorption plates in the magnetic adsorption module is adjusted in advance to switch to the corresponding adsorption force level. Specifically, depending on the weight of the workload, including the paint sprayer and grinding tools, the greater the load, the more adsorption plates are needed, resulting in a stronger adsorption force. The switching of adsorption force levels involves pre-setting multiple adsorption force levels (3 levels). When the workload changes, the adsorption force level is switched to the corresponding level based on the workload weight. When only the grinding tools are loaded, the load is approximately 5kg, and the adsorption force is switched to level 1. When the paint sprayer is empty, the load is approximately 10kg, and the adsorption force is switched to level 2. When the paint sprayer is fully loaded, the load is approximately 20kg, and the adsorption force is switched to level 3. Changing the load only requires a simple level switch; complex force calculations are not necessary.

[0028] S2: The robot adopts a multi-wheel symmetrical arrangement. Simple pressure contacts set at the bottom of the robot body are used to detect the contact status of each wheel with the working surface. Steering is achieved by symmetrical wheel group synchronous speed adjustment strategy and adjusting the speed difference between wheel groups. When there is no feedback from the pressure contact of a certain wheel, the speed of the wheel group on the same side is immediately reduced until all pressure contacts have feedback, so as to achieve balanced contact force between the wheel and the working surface. Specifically, the robot adopts a symmetrical arrangement of 6 wheels, and 6 flip-up magnetic adsorption modules are evenly distributed on the bottom and sides of the body.

[0029] After the pre-adaptation adjustment is completed, the wheel force control is activated, combined with... Figure 3 As shown, the "force distribution + differential speed fine adjustment" strategy achieves balanced force distribution between the wheel and the working surface.

[0030] 1) Force distribution control After the robot starts the drive wheel assembly, it first checks the contact status of all wheels through pressure contacts. If there is no feedback from a certain wheel contact, it indicates that the wheel is suspended. Then, the rotation speed of the wheel assembly on the same side is immediately reduced, the vertical pressure of the wheel on that side is increased, and the pressure contact status is checked again until all pressure contacts have feedback, ensuring that the preset range of force deviation of each wheel is ≤10%.

[0031] Once all contacts are triggered, the symmetrical wheel set synchronization speed adjustment stage begins. Employing a "symmetrical wheel set synchronization speed adjustment" strategy, the wheels are divided into two symmetrical groups, with the fuselage's center of gravity as the origin. These two groups are either the left and right wheel sets, or the front and rear wheel sets; all wheels within the same group rotate at the same speed. If steering is required, it is achieved by adjusting the speed difference between the two wheel sets (e.g., the left and right wheel sets).

[0032] In this embodiment, the two sets of wheels provided are the left wheel set and the right wheel set, with three wheels on each side. The three wheels on the left side rotate at the same speed, and the three wheels on the right side rotate at the same speed.

[0033] In addition, if a load change is detected, the wheel speed is adjusted globally; if no load change is detected, the current control state is maintained.

[0034] Specifically, regarding the impact force generated by the grinding or spraying module on the robot during operation, the symmetrical wheel set synchronous speed regulation strategy achieves speed regulation based on the following force analysis: In the vertical direction: the adsorption force is greater than or equal to the sum of the machine body weight, the load weight and the impact force of the working module, to ensure that the wheels are always in contact with the working surface without being suspended; the vertical force of a single wheel is the total vertical force after subtracting the machine body weight and the load weight from the adsorption force, divided by the number of wheels, to control the force deviation of each wheel within the preset range; In the direction of travel, the driving force of a single wheel is greater than or equal to the resistance to travel. The resistance to travel is calculated in advance using preset operating parameters, including the coefficient of friction of the facade and the wind speed level. The driving force of a single wheel is achieved by adjusting the wheel speed.

[0035] 2) Multi-posture force adaptation control Different speed compensation strategies are adopted for different operating postures: When the robot is working on a vertical surface, increase the speed of the wheels located at the bottom of the robot body and decrease the speed of the wheels located on the sides of the robot body; specifically, increase the speed of the bottom main drive wheel by 10% and decrease the speed of the side auxiliary wheels by 10% to ensure that the center of gravity is in contact with the working surface when moving and to prevent the robot's head from falling. When the robot is working on the top surface, all wheels rotate at the same speed, and the suction force is increased by one level to offset the risk of desorption caused by the robot's own weight. When the robot is working on an inclined surface, the wheels on the downhill side decelerate and the wheels on the uphill side accelerate, balancing the gravitational force through the speed difference; specifically, the wheels on the downhill side decelerate by 15% and the wheels on the uphill side accelerate by 15%, balancing the gravitational force through the speed difference to prevent the robot from sliding down.

[0036] Furthermore, step S2 also includes a load replenishment strategy that synchronously adjusts the rotational speed of all wheels according to load changes: When the load increases, the speed of all wheels is reduced simultaneously, and the suction force is switched to a higher level to increase the positive pressure of a single wheel, ensuring that the driving force of a single wheel is always greater than the resistance to travel. When the load decreases, the speed of all wheels is increased simultaneously, and the suction force is switched to a lower level to reduce the positive pressure on a single wheel, preventing excessive driving force from causing wheel slippage and excessive wear. The travel resistance is calculated in advance using preset operating parameters, including the friction coefficient of different steel surfaces and the drag coefficient corresponding to different wind speed levels.

[0037] S3: For the grinding or spraying module mounted on the robot as a working module, establish a time-series linkage mechanism between the working module and the adsorption force and wheel force. Before the grinding or spraying module is started, prioritize the switching of adsorption force level and the self-check of wheel force. During the operation, control the start and stop of the grinding or spraying module and the wheel speed adjustment according to the preset time sequence priority to counteract the impact force and load changes generated by the working module.

[0038] Specifically, after the force control on the wheels stabilizes, the operation module linkage control is activated. Through action timing priority control, the force balance of the robot during operation is ensured. The timing linkage mechanism specifically includes the following control stages: (a) Balance control of load-bearing movement and adsorption force, and the force on the wheels 1) Load pretreatment Before moving, adjust the suction force level according to the load weight, and at the same time start the wheel force self-check, and confirm that all wheels are evenly stressed and not suspended through pressure contact feedback.

[0039] 2) Movement process control The machine adopts a low-speed, constant-speed travel mode, controlling the travel speed at 0.1-0.2 m / s to avoid sudden acceleration and braking, thus reducing inertial impact. When encountering a raised work surface, the corresponding wheel decelerates by 20%; when encountering a depression, the corresponding wheel accelerates by 20%, maintaining constant suction force. This even distribution of force across the wheels counteracts the imbalance caused by road surface undulations. Slow differential control is used during turns, with the steering angular velocity not exceeding 10° / s to prevent centrifugal force from causing the machine to deviate.

[0040] 3) Movement Stop Control Before stopping, slow down to a complete stop, then activate the adsorption lock to fix the position of the magnetic adsorption module and prevent detachment due to load shift when stationary. When restarting, first unlock the adsorption force, then slowly start the wheel at a speed of 0.05m / s to ensure a smooth transition of force.

[0041] (ii) Balance control of the grinding module, adsorption force, and wheel force 1) Preparation before polishing Before starting the grinding module, lock all wheels, adjust the adsorption force to the highest level and lock the magnetic adsorption module. At the same time, check and confirm that all wheels are in close contact with the working surface and that the force is even through the pressure contacts.

[0042] 2) Grinding process control The system employs a low-speed grinding and small-amplitude movement operation mode. The grinding head of the grinding module rotates at a fixed speed of 3000 rpm. After grinding a preset distance (5-10 cm), grinding stops and the grinding head of the grinding module is turned off. The robot is then slowly moved to the next grinding area, with the grinding head of the grinding module turned off during movement to avoid the double impact force generated by simultaneous movement and grinding. If uneven pressure contact feedback is detected during grinding, grinding is immediately stopped, the magnetic adsorption module's contact gap is finely adjusted, and the system is leveled before resuming operation.

[0043] 3) Reset after grinding After grinding is completed, turn off the grinding module, keep the suction force locked, release the wheel lock, and slowly move the robot to the next work point at a speed of 0.05m / s to avoid load changes caused by the adhesion of waste residue after grinding, which could lead to force imbalance.

[0044] (III) Balance control of spraying module, adsorption force, and wheel force 1) Preparation before spraying The spraying module includes a spraying material box and a spray gun. After loading the spraying material box, adjust the suction force to the corresponding level according to the weight of the box. Start the wheel to check the force and confirm that the force is even. Adjust the spraying module to be perpendicular to the working surface and fix the spraying angle to avoid the spraying reaction force causing the machine body to shift. 2) Spraying process control A uniform-speed movement and uniform-speed spraying mode is adopted, with the robot's travel speed and spraying flow rate controlled within a preset range. Preferably, the travel speed is controlled at 0.15 m / s and the spraying flow rate is controlled at 200 ml / min. During the spraying process, when the weight of the spraying module decreases (preferably by 10%), the suction force level is simultaneously reduced and the wheel speed is finely adjusted to maintain balanced force. Spraying operations are avoided on the top of vertical surfaces and areas with a slope greater than 30° on inclined surfaces to prevent the spraying reaction force from superimposing on gravity and causing detachment.

[0045] 3) Post-spraying treatment After the spraying is finished, turn off the spray gun and continue to move the robot at a constant speed of 0.15m / s to a safe position (move 1m after turning it off), then stop moving and lock the wheels and suction force, clean the spraying module to complete the operation.

[0046] This embodiment applies the aforementioned control method to the automated anti-corrosion operation of the steel structure surface of a port ship unloader. Through this method, the robot can operate stably in multiple postures, including vertical, top, and inclined surfaces, effectively solving the problems of high risk and low efficiency associated with traditional manual high-altitude operations, as well as the technical challenge of poor reliability of existing magnetic adsorption robots in the high salt spray and strong sea wind environments of ports.

[0047] Example 2 This embodiment provides a motion dynamics control system for a multi-posture anti-corrosion magnetic adsorption robot, including: Control system; A magnetic adsorption module, which can be flipped and mounted on a robot, includes a mounting base, a rotating shaft, a magnetic adsorption unit, and an adjustment knob. The magnetic adsorption unit is hinged to the mounting base via the rotating shaft, and the adjustment knob is used to control the magnetic adsorption unit to rotate around the rotating shaft to adjust the contact gap between it and the working surface. The drive wheel assembly adopts a symmetrical arrangement of multiple wheels, and each wheel is equipped with a simple pressure contact. The simple pressure contact is a mechanical contact switch, which is triggered and outputs a feedback signal when the wheel is in close contact with the working surface. The work module can be either a grinding module or a spraying module; The control system is connected to the magnetic adsorption module, the drive wheel assembly, and the working module respectively, and is configured to perform the following controls: The magnetic adsorption module is controlled by adjusting the contact gap with the working surface through a mechanical knob, and the number of adsorption sheets is increased or decreased according to the working load to switch the preset adsorption force level, so as to match the adsorption force with the working posture and load. Based on the feedback from the simple pressure contact, the drive wheel set is controlled to execute a symmetrical wheel set synchronous speed regulation strategy and adjust the speed difference between the wheel sets to achieve steering. When there is no feedback from the pressure contact of a certain wheel, the speed of the wheel set on the same side is immediately reduced until all pressure contacts have feedback, so as to achieve balanced force between the wheel and the working surface. A time-series linkage mechanism is established between the operation module, the adsorption force, and the wheel force. Before the operation module is started, the adsorption force level switching and wheel force self-check are performed first. During the operation, the start and stop of the operation module and the wheel speed are controlled according to the preset time sequence priority to counteract the impact force and load changes generated by the operation module.

[0048] This embodiment combines the scheme of Embodiment 1, achieving closed-loop control through command interaction and feedback between the control system and the other three major modules. The specific control flow is as follows: Figure 4As shown, the control system acts as the core hub, interacting with and receiving feedback from the other three major modules: First, the control system sends a pre-adaptation adjustment command to the magnetic adsorption module. The magnetic adsorption module adjusts the bonding gap through a mechanical knob and increases or decreases the number of adsorption sheets according to the load. After achieving the matching of adsorption force with working posture and load, it returns "pre-adaptation completed feedback" to the control system. After receiving feedback, the control system sends a start force distribution control command to the drive wheel set, detects the contact status through the simple pressure contact at the drive wheel set, and achieves the contact force balance between the wheel and the working surface by adopting the symmetrical wheel set synchronous speed regulation strategy. Then, it returns "force self-check completed feedback" to the control system. Subsequently, the control system sends a start-up timing linkage control command to the operation module (grinding or spraying), the operation module performs the anti-corrosion operation, and returns "operation completion feedback" to the control system after the operation is completed; Finally, the control system sends lock-up control commands to the magnetic adsorption module and stop control commands to the drive wheel assembly, thus completing the safe shutdown of the entire operation process.

[0049] like Figure 5 As shown in the figure, this diagram illustrates the process by which the control system issues differentiated control commands to the main drive wheel, auxiliary wheel, and magnetic adsorption module for different operating postures and receives completion feedback.

[0050] During facade work, the control system first sends a switching posture gap adjustment command to the magnetic adsorption module. After the magnetic adsorption module adjusts the bottom gap to 1mm and the side gap to 0.5mm, the control system sends an increase speed command (increase by 10%) to the main drive wheel and a decrease speed command (decrease by 10%) to the auxiliary wheel. After the main drive wheel and the auxiliary wheel have completed their execution, the system returns "facade work control completed" to the control system. When working on the top surface, the control system sends a command to the magnetic adsorption module to switch the corresponding attitude gap adjustment (adjusted to 0.8mm) and a command to increase the adsorption force by one level. At the same time, it sends a command to the main drive wheel and the auxiliary wheel to keep the rotation speed consistent. After execution, it returns "Completed top surface operation control" to the control system. When working on an inclined surface, the control system sends a switching instruction to the magnetic adsorption module to adjust the corresponding attitude gap (0.7mm on the uphill side and 1.2mm on the downhill side). Then, it sends an instruction to increase the speed (accelerate by 15%) to the main drive wheel on the uphill side and an instruction to decrease the speed (decelerate by 15%) to the auxiliary wheel on the downhill side. After execution, it returns "Inclined surface operation control completed" to the control system.

[0051] like Figure 6 As shown in the figure, this diagram illustrates the strict timing control path of the control system coordinating the wheel locking mechanism, magnetic adsorption module, grinding tool, and main drive wheel.

[0052] Before polishing, the control system sends commands to the wheel locking mechanism to lock all drive wheels, and commands to the magnetic adsorption module to switch to the highest adsorption level and lock the position of the magnetic adsorption module. During grinding, the control system sends a start grinding operation command (grind head speed of grinding module is 3000r / min) and a fixed distance (preset distance) operation command to the grinding machine, and then sends a stop grinding operation command. After grinding, the control system sends a command to the wheel locking mechanism to unlock all drive wheels, a command to the magnetic adsorption module to maintain the adsorption and locking state, and finally a command to the main drive wheel to move to the next working area (speed 0.05m / s), realizing the safe linkage of "locking before grinding and stopping grinding before moving".

[0053] like Figure 7 As shown in the figure, this diagram illustrates the dynamic compensation control path of the control system for the magnetic adsorption module, drive wheel assembly, and spray gun.

[0054] Before spraying, the control system sends a command to the magnetic adsorption module to switch the corresponding load adsorption level, a command to the drive wheel set to start uniform speed travel (speed 0.15m / s), and a command to the spray gun to start uniform speed spraying (flow rate 200ml / min). During the spraying process, the control system monitors the weight change of the material box in real time. When the weight decreases by 10%, it sends a command to the magnetic adsorption module to reduce the adsorption force by one level and sends a command to the drive wheel assembly to synchronously fine-tune the wheel speed, so as to achieve dynamic force balance. After spraying, the control system sends a stop spraying command to the spray gun, a command to the drive wheel set to continue traveling at a constant speed for a distance (traveling at a constant speed of 0.15m / s for 1m) and a command to stop all wheels, and finally sends a command to the magnetic adsorption module to execute the adsorption lock, thus completing the spraying finishing work.

[0055] Example 3 This embodiment provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the multi-posture anti-corrosion magnetic adsorption robot kinematic control method as described in any one of Embodiment 1.

[0056] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. A kinematic control method for a multi-posture anti-corrosion magnetic adsorption robot, characterized in that, Includes the following steps: S1: It adopts a pure permanent magnet adsorption method, using the flip-up magnetic adsorption module on the robot. The gap between the module and the working surface can be adjusted by mechanical knob, and the number of adsorption plates can be increased or decreased according to the working load to switch the preset adsorption force level, so as to match the adsorption force with different working postures and loads. S2: The robot adopts a multi-wheel symmetrical arrangement. Simple pressure contacts set at the bottom of the robot body are used to detect the contact status of each wheel with the working surface. Steering is achieved by symmetrical wheel group synchronous speed adjustment strategy and adjusting the speed difference between wheel groups. When there is no feedback from the pressure contact of a certain wheel, the speed of the wheel group on the same side is immediately reduced until all pressure contacts have feedback, so as to achieve balanced contact force between the wheel and the working surface. S3: For the grinding or spraying module mounted on the robot as a working module, establish a time-series linkage mechanism between the working module and the adsorption force and wheel force. Before the grinding or spraying module is started, prioritize the switching of adsorption force level and the self-check of wheel force. During the operation, control the start and stop of the grinding or spraying module and the wheel speed adjustment according to the preset time sequence priority to counteract the impact force and load changes generated by the working module.

2. The kinematic control method for a multi-posture anti-corrosion magnetic adsorption robot according to claim 1, characterized in that, In step S1, the bonding gap is adjusted and the adsorption force level is switched according to the working posture: The working posture includes vertical, top, and inclined surfaces. A corresponding bonding gap reference value is preset according to the working posture. The tighter the bonding, the stronger the adsorption force. According to the working load, including the weight of the paint box and grinding tools, the number of adsorption plates of the magnetic adsorption module is increased or decreased in advance. The greater the load, the more adsorption plates there are, and the greater the adsorption force. Perform a manual or remote fine-tuning when the working posture changes or the load changes.

3. The kinematic control method for a multi-posture anti-corrosion magnetic adsorption robot according to claim 2, characterized in that, In step S1, the switching of the adsorption force level specifically involves: presetting multiple adsorption force levels, and switching to the corresponding adsorption force level according to the weight of the work load when the work load changes.

4. The kinematic control method for a multi-posture anti-corrosion magnetic adsorption robot according to claim 1, characterized in that, To address the impact forces generated during operation of the grinding or spraying module on the robot, the symmetrical wheel set in step S2 includes: The wheels are divided into two symmetrical groups with the fuselage center of gravity as the origin. These two groups are the left wheel group and the right wheel group, or the front wheel group and the rear wheel group. All wheels in the same group rotate at the same speed, and steering is achieved by adjusting the speed difference between the two groups of wheels. The symmetrical wheel assembly synchronous speed regulation strategy achieves speed regulation based on the following force analysis: In the vertical direction: the adsorption force is greater than or equal to the sum of the machine body weight, the load weight and the impact force of the working module, to ensure that the wheels are always in contact with the working surface without being suspended; the vertical force of a single wheel is the total vertical force after subtracting the machine body weight and the load weight from the adsorption force, divided by the number of wheels, to control the force deviation of each wheel within the preset range; In the direction of travel, the driving force of a single wheel is greater than or equal to the resistance to travel. The resistance to travel is calculated in advance using preset operating parameters, including the coefficient of friction of the facade and the wind speed level. The driving force of a single wheel is achieved by adjusting the wheel speed.

5. The kinematic control method for a multi-posture anti-corrosion magnetic adsorption robot according to claim 4, characterized in that, Step S2 includes, based on the steering achieved by the symmetrical wheel set synchronous speed regulation strategy and the adjustment of the speed difference between the left and right wheel sets, adopting a differentiated speed compensation strategy for different working postures: The robot employs a multi-wheel symmetrical arrangement, including wheels located at the bottom of the body and wheels located on the sides of the body; When the robot is working on the vertical surface, increase the speed of the wheels located at the bottom of the robot body and decrease the speed of the wheels located on the sides of the robot body; When the robot is working on the top surface, all wheels rotate at the same speed, and the suction force is increased by one level. When the robot is working on an inclined surface, the wheels on the downhill side decelerate and the wheels on the uphill side accelerate, balancing the component of gravity through the difference in rotational speed.

6. The kinematic control method for a multi-posture anti-corrosion magnetic adsorption robot according to claim 4, characterized in that, Step S2 also includes a load replenishment strategy that synchronously adjusts the speed of all wheels according to load changes: When the load increases, the speed of all wheels is reduced simultaneously, and the driving force of a single wheel is increased to ensure that the driving force of a single wheel is always greater than the resistance to travel. When the load decreases, the speed of all wheels is increased synchronously to reduce the driving force and avoid excessive driving force that could cause wheel slippage and excessive wear.

7. The kinematic control method for a multi-posture anti-corrosion magnetic adsorption robot according to claim 1, characterized in that, The linkage control between the grinding module and the adsorption force and the force on the wheel in step S3 specifically includes: Preparation before grinding: Before starting the grinding module, lock all wheels, adjust the adsorption force to the highest level and lock the magnetic adsorption module. At the same time, check and confirm that all wheels are in close contact with the working surface and the force is even through the pressure contacts. Grinding process control: The operation mode of low-speed grinding and small-amplitude movement is adopted. The grinding module speed is fixed. After each preset distance of grinding, grinding is stopped and the grinding module is turned off. The robot is slowly moved to the next grinding area. If uneven pressure contact feedback is detected during grinding, grinding is stopped immediately, the magnetic adsorption module is finely adjusted, the level is restored, and the operation continues. Reset after grinding: After grinding is completed, turn off the grinding module, maintain the suction lock state, release the wheel lock, and slowly move the robot to the next work point.

8. The kinematic control method for a multi-posture anti-corrosion magnetic adsorption robot according to claim 1, characterized in that, The linkage control between the spraying module and the adsorption force and the force on the wheel in step S3 specifically includes: Preparation before spraying: After the spraying module is loaded, adjust the suction force to the corresponding level according to the weight of the spraying module, start the wheel force self-check to confirm that the force is uniform, adjust the spraying module to be perpendicular to the working surface and fix the spraying angle. Spraying process control: The robot adopts a uniform speed movement and uniform speed spraying mode. The robot's movement speed and spraying flow rate are controlled within a preset range. When the weight of the spraying module decreases during the spraying process, the suction force level is reduced simultaneously and the wheel speed is finely adjusted to maintain force balance. Post-coating treatment: After the coating is completed, turn off the coating module, continue to move the robot at a constant speed to a safe position, then stop moving and lock the wheels and suction force, clean the coating module to complete the operation.

9. A motion dynamics control system for a multi-posture anti-corrosion magnetic adsorption robot, characterized in that, include: Control system; A magnetic adsorption module, which can be flipped and mounted on a robot, includes a mounting base, a rotating shaft, a magnetic adsorption unit, and an adjustment knob. The magnetic adsorption unit is hinged to the mounting base via the rotating shaft, and the adjustment knob is used to control the magnetic adsorption unit to rotate around the rotating shaft to adjust the contact gap between it and the working surface. The drive wheel assembly adopts a symmetrical arrangement of multiple wheels, and each wheel is equipped with a simple pressure contact. The simple pressure contact is a mechanical contact switch, which is triggered and outputs a feedback signal when the wheel is in close contact with the working surface. The work module can be either a grinding module or a spraying module; The control system is connected to the magnetic adsorption module, the drive wheel assembly, and the working module respectively, and is configured to perform the following controls: The magnetic adsorption module is controlled by adjusting the contact gap with the working surface through a mechanical knob, and the number of adsorption sheets is increased or decreased according to the working load to switch the preset adsorption force level, so as to match the adsorption force with the working posture and load. Based on the feedback from the simple pressure contact, the drive wheel set is controlled to execute a symmetrical wheel set synchronous speed regulation strategy and adjust the speed difference between the wheel sets to achieve steering. When there is no feedback from the pressure contact of a certain wheel, the speed of the wheel set on the same side is immediately reduced until all pressure contacts have feedback, so as to achieve balanced force between the wheel and the working surface. A time-series linkage mechanism is established between the operation module, the adsorption force, and the wheel force. Before the operation module is started, the adsorption force level switching and wheel force self-check are performed first. During the operation, the start and stop of the operation module and the wheel speed are controlled according to the preset time sequence priority to counteract the impact force and load changes generated by the operation module.

10. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the kinematic control method for the multi-posture anti-corrosion magnetic adsorption robot as described in any one of claims 1-8.

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