Mobile platform and usage method therefor

Abstract

A mobile platform and a usage method for the mobile platform. The mobile platform comprises a platform body (10) and crawler mechanisms (20), wherein the crawler mechanisms (20) are provided on two opposite sides of the platform body (10); each crawler mechanism (20) comprises a plurality of chain links (26), each chain link (26) comprising a chain link base (2100) and a magnetic attraction module (2200); the chain link bases (2100) on the plurality of chain links (26) are connected end to end and form an annular crawler body (27), and the magnetic attraction modules (2200) are detachably connected to the chain link bases (2100); and a plurality of types of magnetic attraction modules (2200) are provided, and different types of magnetic attraction modules (2200) are configured to provide different magnitudes of magnetic attraction forces, such that the mobile platform can select, on the basis of different degrees of concavity and convexity of a working face (W), different types of magnetic attraction modules (2200) to be connected to the crawler body (27), and the magnetic attraction forces generated by the crawler mechanisms (20) can reduce the risk of the mobile platform falling off from the working face (W), and also enable the mobile platform to operate smoothly on the working face (W).

Description

Mobile platform and method of use thereof TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile platforms, and in particular to a mobile platform and a method of use thereof. BACKGROUND

[0002] In related art, the outer wall of a ship hull and the bulkhead of a ship internal cargo hold are cleaned by a magnetic mobile platform, and the magnetic mobile platform is attracted to the ship by magnetic blocks provided on the track when in operation. However, the wall surface of the ship not only has structure protrusions such as weld points and weld seams, but also the bulkhead of the cargo hold is prone to have attached protrusions such as cargo debris, so the wall surface to be cleaned in the ship is usually uneven, and when the magnetic mobile platform runs to the position of the protrusions, it often falls off the wall surface due to insufficient magnetic attraction.

[0003] SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the prior art. To this end, the present application provides a mobile platform that can effectively improve the problem of falling due to insufficient magnetic attraction.

[0005] The present application also provides a method of use of the mobile platform.

[0006] According to the mobile platform of the first aspect of the present application, the mobile platform comprises a body and a track mechanism, the track mechanism is provided on both sides of the body, the track mechanism comprises a plurality of chain links, the chain link comprises a chain link base and a magnetic module, the chain link bases of the plurality of chain links are connected end to end to form a track body in a ring shape, and the magnetic module is detachably connected to the chain link base; wherein the magnetic module has multiple types, different types of magnetic modules are used to provide different sizes of magnetic attraction, and different types of magnetic modules can be selected to be connected to the track body according to the different degrees of concave-convex of the working surface, or different types of combined magnetic modules can be selected to be connected to the track body.

[0007] According to the mobile platform of the first aspect of the present application, at least the following beneficial effects are achieved:

[0008] The application sets the chain links in a form including two separate parts of the chain link base and the magnetic attraction module, and sets the magnetic attraction module to be detachably connected to the chain link base, and sets the magnetic attraction module to have multiple types with different magnetic attraction forces, so that different types of magnetic attraction modules can be connected to the track body or different types of combined magnetic attraction modules are connected to the track body, so that the track mechanism can generate multiple different sizes of magnetic attraction forces on the working surface, and then different types or different types of combined magnetic attraction modules can be selected to be connected to the track body according to the different degrees of concave-convex of the working surface, so that the magnetic attraction force generated by the track mechanism can not only reduce the risk of the mobile platform falling from the working surface, but also make the mobile platform work smoothly on the working surface.

[0009] The use method according to the second aspect of the application comprises the following steps:

[0010] Detecting the degree of concave-convex of the working surface in advance;

[0011] Selecting the corresponding type of magnetic attraction module to be connected to the track body according to the degree of concave-convex of the working surface detected in advance; or selecting the corresponding type or the corresponding type of combined magnetic attraction module to be connected to the track body according to the degree of concave-convex of the working surface detected in advance;

[0012] Making the mobile platform adsorb to the working surface through the magnetic attraction module and move on the working surface.

[0013] The use method according to the second aspect of the application has at least the following beneficial effects:

[0014] The application detects the degree of concave-convex of the working surface in advance, and selects the corresponding type of magnetic attraction module to be connected to the track body according to the degree of concave-convex of the working surface detected in advance, so that the magnetic attraction force generated by the mobile platform on the working surface can be adapted to the degree of concave-convex of the working surface, and then when the mobile platform adsorbs to the working surface and moves to work, the risk of the mobile platform falling from the working surface can be reduced, and the mobile platform can work more smoothly on the working surface.

[0015] Additional aspects and advantages of the application will be made apparent by the following description and the appended claims. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and / or additional aspects and advantages of the application will become apparent and be readily understood by considering the following detailed description, including the accompanying drawings, in which:

[0017] Fig. 1 is a structural schematic view of a mobile platform according to an embodiment of the application;

[0018] Fig. 2 is a structural schematic diagram of the chain link shown in Fig. 1 from one perspective;

[0019] Fig. 3 is a structural schematic diagram of the chain link shown in Fig. 2 from another perspective;

[0020] Fig. 4 is a structural schematic diagram of the chain link base shown in Fig. 2;

[0021] Fig. 5 is a structural schematic diagram of the magnetic attraction module shown in Fig. 2 from one perspective;

[0022] Fig. 6 is a structural schematic diagram of the magnetic attraction module shown in Fig. 5 from another perspective;

[0023] Fig. 7 is a structural schematic diagram of the track body formed by connecting the chain link bases shown in Fig. 2 end to end;

[0024] Fig. 8 is a structural schematic diagram of the chain link with a spacer provided between the magnetic attraction module and the chain link base;

[0025] Fig. 9 is a structural schematic diagram of a chain link according to another embodiment;

[0026] Fig. 10 is a structural schematic diagram of the friction pad shown in Fig. 9 from another perspective;

[0027] Fig. 11 is a structural schematic diagram of a chain link according to yet another embodiment;

[0028] Fig. 12 is a structural schematic diagram of the friction pad shown in Fig. 11 from another perspective;

[0029] Fig. 13 is a structural schematic diagram of a chain link according to still another embodiment;

[0030] Fig. 14 is a structural schematic diagram of the connection between the magnetic attraction module and the friction pad according to yet another embodiment, with part of the friction pad removed;

[0031] Fig. 15 is a structural schematic diagram of a magnetic attraction module according to yet another embodiment;

[0032] Fig. 16 is a structural schematic diagram of a chain link base according to yet another embodiment, which is used in cooperation with the magnetic attraction module shown in Fig. 15 to facilitate height adjustment of the friction pad;

[0033] Fig. 17 is an exploded view for showing the connection between the magnetic attraction module and the friction pad according to another embodiment;

[0034] Fig. 18 is a schematic diagram for showing the connection between the chain link and the limiting plate shown in Fig. 1;

[0035] Fig. 19 is a structural schematic diagram of a chain link for rotationally connecting the magnetic attraction module and the intermediate shaft;

[0036] Fig. 20 is a structural schematic diagram of the magnetic attraction module shown in Fig. 19;

[0037] Fig. 21 is a structural schematic diagram of the chain link base shown in Fig. 19;

[0038] Fig. 22 is a partial sectional view for showing the connection relationship between the intermediate shaft and the chain link base and the rotating connection part;

[0039] Fig. 23 is a schematic diagram for showing the connection relationship between the machine body, the waterproof ring, the output shaft and the waterproof oil seal;

[0040] Fig. 24 is a sectional structural schematic diagram for showing the connection relationship between the machine body and the driving module;

[0041] Fig. 25 is a partial enlarged view of the area A shown in Fig. 24;

[0042] Fig. 26 is a flow chart of the use method of the mobile platform;

[0043] Fig. 27 is a schematic diagram for detecting the concave-convex degree of the working face through the camera;

[0044] Fig. 28 is a schematic diagram of the image obtained by taking a picture of the convex object;

[0045] Fig. 29 is a schematic diagram for detecting the concave-convex degree of the working face through the gyroscope or the angle sensor.

[0046] Reference signs:

[0047] Work surface W; fuselage 10; side plate 11; through shaft hole 110; track mechanism 20; front wheel 23; rear wheel 24; limiting plate 25; limiting part 251; chain link 26; track main body 27; chain link base 2100; base main body 2110; first connecting through hole 2111; protrusion 2112; second connecting hole 2113; mounting surface 2114; avoiding opening 2115; avoiding through hole 2116; first connecting part 2120; first pin hole 2121; second connecting part 2130; second pin hole 2131; third connecting part 2140; third pin hole 2141; magnetic attraction module 2200; connecting seat 2210; first connecting hole 2211; mounting groove 2212; connecting boss 2213; mounting recess 2214; rotary connecting part 2215; magnetic block 2220; yoke 2230; lifting piece 2300; second connecting through hole 2310; first connecting screw 2400; friction pad 2500; connecting groove 2510; metal reinforcing piece 2520; second connecting screw 2600; pressing piece 2700; stud 2800; annular abutting piece 2810; adjusting screw 2910; intermediate shaft 2920; abutting part 2921; check ring 2922; connecting pin 2930; adjusting piece 2940; drive module 30; motor 310; speed reducer 320; output shaft 321; mounting flange 322; front vehicle lamp 41; first fastening screw 51; second fastening screw 52; waterproof ring 60; ring table 610; waterproof oil seal 71; first sealing ring 72; second sealing ring 73; camera 80; protrusion 90; shadow 91; pattern of protrusion 92; pattern of shadow 93; image P. DETAILED DESCRIPTION

[0048] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation on the present application.

[0049] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, left, right, front, back, etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and cannot be understood as indicating or implying that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0050] In the description of the present application, if the first, second, etc. are described, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the sequence of indicated technical features.

[0051] In the description of the present application, the words such as arrangement, installation, connection and the like should be understood in a broad sense unless otherwise explicitly limited, and the skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0052] In the related art, the outer wall of the ship body and the bulkhead of the internal cargo hold of the ship are cleaned by a magnetic moving platform, and the magnetic moving platform is adsorbed on the ship by the magnetic blocks 2220 arranged on the track when working. However, since the wall surface of the ship not only has structure protrusions 90 such as welding points and welding seams, but also the bulkhead of the cargo hold is easy to have attached protrusions 90 such as cargo debris (e.g. coal cinder), the wall surface to be cleaned in the ship is usually uneven, and when the magnetic moving platform runs to the position of the protrusions 90, it often falls from the wall surface due to insufficient magnetic attraction. If the magnetic attraction of the magnetic blocks 2220 on the track is simply increased to reduce the above falling risk, since the track needs to be intermittently adsorbed and peeled off from the working surface W by the magnetic blocks 2220 in each link 26 on the track when walking on the working surface W, the stronger the magnetic attraction, the greater the force required for peeling off. Therefore, the smoothness of the moving platform when traveling on the relatively flat working surface W is significantly reduced, and the required power is significantly increased, which is not conducive to the endurance of the moving platform with self-powered supply.

[0053] Based on this, the first aspect embodiment of the present application provides a moving platform, and the second aspect embodiment provides a use method of the moving platform applied to the first aspect embodiment, so as to reduce the risk of the moving platform falling from the working surface W, and enable the moving platform to work relatively smoothly on the working surface W.

[0054] The moving platform of the first aspect embodiment of the present application is described below with reference to FIGS. 1 to 25.

[0055] Referring to FIG. 1, the moving platform according to some embodiments of the first aspect of the present application comprises a machine body 10 and a track mechanism 20, wherein the track mechanism 20 is symmetrically arranged on opposite sides of the machine body 10 and constitutes a walking module of the moving platform for realizing the movement and steering of the moving platform on the working surface W; the machine body 10 constitutes the main body of the moving platform and is hollow inside, so as to be used for arranging a control module (not shown in the figure), a built-in power supply (not shown in the figure) and a driving module 30, etc., and the machine body 10 can also be used for carrying tools for cleaning and other operations on the working surface W, such as a cleaning water tank, a spray head, a cleaning brush, etc., or a mechanical arm with a spray head or other working executor connected at the end, etc.

[0056] Referring to FIGS. 1-7, in some embodiments, the track mechanism 20 includes a plurality of links 26, each of which is provided in a split manner and includes at least a link base 2100 and a magnetic module 2200, wherein the link bases 2100 of the plurality of links 26 in the same track mechanism 20 are connected end to end to form a ring-shaped track body 27, and the magnetic modules 2200 are connected to the link bases 2100 one by one in a detachable manner; and the magnetic modules 2200 have multiple types, and different types of magnetic modules 2200 are used to provide different sizes of magnetic attraction force, so that when the mobile platform is working, different types of magnetic modules 2200 can be selected to be connected to the link bases 2100 of the track body 27 according to the different degrees of concave-convex of the working surface W.

[0057] For example, in some embodiments, there are five different types of magnetic modules 2200, which are named as type I magnetic module 2200, type II magnetic module 2200, type III magnetic module 2200, type IV magnetic module 2200, and type V magnetic module 2200 for convenience of description, and the above five different types of magnetic modules 2200 are used to provide magnetic attraction forces of 100 N, 130 N, 180 N, 250 N, and 330 N, respectively; when the working surface W is the outer wall of a ship body or the bulkhead of a cargo hold, the degree of fluctuation of the working surface W itself is relatively small, and thus the degree of concave-convex of the working surface W mainly depends on the maximum protrusion height of the protrusions 90 such as weld points and weld seams on the working surface W; when the maximum protrusion height of the protrusions 90 is not greater than 5 mm, the working surface W is relatively flat, and at this time, the type I magnetic module 2200 with relatively small magnetic attraction force can be selected to be connected to each link base 2100 in the track body 27; similarly, when the maximum protrusion height of the protrusions 90 is between 6-8 mm, the type II magnetic module 2200 can be selected to be connected; when the maximum protrusion height of the protrusions 90 is between 9-11 mm, the type III magnetic module 2200 can be selected to be connected; when the maximum protrusion height of the protrusions 90 is between 12-15 mm, the type IV magnetic module 2200 can be selected to be connected; and when the maximum protrusion height of the protrusions 90 is between 16-20 mm, the type V magnetic module 2200 with the largest magnetic attraction force can be selected to be connected.

[0058] It should be understood that, in addition to the single different type of magnetic suction module 2200 being selected to be connected to each link base 2100 of the track body 27, in other embodiments, different types of combined magnetic suction modules 2200 can also be selected to be connected to the track body 27 according to the degree of concave-convex of the working surface W, thereby further improving the adaptability to the degree of concave-convex of the working surface W; for example, in one embodiment, on the basis of the above-mentioned five different types of magnetic suction modules 2200, two adjacent types of magnetic suction modules 2200 are selected to be connected to each link base 2100 of the track body 27 in a spaced-apart manner in the extension direction of the track body 27, so that the magnetic suction force generated by a single link 26 in the track mechanism 20 is approximately the average of the magnetic suction forces of the above-mentioned two adjacent types of magnetic suction modules 2200; further, when the height of the protrusion 90 is not greater than 5 mm, the I-type magnetic suction module 2200 can be selected; when the height of the protrusion 90 is 6-7 mm, the spaced-apart combination of the I-type and II-type magnetic suction modules 2200 can be selected; when the height of the protrusion 90 is 7-8 mm, the II-type magnetic suction module 2200 can be selected; and when the height of the protrusion 90 is 9-10 mm, the spaced-apart combination of the II-type and III-type magnetic suction modules 2200 can be selected, and so on.

[0059] It should be understood that, by providing the links 26 in a form of two separate parts of the link base 2100 and the magnetic suction module 2200, and by connecting the link bases 2100 end-to-end to form the track body 27, the magnetic suction module 2200 is detachably connected to the link base 2100, and the magnetic suction module 2200 is provided in multiple types with different magnetic suction forces, so that different types of magnetic suction modules 2200 can be connected to the track body 27 or different types of combined magnetic suction modules 2200 can be connected to the track body 27, so that the track body 27 can generate multiple different sizes of magnetic suction forces on the working surface W, and different types or different types of combined magnetic suction modules 2200 can be selected to be connected to the track body 27 according to the degree of concave-convex of the working surface W, so that the magnetic suction force generated by the track body 27 can not only reduce the risk of the mobile platform falling off the working surface W, but also not be relatively too large to affect the smoothness of the mobile platform working on the working surface W.

[0060] It can be understood that, for the convenience of installing the magnetic attraction module 2200, in some embodiments, referring to FIGS. 2 to 7, the chain link base 2100 is provided with a mounting surface 2114 arranged on the side of the chain link base 2100 away from the area enclosed by the track body 27, that is, the mounting surface 2114 is arranged on the side of the chain link base 2100 facing the outside of the track body 27, and the magnetic attraction module 2200 is detachably connected to the mounting surface 2114, so that the magnetic attraction module 2200 can be closer to the working surface W relative to the chain link base 2100, so as to reduce the distance between the magnetic attraction module 2200 and the working surface W and generate a relatively larger magnetic attraction force.

[0061] It can be understood that, in some embodiments, referring to FIG. 8, the chain link 26 further comprises a lifting piece 2300 detachably connected between the magnetic attraction module 2200 and the mounting surface 2114, and used to increase the distance between the bottom of the machine body 10 and the working surface W, that is, to lift the height (the dimension in the normal direction of the working surface W) of the bottom of the machine body 10. It should be understood that when the concave-convex degree of the working surface W is large, for example, the height of the protrusion 90 is greater than the distance between the bottom surface of the machine body 10 and the bottom surface of the track mechanism 20, the bottom surface of the machine body 10 will collide with the protrusion 90 during the movement of the mobile platform on the working surface W, thereby easily causing the mobile platform to fall. By increasing the distance between the bottom of the machine body 10 and the working surface W through the lifting piece 2300, the possibility of collision between the bottom of the machine body 10 and the protrusion 90 can be effectively reduced, thereby reducing the risk of the mobile platform falling.

[0062] It can be understood that, in some embodiments, the lifting piece 2300 is a gasket, and different numbers of gaskets can be selected to be connected between the magnetic attraction module 2200 and the mounting surface 2114 according to the concave-convex degree of the working surface W, so that the height by which the bottom of the machine body 10 is lifted can be adapted to the concave-convex degree of the working surface W, thereby reducing the possibility of collision between the bottom of the machine body 10 and the protrusion 90 on the working surface W, and reducing the impact on the stability of the mobile platform caused by the height of the bottom surface of the machine body 10 being too high.

[0063] For example, in one embodiment, the thickness of a single gasket is 1 mm, and since the bottom surface of the machine body 10 has a distance of 10 mm or more from the bottom surface of the track mechanism 20 in the initial state (the state without the gasket), when the height of the protrusion 90 on the working surface W is not greater than 10 mm, no gasket needs to be arranged in the chain link 26. When the height of the protrusion 90 on the working surface W reaches 10 mm, one gasket needs to be added between the magnetic attraction module 2200 and the mounting surface 2114 for each 1 mm increase in the height of the protrusion 90, for example, one gasket needs to be arranged when the height of the protrusion 90 is 11 mm, two gaskets need to be arranged when the height of the protrusion 90 is 12 mm, and so on.

[0064] It should be understood that, in addition to the gasket, the lifting piece 2300 can also be a pad in some embodiments, and the pad has various types, and different types of pads have different thicknesses, and different types of pads can be selected according to the concave-convex degree of the working surface W, so that the height of the bottom of the machine body 10 lifted can be adapted to the concave-convex degree of the working surface W.

[0065] It can be understood that, in some embodiments, referring to FIG. 8, the link 26 further comprises a first connecting screw 2400, the mounting surface 2114 of the link base 2100 is provided with a first connecting through hole 2111, the magnetic attraction module 2200 is provided with a first connecting hole 2211 opposite to the first connecting through hole 2111, and the lifting piece 2300 is provided with a second connecting through hole 2310 opposite to the first connecting through hole 2111. The first connecting screw 2400 is arranged in the first connecting through hole 2111 and the second connecting through hole 2310 and is screwed with the first connecting hole 2211, so as to detachably connect the magnetic attraction module 2200 to the link base 2100 and detachably connect the lifting piece 2300 between the mounting surface 2114 and the magnetic attraction module 2200.

[0066] It should be understood that, in addition to the first connecting screw 2400 and other threaded fasteners, in some embodiments, other ways such as clamping or clamping can also be selected to realize the detachable connection of the magnetic attraction module 2200, the lifting piece 2300 and the link base 2100.

[0067] It can be understood that, in some embodiments, referring to FIGS. 2-3, the link 26 further comprises a friction pad 2500, which can be connected to the mounting surface 2114 or the magnetic attraction module 2200. The distance from the surface of the friction pad 2500 away from the mounting surface 2114 to the mounting surface 2114 is greater than the distance from the surface of the magnetic attraction module 2200 away from the mounting surface 2114 to the mounting surface 2114, that is, in the direction towards the outside of the track mechanism 20, the protruding height of the friction pad 2500 is greater than the protruding height of the magnetic attraction module 2200, so that the track mechanism 20 can contact the working surface W through the friction pad 2500, thereby protecting the magnetic attraction module 2200 and effectively improving the wear problem of the magnetic attraction module 2200, and enabling the magnetic blocks 2220 in the magnetic attraction module 2200 to form an air gap with the working surface W.

[0068] It can be understood that in some embodiments, the friction pad 2500 is detachably connected to the mounting surface 2114 or the magnetic suction module 2200 for the convenience of replacing the friction pad 2500 after the friction pad 2500 is worn out.

[0069] For example, in one embodiment, referring to FIGS. 9 and 10, the mounting surface 2114 is provided with a protrusion 2112 protruding from the mounting surface 2114, and the friction pad 2500 is provided with a connecting groove 2510 matched with the protrusion 2112, and the friction pad 2500 is detachably sleeved on the protrusion 2112 through the connecting groove 2510, so that the friction pad 2500 can be directly pulled out from the protrusion 2112 after the friction pad 2500 is damaged, and it is also convenient to sleeve the new friction pad 2500 on the protrusion 2112 again.

[0070] Alternatively, in one embodiment, referring to FIGS. 2 and 5, the magnetic suction module 2200 is provided with a mounting groove 2212 for mounting the friction pad 2500, and the friction pad 2500 is detachably mounted in the mounting groove 2212, so that the friction pad 2500 can be directly pulled out from the mounting groove 2212 after the friction pad 2500 is damaged, and it is also convenient to insert the new friction pad 2500 into the mounting groove 2212 again.

[0071] It should be understood that in addition to the detachable connection of the friction pad 2500 by sleeving or inserting as described above, in some other embodiments, the friction pad 2500 can also be detachably connected by fasteners.

[0072] For example, referring to FIGS. 11 and 13, in some other embodiments, the mounting surface 2114 is provided with a second connecting hole 2113 for connecting the friction pad 2500, and the fastener is a second connecting screw 2600, the rod portion of the second connecting screw 2600 is arranged through the friction pad 2500 and is threadedly connected with the second connecting hole 2113, so as to press and fix the friction pad 2500 on the mounting surface 2114; and in order to improve the strength and rigidity of the friction pad 2500, referring to FIGS. 11 and 13, in one embodiment, the inside of the friction pad 2500 is further covered with a metal reinforcing member 2520, and the friction pad 2500 is detachably connected to the mounting surface 2114 through the fastener (such as the second connecting screw 2600) arranged through the metal reinforcing member 2520, so as to improve the rigidity of the friction pad 2500 and reduce the risk of damage to the friction pad 2500 when the mobile platform falls.

[0073] Alternatively, in another embodiment, the second connecting hole 2113 can also be arranged on the magnetic attraction module 2200 (for example, the second connecting hole 2113 is arranged on the connecting seat 2210 to be mentioned below), so that the friction pad 2500 is pressed and fixed on the magnetic attraction module 2200 by the second connecting screw 2600 which is threaded through the rod part of the friction pad 2500 and the metal reinforcing part 2520 and is screwed with the second connecting hole 2113.

[0074] Alternatively, in other additional embodiments, the detachable connection of the friction pad 2500 can also be achieved by using both plug-in and fastener connection methods together; for example, referring to FIG. 13, in one embodiment, the chain link 26 further includes a pressing piece 2700, the magnetic attraction module 2200 is provided with mounting grooves 2212 at both ends in the width direction of the track body 27, and two connecting bosses 2213 are arranged on the groove bottoms of the mounting grooves 2212 perpendicular to the width direction of the track body 27, the second connecting hole 2113 is arranged on the connecting boss 2213, the friction pad 2500 is mounted in the mounting groove 2212, the pressing piece 2700 is arranged on the side of the friction pad 2500 away from the connecting boss 2213 perpendicular to the width direction of the track body 27, and the second connecting screw 2600 is screwed in the second connecting hole 2113 through the pressing piece 2700 and the friction pad 2500 parallel to the width direction of the track body 27, so that after the friction pad 2500 is damaged, the second connecting screw 2600 can be unscrewed first, and then the friction pad 2500 can be pulled out of the mounting groove 2212 along the width direction of the track body 27.

[0075] It can be understood that in some embodiments, the friction pad 2500 protruding from the mounting surface 2114 is adjustably mounted on the mounting surface 2114 or the magnetic attraction module 2200, so that when the friction pad 2500 is worn to a certain extent but has not been damaged, the height of the friction pad 2500 protruding from the mounting surface 2114 can be adjusted to compensate, so that the magnetic blocks 2220 in the magnetic attraction module 2200 can still maintain a suitable air gap with the working surface W even if the friction pad 2500 is worn, and further reduce the risk of the magnetic attraction module 2200 being damaged by friction.

[0076] For example, in one embodiment, referring to FIG. 14, the side of the magnetic attraction module 2200 away from the mounting surface 2114 is provided with a mounting groove 2212 sunken to the side of the mounting surface 2114, the groove bottom of the mounting groove 2212 is threadedly connected with a plurality of protruding studs 2800, the friction pad 2500 is provided with a plurality of corresponding studs 2800, and is threadedly connected to the studs 2800, so that when the friction pad 2500 wears within an acceptable range, the friction pad 2500 is moved away from the mounting recess by rotating the friction pad 2500 or rotating the stud 2800, so that the height of the friction pad 2500 protruding from the mounting surface 2114 on the side away from the mounting surface 2114 is compensated and recovered, and the magnetic attraction module 2200 and the working surface W are again kept at a suitable distance.

[0077] It should be understood that, on the basis of the above-mentioned embodiments, the magnetic attraction module 2200 comprises a connecting seat 2210, a magnetic block 2220 and a yoke 2230; the connecting seat 2210 is used to carry the magnetic block 2220 and the yoke 2230, and is detachably connected to the link base 2100; the magnetic block 2220 is arranged in the middle of the side of the connecting seat 2210 away from the mounting surface 2114 to generate a magnetic attraction force on the working surface W; the yoke 2230 is arranged in the connecting seat 2210 and covers the side of the magnetic block 2220 close to the mounting surface 2114 to enhance the magnetic attraction force; the mounting groove 2212 is located at both ends of the magnetic attraction module 2200 to avoid the position of the magnetic block 2220; at the same time, to strengthen the connection between the magnetic attraction module 2200 and the stud 2800, the both ends of the yoke 2230 extend to both ends of the magnetic attraction module 2200, and the surfaces of the both ends of the yoke 2230 away from the mounting surface 2114 protrude from the connecting seat 2210 to form the groove bottom of the mounting groove 2212; and the stud 2800 is threadedly connected at one end to the yoke 2230 and at the other end to the friction pad 2500; it should be understood that the connection between the magnetic attraction module 2200 and the stud 2800 can be strengthened by connecting the stud 2800 through the yoke 2230. And to limit the depth of the stud 2800 connected in the magnetic attraction module 2200, the stud 2800 is provided with an annular abutting piece 2810 for abutting with the yoke 2230.

[0078] It should be understood that similarly, in some other embodiments, the stud 2800 for mounting the friction pad 2500 and adjusting the protruding height of the friction pad 2500 can also be selected to be arranged on the mounting surface 2114, and the position of the magnetic attraction module 2200 on the mounting surface 2114 avoids the position of the stud 2800.

[0079] It should be understood that, in addition to the manner of threadedly connecting the friction pad 2500 to the stud 2800 can be selected to adjust the height of the friction pad 2500 protruding from the mounting surface 2114, in other embodiments, the manner of adjusting the adjusting screw 2910 can also be selected for adjustment; for example, in one of the embodiments, referring to FIGS. 15 and 16, the magnetic module 2200 includes a connecting seat 2210 and a magnetic block 2220, the magnetic block 2220 is disposed at the middle of the side of the connecting seat 2210 away from the mounting surface 2114, the connecting seat 2210 is detachably connected to the link base 2100, the side of the connecting seat 2210 away from the mounting surface 2114 is provided with a mounting groove 2212, the mounting groove 2212 is located at both ends of the connecting seat 2210 to avoid the position where the magnetic block 2220 is located, and the friction pad 2500 is mounted in the mounting groove 2212, the adjusting screw 2910 is threadedly connected to the connecting seat 2210, one end of the adjusting screw 2910 is located in the mounting groove 2212, and the side of the friction pad 2500 close to the link base 2100 abuts against the adjusting screw 2910; thus, when the friction pad 2500 is worn within an acceptable range, the height of the side of the friction pad 2500 away from the mounting surface 2114 protruding from the mounting surface 2114 can be compensated and recovered by rotating the adjusting screw 2910 to push the friction pad 2500 to move away from the bottom of the mounting groove 2212, and the magnetic module 2200 and the working surface W can again maintain a suitable size of spacing. It can be understood that, in order to facilitate the rotation of the adjusting screw 2910 to adjust the protruding height of the friction pad 2500, the link base 2100 is provided with an avoiding through hole 2116, and the avoiding through hole 2116 is opposite to the adjusting screw 2910 and can allow the adjusting screw 2910 to move in the avoiding through hole 2116.

[0080] Alternatively, in some other embodiments, the adjustment piece 2940 can also be selected to adjust; for example, in one embodiment, referring to FIG. 17, the chain link 26 further comprises the adjustment piece 2940, the magnetic attraction module 2200 comprises the connecting seat 2210 and the magnetic block 2220, the magnetic block 2220 is arranged at the middle of the side of the connecting seat 2210 away from the mounting surface 2114, the connecting seat 2210 is detachably connected to the chain link base 2100, the side of the connecting seat 2210 away from the mounting surface 2114 is provided with the mounting groove 2212, the mounting groove 2212 is located at both ends of the connecting seat 2210 to avoid the position where the magnetic block 2220 is located, and the friction pad 2500 is inserted into the mounting groove 2212; and the adjustment piece 2940 is also inserted into the mounting groove 2212 and located between the groove bottom of the mounting groove 2212 and the friction pad 2500, so that when the friction pad 2500 is worn within an acceptable range, the height of the side of the friction pad 2500 away from the mounting surface 2114 protruding from the mounting surface 2114 can be compensated and recovered by filling the appropriate number (or thickness) of adjustment pieces 2940 between the groove bottom of the mounting groove 2212 and the friction pad 2500, so that the magnetic attraction module 2200 and the working surface W again maintain a suitable size of spacing.

[0081] It can be understood that in some embodiments, referring to FIGS. 2-7, the chain link base 2100 comprises the base body 2110, the first connecting part 2120 and the second connecting part 2130, wherein the first connecting part 2120 and the second connecting part 2130 are respectively located at both ends of the base body 2110 in the extension direction of the track body 27, the first connecting part 2120 and the second connecting part 2130 are respectively provided with the first pin hole 2121 and the second pin hole 2131, and the track mechanism 20 further comprises the connecting pin 2930, two adjacent chain link bases 2100 in the track body 27 are connected to each other through the connecting pin 2930, and the connecting pin 2930 is arranged in the first pin hole 2121 of one of the chain link bases 2100 and the second pin hole 2131 of the other chain link base 2100.

[0082] It can be understood that in some embodiments, referring to FIGS. 2, 3 and 7, the chain link 26 further comprises a middle shaft 2920, wherein the middle shaft 2920 is parallel to the width direction of the track body 27 and is arranged at the middle of the chain link base 2100 in the extension direction of the track body 27; in the width direction of the track body 27, the middle shaft 2920 protrudes from the chain link base 2100 and forms an abutting portion 2921. And referring to FIGS. 1 and 7, the track mechanism 20 further comprises a front wheel 23, a rear wheel 24 and a limiting plate 25, wherein the front wheel 23 and the rear wheel 24 are respectively arranged on the front side and the rear side of the vehicle body 10, and the front wheel 23 and the rear wheel 24 are arranged on the inner side of the track body 27 for driving the track body 27 to rotate, and the limiting plate 25 is connected to the vehicle body 10 and comprises a limiting portion 251 between the bottom of the front wheel 23 and the bottom of the rear wheel 24, which is used to abut against the side of the abutting portion 2921 away from the area surrounded by the track body 27, so that when the chain link 26 moves between the bottom of the front wheel 23 and the bottom of the rear wheel 24, the abutting portion 2921 on the chain link 26 will abut against the limiting portion 251 away from the working surface W, so as to limit the movement of the chain link 26 between the bottom of the front wheel 23 and the bottom of the rear wheel 24 to the outer side of the track body 27. It should be understood that by means of the cooperation of the abutting portion 2921 and the limiting portion 251, the chain links 26 between the bottom of the front wheel 23 and the bottom of the rear wheel 24 can be arranged in a straight line parallel to the center line of the front wheel 23 and the rear wheel 24 on the working surface W, and this part of the chain links 26 forms a relatively rigid whole, and can better maintain uniform and good contact with the working surface W, that is, the magnetic attraction force generated by each chain link 26 between the bottom of the front wheel 23 and the bottom of the rear wheel 24 will be more uniform, thereby increasing the adsorption force between the entire track mechanism 20 and the working surface W, and the gravity of the moving platform can be more evenly distributed to each chain link 26 between the bottom of the front wheel 23 and the bottom of the rear wheel 24, so as to further improve the anti-overturning performance of the moving platform.

[0083] It can be understood that in order to facilitate the connection of the middle shaft 2920, in some embodiments, referring to FIGS. 3, 4 and 7, the middle of the chain link base 2100 in the width direction of the track body 27 is provided with a third connecting portion 2140, and the third connecting portion 2140 is provided with a third pin hole 2141, and the middle shaft 2920 is rotatably arranged in the third pin hole 2141.

[0084] It should be understood that in other embodiments, the middle shaft 2920 can also be integrally formed with the connecting injection molding.

[0085] It can be understood that, on the basis of adopting the intermediate shaft 2920 cooperating with the limiting portion 251 to limit the movement of the chain link 26 between the bottom of the front wheel 23 and the bottom of the rear wheel 24 to the outer side of the track main body 27, referring to FIGS. 19-22, in some embodiments, the magnetic suction module 2200 is detachably connected to the chain link base 2100 through the intermediate shaft 2920, and the magnetic suction module 2200 is rotatably connected with the intermediate shaft 2920, so that the magnetic suction module 2200 can rotate relative to the intermediate shaft 2920 and the chain link base 2100, and thus during the movement of the moving platform on the uneven working surface W, the magnetic suction module 2200 between the bottom of the front wheel 23 and the bottom of the rear wheel 24 can rotate and adjust the angle under the action of the magnetic suction force, so as to better fit the uneven working surface W.

[0086] In addition, referring to FIGS. 19-22, the intermediate shaft 2920 is arranged on the side of the chain link base 2100 close to the area enclosed by the track main body 27, that is, the intermediate shaft 2920 is arranged on the inner side of the chain link base 2100, and the side of the magnetic suction module 2200 facing the intermediate shaft 2920 is provided with a protruding rotating connection portion 2215, which is rotatably sleeved on the intermediate shaft 2920 through the rotating connection portion 2215. In order to avoid interference between the rotating connection portion 2215 and the chain link base 2100, the chain link base 2100 is provided with an avoiding opening 2115 through which the rotating connection portion 2215 passes, and the size of the avoiding opening 2115 in the direction parallel to the extension direction of the track main body 27 is greater than the size of the rotating connection portion 2215 in this direction, so that the rotating connection portion 2215 can rotate smoothly in the avoiding opening 2115. It should be understood that, compared with arranging the intermediate shaft 2920 on the outer side of the chain link base 2100, arranging the intermediate shaft 2920 on the inner side of the chain link base 2100 and connecting the intermediate shaft 2920 through the rotating connection seat 2210 arranged on the chain link base 2100 can avoid the magnetic suction module 2200 protruding too much on the outer side of the track main body 27, and thus can avoid affecting the stability of the moving platform on the working surface W due to the excessive distance between the bottom surface of the machine body 10 and the working surface W.

[0087] It can be understood that, in one embodiment, referring to FIGS. 19-22, the rotating connection portion 2215 is arranged on one side of the connecting seat 2210 facing the middle shaft 2920, and to facilitate the disassembly and fixation of the magnetic attraction module 2200 on the middle shaft 2920, two clamping grooves are arranged on the middle shaft 2920, and two retaining rings 2922 are clamped in the two clamping grooves, respectively. The rotating connection portion 2215 is also provided with two, which are located between the two retaining rings 2922. The two retaining rings 2922 respectively abut against the two rotating connection portions 2215 to limit the sliding of the magnetic attraction module 2200 on the middle shaft 2920. At the same time, to prevent the middle shaft 2920 and the magnetic attraction module 2200 from sliding relative to the link base 2100 in the extension direction of the middle shaft 2920, the sides of the two rotating connection portions 2215 away from the retaining rings 2922 respectively abut against the two third connecting portions 2140. Through the above structure, when it is necessary to replace the magnetic attraction module 2200 with different magnetic attraction force, the two retaining rings 2922 are taken out of the clamping grooves of the middle shaft 2920, then the middle shaft 2920 is pulled out of the third connecting portion 2140 and the rotating connection portion 2215 of the magnetic attraction module 2200 to be disassembled, then the rotating connection portion 2215 of the magnetic attraction module 2200 to be disassembled is made to escape the avoiding opening 2115, so that the connection between the magnetic attraction module 2200 to be disassembled and the middle shaft 2920 and the link base 2100 is released, then the rotating connection portion 2215 of the magnetic attraction module 2200 to be installed is made to pass through the avoiding opening 2115 and opposite to the third connecting portion 2140, and the middle shaft 2920 is reinserted into the third connecting portion 2140 and the rotating connection portion 2215 of the magnetic attraction module 2200 to be installed, then the two retaining rings 2922 are clamped onto the middle shaft 2920, so that the connection between the magnetic attraction module 2200 to be installed and the middle shaft 2920 and the link base 2100 is completed.

[0088] It can be understood that, in addition to the above-mentioned mode of cooperation between the intermediate shaft 2920 and the limiting portion 251 to make the chain links 26 between the bottom of the front wheel 23 and the bottom of the rear wheel 24 arranged in a straight line and form a relatively rigid whole, in some other embodiments, a limiting groove (not shown in the drawings) can also be selected to cooperate with the limiting portion 251; for example, in one embodiment, similarly, the track mechanism 20 also includes a front wheel 23, a rear wheel 24 and a limiting plate 25, the front wheel 23 and the rear wheel 24 are respectively arranged on the front side and the rear side of the vehicle body 10, the front wheel 23 and the rear wheel 24 are arranged on the inner side of the track main body 27 and are used to drive the track main body 27, the limiting plate 25 is connected to the vehicle body 10 and includes a limiting portion 251 located between the bottom of the front wheel 23 and the bottom of the rear wheel 24; the chain link base 2100 is provided with a limiting groove on the side facing the limiting plate 25, the limiting groove is parallel to the extension direction of the track main body 27, and the limiting portion 251 can be inserted into the limiting groove, so that when the chain link 26 moves to the time between the bottom of the front wheel 23 and the bottom of the rear wheel 24, the chain link 26 will be able to limit the movement of the chain link 26 to the outside and the opposite direction of the track main body 27 through the cooperation of the limiting groove and the limiting portion 251, so that the chain links 26 between the bottom of the front wheel 23 and the bottom of the rear wheel 24 are arranged in a straight line and form a relatively rigid whole, so as to further improve the anti-overturning performance of the mobile platform.

[0089] It can be understood that, in some embodiments, the vehicle body 10 is provided with a wall surface detection module for detecting the working surface W to detect the concave-convex degree of the working surface W; it should be understood that, by arranging the wall surface detection module on the vehicle body 10 of the mobile platform, the mobile platform can be pre-run on the working surface W in an empty form (without carrying tools for work) before working on the working surface W, and the working surface W is pre-detected during the pre-running process by means of the wall surface detection module to pre-know the concave-convex degree of the working surface W (for example, pre-know the maximum protrusion height of each protrusion 90 on the working surface W), and then it is convenient to select the corresponding type of magnetic attraction module 2200 (or the corresponding type of combined magnetic attraction module 2200) connected to the track main body 27 according to the concave-convex degree of the working surface W, and / or select the corresponding number of spacers (or the corresponding height of the spacer) connected between the mounting surface 2114 and the magnetic attraction module 2200.

[0090] At the same time, by arranging the wall surface detection module on the vehicle body 10 of the mobile platform, the concave-convex degree of the current position of the mobile platform can also be detected in real time during the working process of the mobile platform on the working surface W, or the concave-convex degree within a certain distance range (for example, the field of view range of the camera 80) in front of the mobile platform can be detected in real time, so as to issue an alarm or a prompt (for example, the vehicle light flashes at different frequencies) according to the real-time detection result.

[0091] And, as the inside of the body 10 can be selected to adopt a control module with integrated drive and control, having a processor, a controller and a memory, and the memory is pre-provided with an automatic driving program of the mobile platform, in the case of signal loss of the mobile platform, the mobile platform can also identify the degree of concave and convex of the current location of the mobile platform in the working surface or the degree of concave and convex within a certain distance range in front of the mobile platform according to the real-time detection signal of the wall detection module, and then plan the route and automatically drive to complete the work.

[0092] It can be understood that in some embodiments, referring to FIG. 1, the wall detection module includes a camera 80, and the camera 80 is arranged on the front side of the body 10, and can obtain the height of the protrusion 90 protruding from the working surface W by shooting the image P of the protrusion 90 on the working surface W and processing the image P of the protrusion 90.

[0093] It can be understood that in some other embodiments, referring to FIG. 29, the wall detection module includes a gyroscope or an angle sensor, and the gyroscope or the angle sensor can detect the included angle α between the plane formed by the bottoms of the two track mechanisms 20 and the working surface W when one side of the track mechanism 20 passes through the protrusion 90, and then calculate the height of the protrusion 90 protruding from the working surface W according to the included angle α and the width L of the mobile platform.

[0094] It should be understood that in some other embodiments, the wall detection module further includes a plurality of cameras 80, gyroscopes and angle sensors, and can detect the degree of concave and convex of the working surface W in different ways.

[0095] It can be understood that in some embodiments, the inside of the body 10 is provided with a drive module 30 and a control module with integrated drive and control, wherein the output shaft 321 of the drive module 30 is connected to the track mechanism 20, for example, to the front wheel 23 and / or the rear wheel 24 in the track mechanism 20, so as to drive the track mechanism 20 to drive the mobile platform to walk on the working surface W, and the control module is electrically connected with the wall detection module and the drive module 30, and can control the rotating speed of the drive module 30 according to the detection signal of the wall detection module.

[0096] It should be understood that when the mobile platform moves at a higher speed on the work surface W with a larger degree of concave-convex, the falling risk will be greater, and if the mobile platform is always moved at a slower speed on the work surface W, although the falling risk can be reduced, the working efficiency of the mobile platform will be affected to a certain extent when the work surface W has a small degree of concave-convex. By controlling the rotating speed of the driving module 30 according to the detection signal of the degree of concave-convex of the work surface W detected by the wall detection module in real time, the track mechanism 20 can drive the mobile platform to move at a speed corresponding to the degree of concave-convex of the work surface W, so that the falling risk can be reduced and the relatively high efficiency can be maintained.

[0097] For example, in some embodiments, six different speed gears are preset in the control module, and when the control module controls the driving module 30 to operate at the six different speed gears, the mobile platform can be driven to move forward at a speed of not less than 2 m / min, not less than 4 m / min, not less than 6 m / min, not less than 8 m / min, not less than 12 m / min and not less than 15 m / min, respectively. According to the degree of concave-convex of the work surface W detected by the wall detection module in real time, the control module can automatically control the driving module 30 to drive the mobile platform to move forward at the above six different speeds. For example, when the height of the protrusion 90 is not greater than 5 mm, the work surface W is relatively flat, and at this time the control module controls the driving module 30 to operate at a rotating speed corresponding to a first speed gear. Similarly, when the height of the protrusion 90 is between 6-8 mm, the control module controls the driving module 30 to operate at a rotating speed corresponding to a second speed gear. When the height of the protrusion 90 is between 9-11 mm, the control module controls the driving module 30 to operate at a rotating speed corresponding to a third speed gear. When the height of the protrusion 90 is between 12-14 mm, the control module controls the driving module 30 to operate at a rotating speed corresponding to a fourth speed gear. When the height of the protrusion 90 is between 15-17 mm, the control module controls the driving module 30 to operate at a rotating speed corresponding to a fifth speed gear. When the height of the protrusion 90 is between 15-17 mm, the control module controls the driving module 30 to operate at a rotating speed corresponding to a sixth speed gear.

[0098] It can be understood that, in some embodiments, since the mobile platform can be used to clean the outer side of the ship body, in order to avoid water entering the inside of the fuselage 10 when the mobile platform falls into the water, thereby damaging the internal components of the fuselage, in one embodiment, referring to Figures 23 and 24, the mobile platform further comprises a waterproof ring 60 and a waterproof oil seal 71, wherein in order to enable the driving module 30 inside the fuselage 10 to be drivingly connected with the driving wheels (front wheels 23 or rear wheels 24) located outside the fuselage 10, the side plate 11 of the fuselage 10 is provided with a shaft hole 110 allowing the output shaft 321 to extend out, the waterproof ring 60 is sleeved on the output shaft 321 and connected at one end to the outer side of the side plate 11, the shaft hole 110 communicates with the inside of the waterproof ring 60, and the waterproof oil seal 71 is arranged between the output shaft 321 and the waterproof ring 60 to prevent water from the outside entering the inside of the waterproof ring 60 through the gap between the output shaft 321 and the waterproof ring 60, thereby preventing water from the outside entering the fuselage 10 through the shaft hole 110.

[0099] It can be understood that, on the basis of the above-mentioned embodiments, in order to prevent water from the outside entering the waterproof ring 60 through the gap between the side plate 11 of the fuselage 10 and the waterproof ring 60, in some embodiments, referring to Figures 24 and 25, the waterproof ring 60 is provided with a radially protruding ring table 610 close to one end of the fuselage 10, and the waterproof ring 60 is connected to the fuselage 10 through the ring table 610, and a first sealing ring 72 is arranged between the ring table 610 and the fuselage 10 to seal the gap between the side plate 11 and the waterproof ring 60; it should be understood that the ring table 610 can be fixedly connected to the side plate 11 through the first fastening screw 51 located outside the first sealing ring 72.

[0100] It can be understood that, in some embodiments, referring to Figures 24 and 25, the driving module 30 comprises a motor 310 and a speed reducer 320, wherein the output shaft 321 of the driving module 30 is the output shaft 321 of the speed reducer 320, the speed reducer 320 comprises a mounting flange 322 connected to the inner side of the side plate 11, the driving module 30 is fixedly connected to the side plate 11 through the second fastening screw 52 threadedly connected with the mounting flange 322 and penetrating the side plate 11, and the position of the second fastening screw 52 on the side plate 11 is within the range of the area covered by the ring table 610 and inside the area of the first sealing ring 72, so as to prevent water from the outside entering the fuselage 10 through the gap between the second fastening screw 52 and the side plate 11, thereby further improving the waterproof performance; it should be understood that a second sealing ring 73 is arranged between the mounting flange 322 and the side plate 11 to further improve the waterproof performance.

[0101] It can be understood that in some embodiments, the machine body 10 is provided with a vehicle lamp, the control module is electrically connected with the vehicle lamp, and the control module can control the flashing state of the vehicle lamp according to the detection signal of the wall detection module, so as to remind the operator to move the platform to the current position on the working surface W (for example, when the wall detection module uses a gyroscope or an angle sensor) or the degree of concave-convex of the working surface W within a certain distance range in front of the platform (for example, when the wall detection module uses the camera 80), so that the operator can better control the mobile platform according to the real-time detection of the degree of concave-convex, for example, when the real-time detection of the concave-convex state at the current position is large or the real-time detection of the degree of concave-convex within a certain distance range in front of the platform is large, the control module controls the mobile platform to turn, slow down or emergency brake.

[0102] For example, referring to FIG. 1, in an embodiment, the front side and the rear side of the machine body 10 are provided with vehicle lamps, which are front vehicle lamp 41 and rear vehicle lamp (not shown in the figure), respectively. The front side of the vehicle lamp is provided with a camera 80 for detecting the degree of concave-convex of the working surface W within a certain distance range in front of the mobile platform. The control module is pre-installed with a plurality of different flashing state control programs of the vehicle lamp, including a plurality of flashing state control programs for prompting the wall surface condition of the front side of the machine body 10, for example, similar to the above-mentioned speed level SL. The flashing state control program for prompting the wall surface condition of the front side of the machine body 10 can control the front vehicle lamp 41 and / or the rear vehicle lamp to flash at six different frequencies. Similarly, the detected degree of concave-convex of the wall surface of the front side of the machine body 10 is divided into six different area ranges, and the greater the height value of the convex object 90 in the detected degree of concave-convex, the higher the corresponding frequency of the flashing state control program for controlling the flashing of the front vehicle lamp 41 and / or the rear vehicle lamp.

[0103] It can be understood that in some embodiments, the mobile platform further comprises a remote controller, which is wirelessly connected with the control module, so that the operator can remotely control the mobile platform to work through the remote controller; and the drive module 30 is provided with a brake module, and the remote controller can send a brake control signal to the control module to remotely control the brake module to brake. It should be understood that the brake module is remotely controlled by the remote controller to brake, which is mainly used to brake the motor 310 in the drive module 30 when the mobile platform is abnormal, so that the mobile platform stops moving. For example, when some system programs pre-installed in the control module cannot be normally started, the brake module can be controlled to brake by the related brake button on the remote controller, and after the abnormality is eliminated, the brake module can be controlled to release by the button again, so that the motor 310 can continue to rotate. It should be understood that in the normal state of the equipment, the brake module will automatically be in a released state, so that the mobile platform can normally operate.

[0104] It can be understood that the mobile platform needs to carry different work tools according to different work contents required, so that the mobile platform can be connected to different types of work tools. In some embodiments, the body 10 is provided with a plurality of IO interfaces, and different types of work tools can be connected through the IO interfaces.

[0105] In order to enable the control module inside the body 10 to identify the type of connected work tool, different types of work tools are connected to different numbers or different combinations of IO interfaces, each IO interface is electrically connected to the control module, so that the control module can identify the type of work tool according to the signal transmission between itself and each IO interface, and then facilitate the control module to recommend the process program suitable for the work tool to the operator according to the type of connected work tool (the process program is preset in the memory of the control module).

[0106] For example, in one embodiment, the work tool includes two different work tools, a long-arm water spraying tool and a planar automatic water spraying tool, and the IO interface includes at least two IO interfaces numbered 001 and 002, wherein the long-arm water spraying tool is connected to the IO interface numbered 001, and the planar automatic water spraying tool is connected to the IO interface numbered 002, that is, two different types of work tools are connected to different numbered work tools, so that the control module can identify which one of the long-arm water spraying tool or the planar automatic water spraying tool is connected according to the difference between the signal transmission between itself and the IO interface numbered 001 and the signal transmission between itself and the IO interface numbered 002; for example, there is signal transmission with the IO interface numbered 001, and there is no signal transmission with the IO interface numbered 002, which can identify that the long-arm water spraying tool is connected; if there is no signal transmission with the IO interface numbered 001, and there is signal transmission with the IO interface numbered 002, it can be identified that the planar automatic water spraying tool is connected.

[0107] Or, in another embodiment, the work tool includes two different work tools of the long-arm water spraying tool and the cleaning liquid spraying tool, and the IO interface includes at least two IO interfaces numbered 001 and 002, wherein the long-arm water spraying tool is connected to the IO interface numbered 001, and the cleaning liquid spraying tool is connected to both the IO interfaces numbered 001 and 002, that is, the two different types of work tools are connected to different numbers of work tools, so that the control module can identify which one of the long-arm water spraying tool or the flat automatic water spraying tool is connected according to the signal transmission between the control module and the IO interfaces numbered 001 and 002. For example, if there is signal transmission with the IO interface numbered 001 and no signal transmission with the IO interface numbered 002, it can be identified that the long-arm water spraying tool is connected; if there is signal transmission with the IO interface numbered 001 and signal transmission with the IO interface numbered 002, it can be identified that the cleaning liquid spraying tool is connected.

[0108] Or, in another embodiment, the work tool includes two different work tools of the long-arm water spraying tool and the cleaning liquid spraying tool, and the IO interface includes at least two IO interfaces numbered 001, 002 and 003, wherein the long-arm water spraying tool is connected to the IO interfaces numbered 001 and 003, and the cleaning liquid spraying tool is connected to the IO interfaces numbered 001 and 002, that is, the two different types of work tools are connected to work tools with different number combinations, so that the control module can identify which one of the long-arm water spraying tool or the flat automatic water spraying tool is connected according to the signal transmission between the control module and the IO interfaces numbered 001, 002 and 003. For example, if there is signal transmission with the IO interfaces numbered 001 and 003 and no signal transmission with the IO interface numbered 002, it can be identified that the long-arm water spraying tool is connected; if there is signal transmission with the IO interfaces numbered 001 and 002 and no signal transmission with the IO interface numbered 003, it can be identified that the cleaning liquid spraying tool is connected.

[0109] Referring to FIGS. 26-29, the use method of the second aspect embodiment of the application is described below, which is applied to the mobile platform of the first aspect embodiment described above.

[0110] The use method according to some embodiments of the application includes the following steps:

[0111] S100, detecting the concave-convex degree of the working surface W (denoted as pre-detection concave-convex degree H1);

[0112] S210, selecting a corresponding type of magnetic attraction module 2200 to be connected to the track body 27 according to the pre-detected unevenness degree (H1) of the work surface W; or selecting a corresponding type or combination of types of magnetic attraction module 2200 to be connected to the track body 27 according to the pre-detected unevenness degree (H1) of the work surface W;

[0113] S300, enabling the mobile platform to be adsorbed to the work surface W and move on the work surface W by the magnetic attraction module 2200.

[0114] It should be understood that when the work surface W is the outer wall of the ship body and the bulkhead of the cargo hold, in the step S100, the detected unevenness degree of the work surface W mainly depends on the maximum protrusion height of the detected protrusions 90 on the work surface W, that is, the pre-detected unevenness degree H1 is the maximum protrusion height of the detected protrusions 90 on the work surface W.

[0115] It should be understood that by pre-detecting the unevenness degree of the work surface W and selecting a corresponding type or combination of types of magnetic attraction module 2200 to be connected to the track body 27 according to the pre-detected unevenness degree H1 of the work surface W, the magnetic attraction force generated by the mobile platform on the work surface W can be adapted to the unevenness degree of the work surface W, thereby reducing the risk of the mobile platform falling from the work surface W and enabling the mobile platform to move more smoothly on the work surface W when the mobile platform is adsorbed to the work surface W and moves.

[0116] It can be understood that in some embodiments, the control module of the mobile platform is pre-set with a first conversion relationship T1 between the unevenness degree of the work surface W and the required magnetic attraction force value FC of the chain link, and the step S210 of selecting a corresponding type of magnetic attraction module 2200 to be connected to the track body 27 according to the pre-detected unevenness degree (H1) of the work surface W includes the following sub-steps:

[0117] S211a, obtaining the required magnetic attraction force value FC of the chain link according to the pre-detected unevenness degree H1 of the work surface W and the first conversion relationship T1;

[0118] S212a, obtaining the type number of the magnetic attraction module 2200 that meets the requirement of the required magnetic attraction force value FC of the chain link;

[0119] S213a, selecting the magnetic attraction module 2200 of the obtained type number to be connected to each chain link base 2100.

[0120] It should be understood that, in relation to the first conversion relationship T1, it can be a conversion calculation formula between the concave-convex degree of the working surface W and the required magnetic attraction force value FC of the chain link, or it can be a mapping relationship between the concave-convex degree of the working surface W and the required magnetic attraction force value FC of the chain link; for example, in one embodiment, the mapping relationship between the concave-convex degree of the working surface W and the required magnetic attraction force value FC of the chain link is pre-stored in the memory of the control module (as shown in Table 1 below), and in step S211a, the required magnetic attraction force value FC of the chain link is obtained according to the pre-detected concave-convex degree H1 and the above mapping relationship.

[0121] It should be understood that, in relation to the above step S212a, in some embodiments, the control module of the mobile platform can also pre-set a mapping relationship between the required magnetic attraction force value FC of the chain link and the recommended type number of the magnetic attraction module 2200 (as shown in Table 1 below), so that the number of the recommended type of the magnetic attraction module 2200 can be directly displayed on the display device such as the display screen in the remote controller of the mobile platform, thereby facilitating the operator of the mobile platform to directly obtain.

[0122] It should be understood that, in some other embodiments, the operator of the mobile platform can also manually find out the type number of the corresponding magnetic attraction module 2200 according to the required magnetic attraction force value FC of the chain link, for example, manually according to the correspondence table between the required magnetic attraction force value FC of the chain link and the recommended type number of the magnetic attraction module 2200.

[0123] Table 1

[0124] It can be understood that, in some embodiments, the control module of the mobile platform pre-sets the first conversion relationship T1 between the concave-convex degree of the working surface W and the required magnetic attraction force value FC of the chain link, and in relation to the above step S210, the magnetic attraction module 2200 of the corresponding type or the corresponding type combination is selected to be connected to the track body 27 according to the pre-detected concave-convex degree (H1) of the working surface W, which includes:

[0125] S211b, obtaining the required magnetic attraction force value FC of the chain link according to the pre-detected concave-convex degree H1 of the working surface W and the first conversion relationship T1;

[0126] S212b, obtaining the type number of the magnetic attraction module 2200 that meets the required magnetic attraction force value FC of the chain link, or the type number combination and the combination form of the magnetic attraction module 2200 that meets the required magnetic attraction force value FC of the chain link;

[0127] S212b, selecting the magnetic attraction module 2200 of the obtained type number to be connected to the track body 27, or selecting the magnetic attraction module 2200 of the obtained type number combination to be connected to the track body 27 according to the obtained combination form.

[0128] It should be understood that, in relation to the first conversion relationship T1, the same can be a conversion calculation formula between the concave-convex degree of the work surface W and the required magnetic attraction force value FC of the chain link, or a mapping relationship between the concave-convex degree of the work surface W and the required magnetic attraction force value FC of the chain link; for example, in one embodiment, the mapping relationship between the concave-convex degree of the work surface W and the required magnetic attraction force value FC of the chain link is pre-stored in the memory of the control module (as shown in Table 2 below), and in step S211b, the required magnetic attraction force value FC of the chain link is obtained according to the pre-detected concave-convex degree H1 and the above mapping relationship.

[0129] It should be understood that, in relation to the above step S212b, in some embodiments, the control module of the mobile platform can also be pre-provided with a mapping relationship between the required magnetic attraction force value FC of the chain link and the recommended type number or the recommended type number combination and combination mode of the magnetic attraction module 2200 (as shown in Table 2 below), so that the number or the number combination and combination mode of the recommended type of the magnetic attraction module 2200 can be directly displayed by the display device such as the display screen in the remote controller of the mobile platform, thereby facilitating the operator of the mobile platform to directly obtain.

[0130] It should be understood that, in other embodiments, the operator of the mobile platform can also manually find out the type number or the number combination and combination mode of the corresponding magnetic attraction module 2200 according to the required magnetic attraction force value FC of the chain link, for example, manually according to the corresponding relationship table between the required magnetic attraction force value FC of the chain link and the recommended type number of the magnetic attraction module 2200 or the required magnetic attraction force value FC of the chain link and the recommended type number combination and combination mode of the magnetic attraction module 2200.

[0131] Table 2

[0132] It can be understood that, with reference to FIG. 26, in some embodiments, the use method further includes the following steps:

[0133] S220, according to the pre-detected concave-convex degree H1 of the work surface W, selecting to set the corresponding number or thickness of the lifting piece 2300 between the magnetic attraction module 2200 and the chain link base 2100.

[0134] It should be understood that when the concave-convex degree of the working surface W is large, for example, the height of the protrusion 90 is greater than the distance between the bottom surface of the machine body 10 and the bottom surface of the track mechanism 20, the bottom surface of the machine body 10 can collide with the protrusion 90 during the movement of the mobile platform on the working surface W, which can easily cause the mobile platform to fall. By providing the lifting piece 2300, the distance between the bottom of the machine body 10 and the working surface W can be increased, so that the possibility of collision between the bottom of the machine body 10 and the protrusion 90 can be effectively reduced, and the risk of falling of the mobile platform can be reduced.

[0135] In addition, according to the concave-convex degree of the working surface W, the corresponding number or thickness of the lifting piece 2300 is selected to be connected between the magnetic attraction module 2200 and the mounting surface 2114, so that the height of the bottom of the machine body 10 lifted can be adapted to the concave-convex degree of the working surface W, so that not only the possibility of collision between the bottom of the machine body 10 and the protrusion 90 on the working surface W can be reduced, but also the influence of the stability of the mobile platform caused by the too high bottom surface of the machine body 10 can be reduced.

[0136] It should be understood that in some embodiments, the lifting piece 2300 is a gasket, and the above step S220 includes the following sub-steps:

[0137] S221, determining whether the concave-convex degree of the working surface W detected in advance is not less than a first preset value;

[0138] S222, if the concave-convex degree of the working surface W detected in advance is not less than the first preset value, a corresponding number of gaskets is selected to be arranged between the magnetic attraction module 2200 and the chain link base 2100 according to the concave-convex degree of the working surface W detected in advance.

[0139] It should be understood that, and since the bottom surface of the machine body 10 has a certain distance from the bottom surface of the track mechanism 20 in the initial state (the state without the gasket), when the height of the protrusion 90 on the working surface W is not greater than the distance, the gasket does not need to be arranged in the chain link 26. When the height of the protrusion 90 on the working surface W reaches the above distance, the protrusion 90 needs to increase a certain height, and a corresponding number of gaskets need to be arranged between the magnetic attraction module 2200 and the mounting surface 2114.

[0140] For example, in one embodiment, the bottom surface of the body 10 has a distance of 10 mm or more from the bottom surface of the track mechanism 20 in the initial state (the state without the gasket), and the thickness of the single gasket is 1 mm, so that the first preset value set in the control module corresponds to 11 mm, so that when the height of the maximum protrusion 90 on the working surface W detected in advance is less than 11 mm, no gasket needs to be set between the magnetic suction module 2200 and the chain link base 2100, and when the height of the protrusion 90 is 11 mm, one gasket needs to be set correspondingly, when the height of the protrusion 90 is 12 mm, two gaskets need to be set correspondingly, and so on.

[0141] It can be understood that in some embodiments, a second conversion relationship T2 between the concave-convex degree of the working surface W and the recommended number Ng of the required gaskets is preset in the control module of the mobile platform, and the above step S222 includes the following sub-steps:

[0142] S2211, obtaining the recommended number Ng of the required gaskets according to the concave-convex degree H1 of the working surface W detected in advance and the second conversion relationship T2;

[0143] S2212, selecting to set the recommended number Ng of gaskets between the magnetic suction module 2200 and the chain link base 2100.

[0144] It should be understood that, regarding the second conversion relationship T2, similarly, it can be a conversion calculation formula between the concave-convex degree of the working surface W and the recommended number Ng of the required gaskets, or a mapping relationship between the concave-convex degree of the working surface W and the recommended number Ng of the required gaskets; for example, in one embodiment, the mapping relationship between the concave-convex degree of the working surface W and the recommended number Ng of the required gaskets is pre-stored in the memory of the control module (as shown in Table 3 below), and in step S2211, the recommended number Ng of the required gaskets is obtained according to the pre-detected concave-convex degree H1 and the above mapping relationship.

[0145] It should be understood that in some embodiments, the recommended number Ng of the required gaskets is directly displayed by a display device such as a display screen in the remote controller of the mobile platform, thereby facilitating the operator of the mobile platform to directly obtain.

[0146] Table 3

[0147] It should be understood that in some embodiments, the lifting piece 2300 is a pad, and the pad has various thicknesses, so that according to the pre-detected unevenness of the working surface W, a pad with a corresponding thickness can be selected and arranged between the magnetic attraction module 2200 and the chain link base 2100; It should be understood that similarly, the control module of the mobile platform is pre-set with a mapping relationship between the unevenness of the working surface W and the recommended thickness TH of the pad (such as Table 3 above), so that the recommended thickness TH of the pad can be obtained according to the pre-detected unevenness H1 and the above mapping relationship, and a pad meeting the recommended thickness TH requirement can be selected and arranged between the magnetic attraction module 2200 and the chain link base 2100.

[0148] It can be understood that in some embodiments, external devices can be selected to participate in the pre-detection of the working surface W; for example, in one embodiment, step S100 includes the following sub-steps:

[0149] S110c, pre-scanning the working surface W by an external device to collect parameters related to the unevenness and transmitting them to the control module of the mobile platform;

[0150] S120c, the control module calculates the unevenness of the working surface W according to the parameters related to the unevenness of the working surface W.

[0151] It should be understood that the external device can be selected by using a rotor unmanned aerial vehicle or the like, and the external device can be used to collect parameters related to the unevenness of the working surface W (such as the height of each protrusion on the working surface W), which can simplify the structure of the mobile platform (without the need to set a wall detection module on the mobile platform) and reduce the weight of the mobile platform, so that the mobile platform can carry a larger mass of working tools.

[0152] It can be understood that in some embodiments, the mobile platform 10 is provided with a wall detection module for detecting the working surface W, so that the mobile platform can detect the unevenness of the working surface W by itself without external assistance, thereby improving the convenience and flexibility of detection, and regarding step S100, the following steps are included:

[0153] The mobile platform is pre-run on the working surface W in an empty state, and the unevenness of the working surface W is detected by the wall detection module during the pre-running process.

[0154] It should be understood that the mobile platform in the empty state does not carry a working tool, so the weight of the mobile platform at this time is relatively light, and the magnetic attraction force required to prevent the mobile platform from falling is also relatively small, so even if the mobile platform at this time is connected to the magnetic attraction module 2200 of the smallest type of magnetic attraction module 2200 on the track mechanism 20, and the unevenness of the working surface W is large, the mobile platform is not easy to fall.

[0155] It can be understood that, in some embodiments, referring to FIG. 27 and FIG. 28, the wall surface detection module includes the camera 80, and the camera 80 is located on the front side of the machine body 10, and the machine body 10 further includes the front lamp 41 located on the front side of the machine body 10, and regarding the step 100, the concave-convex degree of the working surface W is detected by the wall surface detection module during the pre-running process, including the following sub-steps:

[0156] S110a, the mobile platform moves to one side of the convex object 90 in the working surface W, and the convex object 90 is located in the field of view range of the camera 80 and the illumination range of the front lamp 41;

[0157] S120a, the front lamp 41 is controlled to illuminate the convex object 90, and the convex object 90 forms a shadow 91 on the side away from the mobile platform;

[0158] S130a, the camera 80 is controlled to take a photo of the convex object 90 and the shadow 91, so as to obtain an image P with the convex object 90 and the shadow 91;

[0159] S140a, the image P is processed to obtain the convex height of the convex object 90.

[0160] It should be understood that the camera 80 can be calibrated before the mobile platform normally works, and in the above step S140a, the convex height of the convex object 90 can be calculated by the height h0 of the front lamp 41 on the machine body 10, the position and size of the shadow pattern 93 in the entire image P, the position and size of the convex object pattern 92 in the entire image P, and the like.

[0161] It should be understood that when there are multiple convex objects 90 on the working surface W, each convex object 90 can be detected in turn by the above steps S110a-S140a, and the maximum value of the convex heights of all the detected convex objects 90 is taken as the pre-check concave-convex degree H1.

[0162] It should be understood that, on the basis of the above wall surface detection module including the camera 80, in some embodiments, regarding the step S300, the following sub-steps are included:

[0163] S310a, the convex height H2 of the convex object 90 in the field of view range of the camera 80 is detected in real time by the camera 80;

[0164] S320a, according to the convex height H2 of the convex object 90 detected in real time, the mobile platform is controlled to continue to advance or turn to avoid on the working surface W at a corresponding speed level SL.

[0165] It should be understood that when the mobile platform travels at a higher speed on the working surface W at a location with a larger degree of concave-convex, it will have a greater falling risk, and if the mobile platform is always made to travel at a slower speed on the working surface W, although the falling risk can be reduced, the working efficiency of the mobile platform will be affected to some extent; and by controlling the track mechanism 20 to drive the mobile platform to move on the working surface W at a speed level SL corresponding to the protruding height H2 of the protruding object 90 currently detected by the camera 80 within a certain distance range (the field of view range of the camera 80) in front of the mobile platform in real time, the mobile platform can pass through the location with a larger degree of concave-convex (the protruding height of the protruding object 90 is relatively larger) on the working surface W at a relatively lower speed, thereby reducing the falling risk, and can pass through the location with a relatively flat (the protruding height of the protruding object 90 is relatively smaller) on the working surface W at a relatively higher speed, thereby maintaining a relatively higher efficiency; and when the height of the protruding object 90 exceeds a certain limit, the falling risk caused by the direct impact of the mobile platform on the protruding object 90 can also be effectively reduced by controlling the mobile platform to turn and avoid.

[0166] It should be understood that when there are multiple protruding objects 90 within the field of view range of the camera 80, the maximum value among the protruding heights of the detected multiple protruding objects 90 can be taken as the protruding height H2 of the protruding object 90 detected in real time.

[0167] It can be understood that in some embodiments, regarding step S320a, the following sub-steps are included:

[0168] S321a, determining whether the protruding height H2 of the protruding object 90 detected in real time exceeds a second preset value;

[0169] S322a, if greater than the second preset value, controlling the mobile platform to turn to avoid the protruding object 90;

[0170] S323a, if less than or equal to the second preset value, controlling the mobile platform to continue to move forward on the working surface W at the corresponding speed level SL.

[0171] It should be understood that when the protrusion height of the protrusion 90 exceeds a certain limit, the mobile platform will be difficult to pass, for example, when the protrusion height of the protrusion 90 exceeds a certain limit, the mobile platform will be likely to cause a direct impact between the bottom of the fuselage 10 and the protrusion 90 when passing the protrusion 90, or when the side track mechanism 20 passes the protrusion 90, a large included angle between the bottom surface of the mobile platform and the working surface W is caused, and the mobile platform is overturned; therefore, the second preset value in the above step can be selected to be set as a minimum protrusion height of the protrusion 90 that causes a direct impact between the bottom of the fuselage 10 and the protrusion 90, or a minimum protrusion height of the protrusion 90 that causes a large included angle between the bottom surface of the mobile platform and the working surface W and overturns, or a relatively smaller one of the above two. And when the protrusion height H2 of the protrusion 90 in the field of view of the camera 80 on the front side of the mobile platform is detected in real time to exceed the second preset value, the mobile platform is turned to avoid the protrusion 90, which can effectively reduce the risk of falling caused by impact or too large inclination angle.

[0172] It should be understood that the turning can be turning to the left or right side of the current position of the mobile platform, and the mobile platform turns at the lowest speed gear SL of the moving speed.

[0173] It can be understood that in some embodiments, referring to FIG. 29, the wall detection module includes a gyroscope or an angle sensor, and the gyroscope or the angle sensor is arranged inside the fuselage 10. In step 100, the protrusion and depression degree of the working surface W is detected by the wall detection module during the pre-running process, including the following sub-steps:

[0174] S110b, the track mechanism 20 on one side of the mobile platform passes the protrusion 90 on the working surface W, and the gyroscope or the angle sensor synchronously detects the included angle a between the bottom surface of the mobile platform and the working surface W;

[0175] S120b, according to the included angle a and the width L of the mobile platform, the protrusion height of the protrusion 90 is obtained.

[0176] It should be understood that the bottom surface of the mobile platform refers to the plane formed by the bottom surfaces of the two side track mechanisms 20. When the track mechanism 20 on one side of the mobile platform passes the protrusion 90 on the working surface W, the track mechanism 20 is lifted by the protrusion 90 from the working surface W, and the included angle a between the bottom surface of the mobile platform and the working surface W is formed, and the gyroscope or the angle sensor can detect the change of the angle posture of the mobile platform, and the included angle a between the bottom surface of the mobile platform and the working surface W is detected. And since the width L of the mobile platform is fixed, the protrusion height of the protrusion 90 can be calculated as L×sin a by the included angle a and the width L.

[0177] It should be understood that, similarly, when there are multiple protrusions 90 on the working surface W, each protrusion 90 can be detected in turn by the above steps S110b-S120b, and the maximum value among the protrusion heights of all the detected protrusions 90 is taken as the pre-checking degree of concave-convex H1.

[0178] It can be understood that, on the basis that the wall surface detection module comprises a gyroscope or an angle sensor, in some embodiments, with respect to step S300, the following sub-steps are included:

[0179] S310b, detecting the protrusion height H2 of the protrusion 90 at the current position of the mobile platform in real time by the gyroscope or the angle sensor;

[0180] S320b, according to the protrusion height H2 of the protrusion 90 detected in real time, controlling the mobile platform to continue advancing or emergency stopping on the working surface W at the corresponding speed level SL.

[0181] It should be understood that, similarly, by controlling the mobile platform to move on the working surface W at the speed level SL corresponding to the protrusion height H2 of the protrusion 90 at the current position of the mobile platform detected in real time by the control module, it can pass through the position on the working surface W with a relatively larger degree of concave-convex (smaller protrusion height of the protrusion 90) at a relatively lower speed, thereby reducing the risk of falling, and it can pass through the relatively flat position on the working surface W (smaller protrusion height of the protrusion 90) at a relatively higher speed, thereby maintaining a relatively higher efficiency; and when the height of the protrusion 90 exceeds a certain limit, the risk of overturning of the mobile platform passing through the protrusion 90 can be effectively reduced by controlling the mobile platform to emergency stop.

[0182] It should be understood that the control module can achieve emergency stopping by controlling the band brake module in the driving module 30.

[0183] It should be understood that, in some embodiments, with respect to step S320b, the following sub-steps are included:

[0184] S321b, determining whether the protrusion height H2 of the protrusion 90 detected in real time exceeds a second preset value;

[0185] S322b, if greater than the second preset value, controlling the mobile platform to emergency stop;

[0186] S323b, if less than or equal to the second preset value, controlling the mobile platform to continue advancing on the working surface W at the corresponding speed level SL.

[0187] It should be understood that when the protruding height of the protrusion 90 exceeds a certain limit and the side track mechanism 20 of the mobile platform passes through the protrusion 90, a large included angle between the bottom surface of the mobile platform and the working surface W will be generated, which will cause the mobile platform to overturn. Therefore, the second preset value in the above step can be set to the minimum protruding height of the protrusion 90 that causes the mobile platform to overturn due to a large included angle between the bottom surface of the mobile platform and the working surface W. When it is detected in real time that the protruding height of the protrusion 90 at the current position of the mobile platform exceeds the second preset value, it indicates that the side track mechanism 20 of the mobile platform is passing through the protrusion 90. At this time, the mobile platform is controlled to stop urgently, which can effectively reduce the risk of falling due to a large included angle.

[0188] It can be understood that, on the basis of the above real-time detection of the protruding height of the protrusion 90 at the current position of the mobile platform by the gyroscope or the angle sensor, or on the basis of the above real-time detection of the protruding height of the protrusion 90 within the field of view of the camera 80 by the camera 80, in some embodiments, a third conversion relationship T3 between the protruding height of the protrusion 90 and the speed level SL is preset in the control module of the mobile platform, and the above step S323a or the above step S323b specifically includes the following substep:

[0189] S3231, obtaining the speed level SL according to the real-time detected protruding height H2 of the protrusion 90 and the third conversion relationship T3;

[0190] S3232, controlling the mobile platform to continue to advance on the working surface W at the obtained speed level SL.

[0191] It should be understood that, similarly, the third conversion relationship T3 can be a conversion calculation formula between the protruding height of the protrusion 90 and the speed level SL, or a mapping relationship between the protruding height of the protrusion 90 and the speed level SL. For example, in one embodiment, the mapping relationship between the protruding height of the protrusion 90 and the speed level SL is stored in the memory of the control module in advance (as shown in Table 4 below), and in step S3231, the corresponding speed level SL is obtained according to the real-time detected protruding height of the protrusion 90 and the above mapping relationship.

[0192] Table 4

[0193] It can be understood that in some embodiments, the body 10 is provided with a drive module 30 connected with the track mechanism 20, the drive module 30 is provided with a motor 310, and the control module is provided with a fourth conversion relationship T4 between the speed level SL and the motor recommended speed range V; regarding the above step S3232, the following sub-steps are included:

[0194] According to the obtained speed level SL and the fourth conversion relationship T4, the motor recommended speed range V is obtained.

[0195] The motor 310 is controlled to operate at a speed conforming to the motor recommended speed range V to drive the track mechanism 20 to move on the working surface W.

[0196] It should be understood that the fourth conversion relationship T4 can be a conversion calculation formula between the speed level SL and the motor recommended speed range V, or a mapping relationship between the speed level SL and the motor recommended speed range V; for example, in one embodiment, the memory of the control module is pre-stored with a mapping relationship between the speed level SL and the motor recommended speed range V (as shown in Table 4 above), and the corresponding motor recommended speed range V is further obtained according to the obtained speed level SL and the above mapping relationship.

[0197] It can be understood that, on the basis of the above real-time detection of the protruding height of the protrusions 90 at the current position of the mobile platform by the gyroscope or the angle sensor, or on the basis of the above real-time detection of the protruding height of the protrusions 90 in the field of view of the camera 80 by the camera 80; in some embodiments, regarding the above step S300, the following sub-steps are further included:

[0198] S330, according to the protruding height H2 of the protrusions 90 detected in real time, the vehicle light of the mobile platform is controlled to flash according to the corresponding flashing state.

[0199] It should be understood that the control module is provided with a plurality of different flashing state control programs of the vehicle light, for example, which can be similar to the above speed level SL, different flashing state control programs can control the vehicle light to flash at different frequencies, and similarly, the protruding height H2 of the protrusions 90 detected in real time is divided into six different area ranges according to the height, and the greater the area range H2 is, the higher the flashing state control program with the corresponding frequency is used to control the vehicle light to flash.

[0200] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A mobile platform, characterized by, The utility model provides a kind of crawler mechanism, including: Machine body, the opposite sides of the machine body are provided with crawler mechanism, the crawler mechanism includes multiple links, the link includes link base and magnetic attraction module, the link base on multiple links is connected head-to-tail and forms annular crawler main body between, the magnetic attraction module is detachably connected to the link base;Wherein, The magnetic attraction module has multiple types, different types of the magnetic attraction module are used to provide different sizes of magnetic attraction force, and different types of the magnetic attraction module can be selected to be connected to the crawler main body according to the different concave-convex degree of working face, or different types of the magnetic attraction module are selected to be connected to the crawler main body.

2. The mobile platform of claim 1, wherein, The side of the link base away from the area enclosed by the crawler main body is provided with a mounting surface, and the magnetic attraction module is detachably connected to the mounting surface.

3. The mobile platform of claim 2, wherein, The link further includes a lifting piece, which is detachably connected between the magnetic attraction module and the mounting surface, and is used to increase the distance between the bottom of the machine body and the working face.

4. The mobile platform of claim 3, wherein, The lifting piece is a gasket, and different numbers of the gaskets can be selected to be connected between the magnetic attraction module and the mounting surface according to the different concave-convex degree of working face. Or, The lifting piece is a pad, and different types of the pad have different thicknesses, and different types of the pad can be selected according to the different concave-convex degree of working face.

5. The mobile platform of claim 2, wherein, The link further includes a friction pad, which is connected to the mounting surface or the magnetic attraction module, and the distance from the surface of the friction pad away from the mounting surface to the mounting surface is greater than the distance from the surface of the magnetic attraction module away from the mounting surface to the mounting surface.

6. The mobile platform of claim 5, wherein, The inside of the friction pad is covered with a metal reinforcing member, and the friction pad is detachably connected to the mounting surface or the magnetic attraction module by a fastener penetrating the metal reinforcing member.

7. The mobile platform of claim 5, wherein, The mounting surface is provided with a protrusion, and the friction pad is sleeved on the protrusion.

8. The mobile platform of claim 5, wherein, The height of the friction pad protruding from the mounting surface is adjustably mounted on the mounting surface or the magnetic attraction module.

9. The mobile platform of claim 8, wherein, The mounting surface and / or the magnetic attraction module is provided with a stud, and the friction pad is connected to the stud.

10. The mobile platform of claim 9, wherein, The magnetic attraction module includes a connecting seat, a magnetic block and a yoke, the connecting seat is detachably connected to the link base, the magnetic block is arranged on the connecting seat, the yoke is embedded in the connecting seat and protrudes from both ends of the connecting seat, one end of the stud is threadedly connected to the yoke, and the other end of the stud is threadedly connected with the friction pad.

11. The mobile platform of claim 8, wherein, The magnetic attraction module includes a connecting seat and a magnetic block, the magnetic block is arranged on the connecting seat, the connecting seat is detachably connected to the link base, the side of the connecting seat away from the mounting surface is provided with a mounting groove, the friction pad is mounted in the mounting groove, and an adjusting screw is threadedly connected to the connecting seat, one end of the adjusting screw is located in the mounting groove and abuts against the side of the friction pad close to the link base.

12. The mobile platform of claim 1, wherein, The chain link further comprises a middle shaft parallel to the width direction of the track body and arranged at the middle of the chain link base in the extension direction of the track body; the middle shaft protrudes from the chain link base in the width direction of the track body and forms an abutting portion; The track mechanism further comprises a front wheel and a rear wheel arranged at the front side and the rear side of the machine body respectively, the front wheel and the rear wheel are arranged at the inner side of the track body and used to drive the track body, and the track mechanism further comprises a limiting plate connected to the machine body and comprising a limiting portion between the bottom of the front wheel and the bottom of the rear wheel, the limiting portion is used to abut against the side of the abutting portion away from the area enclosed by the track body.

13. The mobile platform of claim 12, wherein, The magnetic attraction module is detachably connected to the chain link base through the middle shaft and is rotatably arranged relative to the middle shaft.

14. The mobile platform of claim 13, wherein, The middle shaft is arranged at the side of the chain link base close to the area enclosed by the track body, the magnetic attraction module is provided with a protruding rotating connection portion at the side close to the middle shaft and is rotatably sleeved on the middle shaft through the rotating connection portion, and the chain link base is provided with an avoiding opening allowing the rotating connection portion to pass through.

15. The mobile platform of any one of claims 1 to 11, wherein, The track mechanism further comprises a front wheel and a rear wheel arranged at the front side and the rear side of the machine body respectively, the front wheel and the rear wheel are arranged at the inner side of the track body and used to drive the track body, and the track mechanism further comprises a limiting plate connected to the machine body and comprising a limiting portion between the bottom of the front wheel and the bottom of the rear wheel; the chain link base is provided with a limiting groove at the side close to the limiting plate, and the limiting portion is inserted into the limiting groove.

16. A mobile platform according to any one of claims 1 to 14, characterized in that The machine body is provided with a wall surface detection module used to detect the work surface to detect the concave-convex degree of the work surface.

17. The mobile platform of claim 16, wherein, The machine body is internally provided with a driving module and a control module, an output shaft of the driving module is connected to the track mechanism and used to drive the track mechanism, and the control module is electrically connected with the wall surface detection module and the driving module and can control the rotating speed of the driving module according to the detection signal of the wall surface detection module.

18. A method of use, comprising: The application is applied to the mobile platform as claimed in claim 1, and the use method comprises: previously detecting the concave-convex degree of the work surface; selecting a corresponding type of the magnetic attraction module to be connected to the track body according to the previously detected concave-convex degree of the work surface, or selecting a corresponding type or a combination of corresponding types of the magnetic attraction module to be connected to the track body according to the previously detected concave-convex degree of the work surface; making the mobile platform adsorbed to the work surface through the magnetic attraction module and moving on the work surface.

19. A method of use according to claim 18, wherein, The control module of the mobile platform is previously provided with a first conversion relationship between the concave-convex degree of the work surface and the required magnetic attraction force value of the chain link, and the selecting a corresponding type of the magnetic attraction module to be connected to the track body according to the previously detected concave-convex degree of the work surface comprises: obtaining the required magnetic attraction force value of the chain link according to the previously detected concave-convex degree of the work surface and the first conversion relationship; Acquiring a type number of the magnetic attraction module satisfying the required magnetic attraction force value of the chain link; Selecting the magnetic attraction module of the acquired type number to be connected to each chain link base.

20. A method of use according to claim 18, wherein, The control module of the mobile platform is pre-set with a first conversion relationship between the concave-convex degree of the working surface and the required magnetic attraction force value of the chain link, and the magnetic attraction module of the corresponding type or the corresponding type combination is selected to be connected to the track body according to the pre-detected concave-convex degree of the working surface, which comprises: According to the pre-detected concave-convex degree of the working surface and the first conversion relationship, the required magnetic attraction force value of the chain link is acquired; Acquiring a type number of the magnetic attraction module satisfying the required magnetic attraction force value of the chain link or a type number combination of the magnetic attraction module satisfying the required magnetic attraction force value of the chain link and a combination form of the type number combination; Selecting the magnetic attraction module of the acquired type number to be connected to the track body, or selecting the magnetic attraction module of the acquired type number combination to be connected to the track body according to the acquired combination form.

21. A method of use according to claim 18, wherein, It also comprises: According to the pre-detected concave-convex degree of the working surface, the lifting pieces of the corresponding number or the corresponding thickness are selected to be arranged between the magnetic attraction module and the chain link base.

22. A method of use according to claim 21, wherein, The lifting piece is a gasket, and the lifting pieces of different numbers or different thicknesses are selected to be arranged between the magnetic attraction module and the chain link base according to the pre-detected concave-convex degree of the working surface, which comprises: Determining whether the pre-detected concave-convex degree of the working surface is not less than a first preset value; If it is not less than the first preset value, different numbers of gaskets are selected to be arranged between the magnetic attraction module and the chain link base according to the pre-detected concave-convex degree of the working surface.

23. A method of use according to claim 22, wherein, The control module of the mobile platform is pre-set with a second conversion relationship between the concave-convex degree of the working surface and the recommended number of required gaskets; The magnetic attraction module of the acquired type number to be connected to the track body, or selecting the magnetic attraction module of the acquired type number combination to be connected to the track body according to the acquired combination form. According to the pre-detected concave-convex degree of the working surface and the second conversion relationship, the recommended number of required gaskets is acquired; Selecting the gaskets of the recommended number to be arranged between the magnetic attraction module and the chain link base.

24. The method of use of claim 18, wherein, The machine body is provided with a wall surface detection module for detecting the working surface, and the pre-detection of the concave-convex degree of the working surface comprises: The mobile platform is pre-run on the working surface in the empty state, and the concave-convex degree of the working surface is detected by the wall surface detection module during the pre-running.

25. A method of use according to claim 24, wherein, The wall surface detection module comprises a camera located on the front side of the machine body, and the front side of the machine body is provided with a front headlight, and the concave-convex degree of the working surface is detected by the wall surface detection module during the pre-running, which comprises: The mobile platform moves to one side of the protrusion in the working surface, and the protrusion is located in the field of view of the camera and the illumination range of the front headlight; The front headlight is controlled to irradiate the protrusion, and the protrusion forms a shadow on the side away from the mobile platform, and the protrusion and the shadow are photographed to obtain an image with the protrusion and the shadow; processing the image to obtain the protrusion height of the protrusion.

26. A method of use according to claim 25, wherein, The moving platform is caused to be adsorbed to the working surface by the magnetic adsorption module and to move on the working surface, including: The protrusion height of the protrusion in the field of view of the camera is detected in real time by the camera; According to the protrusion height of the protrusion detected in real time, the moving platform is controlled to continue to advance or to turn to avoid on the working surface at a corresponding speed level.

27. A method of use according to claim 26 wherein, The protrusion height of the protrusion in the field of view of the camera is detected in real time by the camera; According to the protrusion height of the protrusion detected in real time, the moving platform is controlled to continue to advance or to turn to avoid on the working surface at a corresponding speed level. The protrusion height of the protrusion in the field of view of the camera is detected in real time by the camera; According to the protrusion height of the protrusion detected in real time, the moving platform is controlled to continue to advance or to turn to avoid on the working surface at a corresponding speed level.

28. A method of use according to claim 24, wherein, The protrusion height of the protrusion in the field of view of the camera is detected in real time by the camera; According to the protrusion height of the protrusion detected in real time, the moving platform is controlled to continue to advance or to turn to avoid on the working surface at a corresponding speed level. The protrusion height of the protrusion in the field of view of the camera is detected in real time by the camera; 29. A method of use according to claim 28, wherein, According to the protrusion height of the protrusion detected in real time, the moving platform is controlled to continue to advance or to turn to avoid on the working surface at a corresponding speed level. The protrusion height of the protrusion in the field of view of the camera is detected in real time by the camera; According to the protrusion height of the protrusion detected in real time, the moving platform is controlled to continue to advance or to turn to avoid on the working surface at a corresponding speed level.

30. A method of use according to claim 29, wherein, The protrusion height of the protrusion in the field of view of the camera is detected in real time by the camera; According to the protrusion height of the protrusion detected in real time, the moving platform is controlled to continue to advance or to turn to avoid on the working surface at a corresponding speed level. The protrusion height of the protrusion in the field of view of the camera is detected in real time by the camera; According to the protrusion height of the protrusion detected in real time, the moving platform is controlled to continue to advance or to turn to avoid on the working surface at a corresponding speed level.

31. A method of use according to claim 27 or 30, wherein, The protrusion height of the protrusion in the field of view of the camera is detected in real time by the camera; According to the protrusion height of the protrusion detected in real time, the moving platform is controlled to continue to advance or to turn to avoid on the working surface at a corresponding speed level. The protrusion height of the protrusion in the field of view of the camera is detected in real time by the camera; According to the protrusion height of the protrusion detected in real time, the moving platform is controlled to continue to advance or to turn to avoid on the working surface at a corresponding speed level.

32. A method of use according to claim 31, wherein, The protrusion height of the protrusion in the field of view of the camera is detected in real time by the camera; According to the protrusion height of the protrusion detected in real time, the moving platform is controlled to continue to advance or to turn to avoid on the working surface at a corresponding speed level. The protrusion height of the protrusion in the field of view of the camera is detected in real time by the camera; According to the protrusion height of the protrusion detected in real time, the moving platform is controlled to continue to advance or to turn to avoid on the working surface at a corresponding speed level. The protrusion height of the protrusion in the field of view of the camera is detected in real time by the camera; According to the protrusion height of the protrusion detected in real time, the moving platform is controlled to continue to advance or to turn to avoid on the working surface at a corresponding speed level. The protrusion height of the protrusion in the field of view of the camera is detected in real time by the camera; According to the protrusion height of the protrusion detected in real time, the moving platform is controlled to continue to advance or to turn to avoid on the working surface at a corresponding speed level. The control of the mobile platform to obtain the speed level to continue advancing on the working surface comprises: According to the obtained speed level and the fourth conversion relationship, a motor recommended speed range is obtained; The motor is controlled to operate at a speed conforming to the motor recommended speed range to drive the mobile platform to continue advancing on the working surface.

Images