Circuit system of electrostatic-adhesion legged wall-climbing robot, and related method and product

Abstract

A circuit system of an electrostatic-adhesion legged wall-climbing robot. The circuit system comprises: a signal provision module, which is used for generating a first control signal and sending same to a first power amplification module (60) for amplification, generating a second control signal and sending same to an adhesion pad de-adhesion module, and generating a boost control signal and sending same to a second power amplification module (70) for amplification; a boost module, which is used for outputting an electrostatic adhesion voltage on the basis of the amplified boost control signal, and outputting the electrostatic adhesion voltage to a first electrostatic adhesion pad or a second electrostatic adhesion pad; a travel driving module, which is used for driving, on the basis of the amplified first control signal, the first electrostatic adhesion pad or the second electrostatic adhesion pad to travel; and the adhesion pad de-adhesion module, which is used for dissipating, on the basis of the second control signal, electric charges on the first electrostatic adhesion pad or electric charges on the second electrostatic adhesion pad.

Description

Circuit system, related methods and products of electrostatic adsorption legged wall-climbing robot Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, specifically to the circuit system, related methods, and products of an electrostatic adsorption legged wall-climbing robot. Background Technology

[0002] There are many types of wall-climbing robots currently available. Based on the adsorption method, they can be divided into magnetic adsorption, negative pressure adsorption, positive pressure adsorption, electrostatic adsorption, and biomimetic adsorption, etc. Based on the movement form, they can be divided into legged, wheeled, wheel-legged, and tracked, etc.

[0003] From a locomotion perspective: wheeled robots are generally faster, but lack stability; tracked robots have more stable adhesion, but their speed is limited, and if electrostatic adhesion is used, they usually need to stop intermittently to re-energize the adhesion force; legged robots are a more ideal way to climb walls, as they can lift their feet to overcome obstacles on the wall, and each step of adhesion and desorption is independent, thus offering better controllability. From an adhesion method perspective: magnetic robots can only be used on ferromagnetic walls; negative pressure adhesion creates a negative pressure zone between the electrostatic suction cup and the wall, which requires the wall surface to be absolutely flat and uniform; positive pressure adhesion usually uses the propeller on the robot's back to generate greater pressure to press the robot against the wall, which inevitably requires greater power consumption and produces noise; biomimetic adhesion mainly includes dry adhesion similar to geckos and wet adhesion similar to snails, but the research on their working mechanisms is still immature, making it difficult to apply them to commercially available wall-climbing robots at present;

[0004] Legged wall-climbing robots based on electrostatic adsorption outperform other types of wall-climbing robots in terms of climbing speed, structural simplicity, control smoothness, power consumption, and noise level.

[0005] However, the following problems exist:

[0006] (1) In the past, legged wall-climbing robots that used electrostatic adsorption were usually limited by the slow adsorption speed of the electrostatic suction cup, which affected the climbing speed of the robot. After adsorption, there was a lot of residual charge. As the number of steps increased, the residual charge would gradually accumulate, eventually leading to a significant decrease in adsorption force.

[0007] (2) The robot’s circuit system has problems such as bulky circuits and large size.

[0008] Therefore, it is necessary to develop a circuit system, related methods, and products for an electrostatic adsorption legged wall-climbing robot. Summary of the Invention

[0009] In view of the above problems, the present invention provides a circuit system, related methods and products for an electrostatic adsorption legged wall-climbing robot.

[0010] The technical solution adopted by this invention to solve the technical problem is as follows:

[0011] In a first aspect, the present invention provides a circuit system for an electrostatic adsorption legged wall-climbing robot, characterized in that the circuit system includes a signal input module, a first power amplifier module and a driving module connected sequentially, the signal input module being connected to a suction cup detachment module, and the signal input module, a second power amplifier module and a boost module connected sequentially, both the suction cup detachment module and the boost module being able to connect to a first electrostatic suction cup and a second electrostatic suction cup; the signal input module is used to generate a first control signal and send it to the first power amplifier module for amplification, to generate a second control signal and send it to the suction cup detachment module, and to generate a boost control signal and send it to the second power amplifier module for amplification; the boost module is used to output an electrostatic adsorption voltage according to the amplified boost control signal, and selectively output it to either the first electrostatic suction cup or the second electrostatic suction cup; the driving module is used to selectively drive either the first electrostatic suction cup or the second electrostatic suction cup to move according to the amplified first control signal; the suction cup detachment module is used to selectively consume the charge on either the first electrostatic suction cup or the second electrostatic suction cup according to the second control signal.

[0012] In a preferred embodiment, the signal input circuit includes a microcontroller and a wireless transmission module. The microcontroller is communicatively connected to the wireless transmission module, which is used to communicate with the outside world. The microcontroller is connected to a first power amplifier module, a suction cup removal module, and a second power amplifier module. The microcontroller is used to adjust the frequency and / or duty cycle of the first control signal, the second control signal, and / or the boost control signal according to the information transmitted to it by the wireless transmission module.

[0013] In a preferred embodiment, the circuit system further includes a power supply module that supplies power to the signal input module, the first power amplifier module, the driving drive module, the suction cup detachment module, the second power amplifier module, and the boost module.

[0014] In a preferred embodiment, the first power amplifier module includes a first transistor, resistors R3 and R7, with the C1 terminal of the first transistor connected to the power supply module, the C2 terminal grounded, the B1 and B2 terminals both connected to the signal input module through resistor R7, and the E1 and E2 terminals both connected to the driving drive module through resistor R7.

[0015] The second power amplifier module includes a bipolar transistor, resistors R8 and R9. The signal input module is connected to pin B1 of the bipolar transistor through resistor R8. Pin B1 is connected to pin B2. Pin C1 is connected to the power supply module. Pin C2 is grounded. Pins E1 and E2 are both connected to one end of resistor R9. The other end of resistor R9 is connected to the boost module.

[0016] Furthermore, the boost circuit includes at least two first boost rectifier units and at least two second boost rectifier units, all of which are connected in series.

[0017] The first boost rectifier unit includes a first capacitor, a second capacitor, a first diode, a second diode, a third diode, and a fourth diode; the first terminal of the first capacitor is connected to the second terminal of the first capacitor of the previous first boost rectifier unit or to the second terminal of the third capacitor of the previous second boost rectifier unit; the cathode of the first diode is connected to the second terminal of the first capacitor; the anode of the first diode is connected to the cathode of the second diode; the anode of the second diode is connected to the first terminal of the second capacitor; the first terminal of the second capacitor is connected to the second terminal of the second capacitor of the previous first boost rectifier unit or to the second terminal of the fourth capacitor of the previous boost rectifier unit; the second terminal of the second capacitor is connected to the cathode of the third diode; the anode of the third diode is connected to the cathode of the fourth diode; and the anode of the fourth diode is connected to the second terminal of the first capacitor.

[0018] The second boost rectifier unit includes a third capacitor, a fourth capacitor, a fifth transistor, and a sixth transistor; the first terminal of the third capacitor is connected to the second terminal of the third capacitor of the previous second boost rectifier unit or to the second terminal of the first capacitor of the previous first boost rectifier unit, and the second terminal of the third capacitor is connected to the negative terminal of the fifth transistor and the positive terminal of the sixth transistor; the first terminal of the fourth capacitor is connected to the second terminal of the fourth capacitor of the previous boost rectifier unit or to the second terminal of the second capacitor of the previous first boost rectifier unit, and the second terminal of the fourth capacitor is connected to the negative terminal of the sixth transistor and the positive terminal of the fifth transistor of the next boost rectifier unit.

[0019] In a preferred embodiment, the suction cup detachment module includes a first suction cup detachment module for detaching a first electrostatic suction cup and a second suction cup detachment module for detaching a second electrostatic suction cup; when the second suction cup detachment module is connected to the signal input module, the first electrostatic suction cup is connected to the boost module; when the first suction cup detachment module is connected to the signal input module, the second electrostatic suction cup is connected to the boost module.

[0020] Furthermore, the first electrostatic chuck serves as the middle electrostatic chuck, and the second electrostatic chuck serves as the electrostatic chuck located on both sides of the first electrostatic chuck, namely the left electrostatic chuck and the right electrostatic chuck.

[0021] Furthermore, the driving module includes a motor connected to the first power amplifier module;

[0022] The central electrostatic chuck is equipped with a central axis 1, a central axis 2, and a central axis 3;

[0023] The left electrostatic chuck is equipped with a left first axis, a left second axis, and a left third axis;

[0024] The right electrostatic chuck is equipped with a right first axis, a right second axis, and a right third axis;

[0025] Among them, the middle shaft is fixedly connected to the left and right shafts through the connecting arm to form an active shaft system, and the middle shaft is driven by a motor;

[0026] The middle two axes are fixedly connected to the left two axes and the right two axes via connecting arms to form the first driven axis system;

[0027] The central three-axis is fixedly connected to the left and right three-axis via connecting arms to form a second driven axis system.

[0028] The drive shaft system can selectively drive either the central electrostatic chuck or the two side electrostatic chucks to move.

[0029] Furthermore, the drive shaft system, the first driven shaft system, and the second driven shaft system include conductive materials and are used to form part of the circuit system.

[0030] Furthermore, the motor is mounted on the central electrostatic chuck and drives the central shaft through a worm gear assembly.

[0031] Furthermore, the suction cup de-adsorption module includes a servo motor connected to the signal input module. The servo motor drives the central electrostatic chuck selection switch and the two side electrostatic chuck selection switches, and can selectively connect the central electrostatic chuck de-adsorption unit and the two side electrostatic chuck de-adsorption units to the circuit. Specifically:

[0032] When the servo motor is in the first position, the middle electrostatic chuck selector switch selects to connect the middle electrostatic chuck circuit and the middle electrostatic chuck is attracted to the wall. At the same time, the two electrostatic chuck selector switches connect the two electrostatic chuck de-adsorption units to the circuit and the two electrostatic chucks are decoupled from the wall.

[0033] When the servo motor is in the second position, the middle electrostatic chuck selector switch selects to connect the middle electrostatic chuck de-adsorption unit to the circuit, and the middle electrostatic chuck detaches from the wall. The two side electrostatic chuck selector switches select to connect the two side electrostatic chuck circuits and adsorb to the wall.

[0034] Furthermore, the suction cup detachment module includes parallel electrode plates, which include a first electrode plate and a second electrode plate arranged in parallel. It also includes a conductive cantilever beam, with one end fixed and the other end free. The free end is at least partially positioned between the first and second electrode plates and can be excited by the first and second electrode plates to generate vibration. The fixed end of the conductive cantilever beam is outside the parallel electrode plates, and the free end can vibrate between the first and second electrode plates, contacting both electrode plates at its maximum amplitude. The suction cup detachment module is connected to the circuit system through the conductive cantilever beam.

[0035] The suction cup desorption module of the middle electrostatic chuck and the suction cup desorption modules of the two electrostatic chucks both adopt this desorption unit structure.

[0036] In a second aspect, the present invention provides an electrostatic adsorption legged wall-climbing robot, including the circuit system of the electrostatic adsorption legged wall-climbing robot described in the first aspect.

[0037] Thirdly, the present invention provides a wall-climbing method for an electrostatic adsorption legged wall-climbing robot, wherein the wall-climbing robot is the wall-climbing robot described in the second aspect, and the wall-climbing method includes:

[0038] The signal input module sends a boost control signal, the second power amplifier module obtains and amplifies the boost control signal, and the boost module outputs an electrostatic adsorption voltage to the second electrostatic chuck according to the amplified boost control signal, so that the second electrostatic chuck is adsorbed on the wall.

[0039] The signal input module sends a second control signal, which the suction cup detachment module receives and connects to the first electrostatic chuck according to the second control signal to cause the first electrostatic chuck to detach.

[0040] The signal input module sends out a first control signal, the first power amplifier module obtains and amplifies the first control signal, and the driving module drives the first electrostatic chuck to move according to the amplified first control signal.

[0041] The signal input module sends a boost control signal, the second power amplifier module amplifies the boost control signal, and the boost module outputs an electrostatic adsorption voltage to the first electrostatic chuck according to the amplified boost control signal, so that the first electrostatic chuck is adsorbed on the wall.

[0042] The signal input module sends a second control signal, and the suction cup detachment module connects to the second electrostatic suction cup according to the second control signal to cause the second electrostatic suction cup to detach.

[0043] The signal input module sends out a first control signal, the first power amplifier module obtains and amplifies the first control signal, and the driving module drives the second electrostatic chuck to move according to the amplified first control signal.

[0044] Fourthly, the present invention provides a method for implementing the circuit system of an electrostatic adsorption legged wall-climbing robot, wherein the circuit system of the electrostatic adsorption legged wall-climbing robot is the circuit system of the electrostatic adsorption legged wall-climbing robot as described in the first aspect, and the method includes:

[0045] The signal input module sends a second control signal to detach the first electrostatic chuck.

[0046] The signal-giving module sends a first control signal to enable the driving module to drive the first electrostatic chuck to move.

[0047] The signal input module sends a boost control signal to enable the first electrostatic chuck to obtain the voltage output by the boost module to achieve electrostatic adsorption.

[0048] The signal-given module sends a second control signal to detach the second electrostatic chuck.

[0049] The signal-giving module sends a first control signal to enable the driving module to drive the second electrostatic chuck to move.

[0050] The signal-given module sends a boost control signal to enable the second electrostatic chuck to obtain the voltage output by the boost module, thus achieving electrostatic adsorption.

[0051] Fifthly, the present invention provides a computer program product, including a computer program or instructions, wherein when the computer program or instructions are executed by a processor, the method for implementing the circuit system of the electrostatic adsorption legged wall-climbing robot described in the fourth aspect is implemented.

[0052] The circuit system, related methods, and products of the electrostatic adsorption legged wall-climbing robot of the present invention use a signal input module as the control center. The suction cup detachment module can selectively consume the charge on the first or second electrostatic suction cup, and the boost module can selectively output to the first or second electrostatic suction cup. This makes the circuit system small in size, solving the problem of bloated circuits. Moreover, by consuming the charge on the first or second electrostatic suction cup through the suction cup detachment module, the de-adsorption process quickly consumes the charge. Compared with the prior art, the present invention speeds up the de-adsorption process, thereby increasing the wall-climbing speed of the robot. It also significantly reduces residual charge, solving the problem of severe attenuation of adsorption force during repeated adsorption. Attached Figure Description

[0053] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 is a schematic diagram of the circuit system of the electrostatic adsorption legged wall-climbing robot of the present invention.

[0055] Figure 2 is a circuit diagram of the linear regulator of the circuit system of the present invention.

[0056] Figure 3 is a microcontroller circuit diagram of the circuit system of the present invention.

[0057] Figure 4 is a circuit diagram of the Bluetooth module of the circuit system of the present invention.

[0058] Figure 5 is a diagram showing the connection relationship of the 1*4P single-row straight-line female connector in the circuit system of the present invention.

[0059] Figure 6 is a circuit diagram of the first power amplifier module of the circuit system of the present invention.

[0060] Figure 7 is a schematic diagram of the servo interface of the circuit system of the present invention.

[0061] Figure 8 is a circuit diagram of the second power amplifier module of the circuit system of the present invention.

[0062] Figure 9 is a partial structural diagram of the transformer circuit of the circuit system of the present invention.

[0063] Figure 10 is a schematic diagram of the boost circuit of the circuit system of the present invention.

[0064] Figure 11 is a three-dimensional view of the electrostatic adsorption wall-climbing robot of the present invention.

[0065] Figure 12 is a circuit diagram of an embodiment of the electrostatic adsorption wall-climbing robot of the present invention.

[0066] Figure 13 is a schematic diagram of the circuit connection of the suction cup detachment module of the present invention.

[0067] Figure 14 is a schematic diagram of the wall-climbing robot of the present invention located on the wall.

[0068] Figure 15 is a diagram illustrating the motion state of the electrostatic adsorption wall-climbing robot of the present invention, in which the electrostatic suction cups on both sides adsorb the robot while the electrostatic suction cup in the middle moves the robot.

[0069] Figure 16 is a diagram illustrating the motion state of the electrostatic adsorption wall-climbing robot of the present invention, where the central electrostatic suction cup adsorbs the robot while the two side electrostatic suction cups move along it.

[0070] Figure 17 is a flowchart of the implementation method of the circuit system of the electrostatic adsorption legged wall-climbing robot of the present invention.

[0071] Figure reference numerals: 10: Middle electrostatic chuck; 11: Left electrostatic chuck; 12: Right electrostatic chuck; 14: Positive terminal of the middle electrostatic chuck; 15: Negative terminal of the left electrostatic chuck; 16: Positive terminal of the left electrostatic chuck; 17: Negative terminal of the right electrostatic chuck; 18: Positive terminal of the right electrostatic chuck; 19: Negative terminal of the middle electrostatic chuck; 20: Motor; 21: Worm gear assembly; 30: Middle shaft 1; 31: Middle shaft 2; 32: Middle shaft 3; 33: Right shaft 3; 34: Right shaft 1; 35: Right shaft 2; 36: Left shaft 3 37: Left Axis 1; 38: Left Axis 2; 39: Connecting Arm; 41: First Electrode Plate; 42: Second Electrode Plate; 43: Middle Electrostatic Chuck Desorption Unit Access Point; 44: Servo Motor; 45: Middle Electrostatic Chuck Selection Switch; 46: Middle Electrostatic Chuck Access Point; 47: Both Side Electrostatic Chuck Access Points; 48: Both Side Electrostatic Chuck Desorption Unit Access Points; 49: Both Side Electrostatic Chuck Selection Switches; 51: Microcontroller; 52: Bluetooth Module; 60: First Power Amplifier Module; 70: Second Power Amplifier Module; 81: Boost Circuit. Detailed Implementation

[0072] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0073] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0074] It should be noted that the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0075] The circuit system of the electrostatic adsorption legged wall-climbing robot is shown in Figure 1. The circuit system includes a signal input module, a first power amplifier module 60, a driving module, a suction cup detachment module, a second power amplifier module 70, a boost module, a first electrostatic suction cup, and a second electrostatic suction cup.

[0076] The signal input module, the first power amplifier module 60, and the driving module are connected in sequence. The signal input module is connected to the suction cup detachment module. The signal input module, the second power amplifier module 70, and the boost module are connected in sequence. Both the suction cup detachment module and the boost module can be connected to the first electrostatic suction cup and the second electrostatic suction cup.

[0077] The signal input module is used to generate a first control signal and send it to the first power amplifier module 60 for amplification, to generate a second control signal and send it to the suction cup removal module, and to generate a boost control signal and send it to the second power amplifier module 70 for amplification; the first power amplifier module 60 is used to amplify the first control signal. The second power amplifier module 70 is used to amplify the boost control signal.

[0078] The boost module is used to output an electrostatic adsorption voltage according to the amplified boost control signal, and selectively output the electrostatic adsorption voltage to the first electrostatic chuck or the second electrostatic chuck. The driving module is used to selectively drive the first electrostatic chuck or the second electrostatic chuck to move according to the amplified first control signal. The chuck detachment module is used to selectively consume the charge on the first electrostatic chuck or the second electrostatic chuck according to the second control signal.

[0079] The signal input module can control the operation of the driving module, switch the electrostatic adsorption operation of the first electrostatic chuck and the second electrostatic chuck, and switch the charge consumption operation of the first electrostatic chuck and the second electrostatic chuck.

[0080] The electrostatic adsorption legged wall-climbing robot climbs walls by alternating adsorption and walking using the first and second electrostatic suction cups. When the first electrostatic suction cup is adsorbed, the second electrostatic suction cup walks; when the second electrostatic suction cup is adsorbed, the first electrostatic suction cup walks.

[0081] In this embodiment, the first control signal, the second control signal, and the boost control signal are all PWM signals with adjustable duty cycles.

[0082] In this embodiment, the circuit system further includes a power supply module, which supplies power to the signal input module, boost module, driving drive module, suction cup release module, first power amplifier module 60, and second power amplifier module 70. Here, the power supply module includes a power source and a linear regulator connected to the power source. Referring to Figure 2, the linear regulator (U3 in the figure) stabilizes the output voltage of the power supply module, which outputs 3.3V. The linear regulator can be a TPS76333DBVR. The enable (EN) and input (IN) pins of the linear regulator are connected to the supply voltage VCC (power supply), the ground (GND) pin is grounded, and the output (OUT) pin outputs 3.3V, connected to one end of capacitor C26. The other end of capacitor C26 is grounded. The connection to the power source mentioned below can be understood as connecting to the output terminal of the linear regulator.

[0083] The signal input circuit includes a microcontroller 51 and a wireless transmission module, which communicate with each other. The wireless transmission module is used for communication with the outside world, serving as a signal exchange hub between the outside world and the microcontroller 51. The microcontroller 51 is connected to the first power amplifier module 60, the suction cup release module, and the second power amplifier module 70.

[0084] Here, the wireless transmission module includes a Bluetooth module 52. The microcontroller 51 communicates with the Bluetooth module 52 via a serial port. The external terminal is the host terminal. The Bluetooth module 52 receives signals from the host terminal and transmits the received signals to the microcontroller 51. The microcontroller 51 analyzes the signals and adjusts the frequency and / or duty cycle of the first control signal, the second control signal, and / or the boost control signal based on the analysis results. That is, the microcontroller 51 can adjust the frequency and / or duty cycle of a single control signal based on the information from the signal sent by the host terminal, or it can adjust two or three signals simultaneously. The Bluetooth module 52 can also be used to send the microcontroller 51's own status information to the host terminal.

[0085] Specifically, the microcontroller 51 uses an STC15W4K32S4, 22.1884MHz, as shown in Figure 3. Microcontroller 51 is U3 in the figure, with its Vcc port connected to the power supply and grounded through capacitor C25. Referring to Figure 4, the Bluetooth module 52 uses a Bluetooth module of model DX-BT24-T, i.e., U4 in Figure 4.

[0086] Here, the Bluetooth module 52 receives instructions from the host and transmits them to the microcontroller 51. The microcontroller 51 then executes actions such as activating / deactivating the output signal and changing the frequency and duty cycle of the drive signal according to the received instructions. Subsequently, the microcontroller 51 sends its own status information, such as whether the output is activated or deactivated, and the currently set frequency and duty cycle, to the Bluetooth module 52. The Bluetooth module 52 then sends this information back to the host, enabling visualization. In this embodiment, the host is a mature existing technology, and a mobile phone or computer can be used directly.

[0087] Referring to Figures 5 and 3, the microcontroller 51 includes a program programming port for programming. The program programming port of the microcontroller 51 is connected to a 1*4P single-row straight female connector H1.

[0088] Referring to Figure 6, the first power amplifier module 60 includes a first transistor Q8, resistors R3 and R7. Resistors R3 and R7 limit current to protect the circuit. The first transistor Q8 is model ZXTD4591E6TA. Terminal C1 of the first transistor Q8 is connected to the power supply, terminal C2 is grounded, and terminals B1 and B2 are both connected to the microcontroller 51 through resistor R7. The first control signal is the Motor Signal, and terminals E1 and E2 are both connected to the motor through resistor R7. Therefore, the driving module includes a motor.

[0089] Referring to Figure 7, the suction cup release module includes a servo drive device, specifically a servo motor 44, which in this case is model AFC10-S03PCC-00 (CN1). Correspondingly, the second control signal of the microcontroller 51 is Servo_Signal (servo drive device control signal). The microcontroller 51 is connected to the third pin of the servo motor 44. The first pin of the servo motor 44 is grounded, the second pin is connected to the power supply, and the fourth and fifth pins are connected to the suction cup release module. Specifically, the fourth pin is used to connect to the first suction cup release module described below, and the fifth pin is used to connect to the second suction cup release module described below.

[0090] Referring to Figure 8, the second power amplifier module 70 includes: a bipolar transistor Q6 (model IMZ4T108 can be used), resistors R8 and R9. Resistors R8 and R9 serve to limit current and protect the circuit. The microcontroller 51 is connected to pin 2 (B1) of the bipolar transistor Q6 through resistor R8. Pin 2 is connected to pin 5 (B2). Pin 1 (C1) is connected to the power supply. Pin 4 (C2) is grounded. Pins 6 (E1) and 3 (E2) are both connected to one end of resistor R9. The other end of resistor R9 (output gate-source voltage) is connected to the boost module.

[0091] The boost module includes a transformer circuit connected to the power supply (linear regulator) and the second power amplifier module 70, and a boost circuit 81 connected to the transformer circuit. The transformer circuit is used to boost and transform the voltage according to the amplified boost control signal, and the boost circuit 81 is used to further boost the voltage after the transformer circuit has boosted and transformed to obtain the electrostatic adsorption voltage.

[0092] Referring to Figure 9, the transformer circuit includes a field-effect transistor (FET) Q7 and a transformer. The other end of resistor R9 (output gate-source voltage) is connected to the gate of FET Q7 (model IRLML0100TRPBF can be used), and the source of FET Q7 is grounded. The transformer is a step-up transformer. One end of the transformer (input side) is connected to the power supply, and the other end is connected to the drain of FET Q7 (PRI signal, pulse repetition interval signal). Both ends of the other side of the transformer (output side) are connected to the boost module.

[0093] By using bipolar transistors and field-effect transistors (FETs), the FETs are switched on and off, causing an AC voltage to be generated on one side of the transformer. After transformation, a larger AC voltage is generated on the other side of the transformer, which is the larger AC voltage obtained by the boost module. In other words, the amplified boost control signal causes the FETs to switch on and off, resulting in the voltage output from the transformer circuit to the boost circuit 81.

[0094] The boost circuit 81 includes a plurality of boost rectifier units. Here, the boost circuit 81 includes at least two first boost rectifier units and at least two second boost rectifier units. All boost rectifier units are connected in series. Referring to Figure 10, as one embodiment, all the first boost rectifier units are connected in series sequentially, all the second boost rectifier units are connected in series sequentially, and the last first boost rectifier unit is connected in series with the first second boost rectifier unit.

[0095] The first boost rectifier unit includes a first capacitor, a second capacitor, a first diode, a second diode, a third diode, and a fourth diode. The first terminal of the first capacitor is connected to the second terminal of the first capacitor in the preceding first boost rectifier unit. The cathode of the first diode is connected to the second terminal of the first capacitor. The anode of the first diode is connected to the cathode of the second diode. The anode of the second diode is connected to the first terminal of the second capacitor. The first terminal of the second capacitor is also connected to the second terminal of the second capacitor in the preceding first boost rectifier unit. The second terminal of the second capacitor is connected to the cathode of the third diode. The anode of the third diode is connected to the cathode of the fourth diode. The anode of the fourth diode is connected to the second terminal of the first capacitor.

[0096] The second boost rectifier unit includes a third capacitor, a fourth capacitor, a fifth transistor, and a sixth transistor; the first terminal of the third capacitor is connected to the second terminal of the third capacitor of the previous boost rectifier unit, and the second terminal of the third capacitor is connected to the negative terminal of the fifth transistor and the positive terminal of the sixth transistor; the first terminal of the fourth capacitor is connected to the second terminal of the fourth capacitor of the previous boost rectifier unit, and the second terminal of the fourth capacitor is connected to the negative terminal of the sixth transistor and the positive terminal of the fifth transistor of the next boost rectifier unit.

[0097] In Figure 10, the two interfaces on the left side of the boost circuit 81 are connected to the two ends of the transformer output side. The lower interface on the right side and the lower interface on the left side of the boost circuit 81 are used to connect to the first electrostatic chuck or the second electrostatic chuck, so as to enable the boost module to selectively output to the first electrostatic chuck or the second electrostatic chuck.

[0098] Understandably, in all the boost rectifier units connected in series, the first terminal of the first capacitor of the first boost rectifier unit is connected to the second power amplifier module 70, and the first terminal of the second capacitor is also connected to the second power amplifier module 70. In the second boost rectifier units connected in series, the first terminal of the third capacitor of the first boost rectifier unit is connected to the second terminal of the first capacitor of the preceding first boost rectifier unit, and the first terminal of the fourth capacitor is connected to the second terminal of the second capacitor of the preceding second boost rectifier unit.

[0099] After being boosted by the voltage booster module, the output is connected to the first electrostatic chuck and / or the second electrostatic chuck. Typically, the output is to either the first or second electrostatic chuck. When the wall-climbing robot is stationary on the wall performing other operations (such as taking pictures), the first and second electrostatic chucks can simultaneously receive high voltage. Specifically, the first and second electrostatic chucks can be connected in parallel to receive the same high voltage, or two voltage booster modules can be provided, with one corresponding voltage booster module for each of the first and second electrostatic chucks.

[0100] In this embodiment, the driving module includes a motor, and the first power amplifier module 60 is connected to the motor. The driving module is a shared drive module for the first electrostatic chuck and the second electrostatic chuck, meaning they share a single motor. When the first electrostatic chuck is attracted, activating the driving module allows it to drive only the second electrostatic chuck to move; similarly, when the second electrostatic chuck is attracted, activating the driving module allows it to drive only the first electrostatic chuck to move.

[0101] In other embodiments, the driving module includes a first driving module and a second driving module. The first driving module drives the first electrostatic chuck to move, and the second driving module drives the second electrostatic chuck to move; that is, the first and second electrostatic chucks do not share a common motor. The signal input module can control the operation of either the first or second driving module, thereby controlling the alternating movement of the first and second electrostatic chucks.

[0102] The suction cup detachment module includes a first suction cup detachment module for detaching a first electrostatic suction cup and a second suction cup detachment module for detaching a second electrostatic suction cup.

[0103] In this embodiment, the boost module selectively outputs either the first electrostatic chuck or the second electrostatic chuck. Furthermore, the servo 44 of the chuck release module selects one module based on the second control signal, and through circuit design, this selection is simultaneously achieved. When the first electrostatic chuck is connected to the boost module, the second chuck release module is connected to the signal input module, and the driving module drives the second chuck to move; when the second electrostatic chuck is connected to the boost module, the first chuck release module is connected to the signal input module, and the driving module drives the first chuck to move.

[0104] When the suction cup detachment module connects to the signal given module according to the second control signal, the suction cup detachment module connects the first electrostatic chuck to the boost module (the second electrostatic chuck is not connected to the boost module), and the suction cup detachment module causes the boost module to output an electrostatic adsorption voltage to the first electrostatic chuck; when the suction cup detachment module connects to the signal given module according to the second control signal, the suction cup detachment module boost module outputs an electrostatic adsorption voltage to the second electrostatic chuck, that is, when the suction cup detachment module completes the selection, the boost module simultaneously receives the boost control signal.

[0105] In this embodiment, the suction cup detachment module is used to dissipate the charge on the electrostatic chuck electrically connected to it. The suction cup detachment module includes a servo drive device, a first electrostatic chuck selection switch, a second electrostatic chuck selection switch, a first suction cup detachment module for detaching the first electrostatic chuck when connected to the circuit, and a second suction cup detachment module for detaching the second electrostatic chuck when connected to the circuit. The servo drive device is a servo motor 44, specifically model AFC10-S03PCC-00. The servo motor 44 drives the first and second electrostatic chuck selection switches, enabling selective connection of either the first or second suction cup detachment module to the circuit. Specifically, the signal input module is connected to the servo motor 44 of the suction cup detachment module. The servo motor 44 rotates to a specified angle position according to a second control signal, thereby connecting either the first or second suction cup detachment module to the circuit.

[0106] As an example, not a limitation, the first electrostatic chuck located in the middle is called the middle electrostatic chuck. The second electrostatic chuck includes at least two chucks, taking two as an example, located on both sides of the first electrostatic chuck (left electrostatic chuck 11 and right electrostatic chuck 12, collectively referred to as the side electrostatic chucks). The robot structure will be described in detail below using this example, but it does not mean that this is the only implementation. For example, it can be arranged with four chucks according to the walking method of a quadruped, with the left front and right rear chucks together serving as the first electrostatic chuck, and the left rear and right front chucks together serving as the second electrostatic chuck. This will not be exhaustive. In the embodiments below, the first electrostatic chuck and the second electrostatic chuck share a motor. Each electrostatic chuck is controlled by two signal lines, one of which is always grounded, and the other serves as the control line.

[0107] The driving module includes a motor 20, and further includes a worm gear assembly, which connects the motor 20 and the intermediate electrostatic chuck 10. The driving module includes a drive shaft system, a first driven shaft system, and a second driven shaft system.

[0108] Referring to Figure 11, the middle electrostatic chuck 10 is provided with a central axis 30, a central axis 31, and a central axis 32; the left electrostatic chuck 11 is provided with a left axis 37, a left axis 38, and a left axis 36; the right electrostatic chuck 12 is provided with a right axis 34, a right axis 35, and a right axis 33. Among them, the central axis 30 is fixedly connected to the left axis 37 and the right axis 34 through the connecting arm 39 to form an active axis system, and the central axis 30 is driven by the motor 20; the central axis 31 is fixedly connected to the left axis 38 and the right axis 35 through the connecting arm 39 to form a first driven axis system; the central axis 32 is fixedly connected to the left axis 36 and the right axis 33 through the connecting arm 39 to form a second driven axis system. The active axis system can selectively drive the middle electrostatic chuck 10 or the two side electrostatic chucks to move.

[0109] The main structure of the wall-climbing robot of the present invention is shown in Figure 11. The driving force of the wall-climbing robot is provided by the motor 20, which is further amplified by the worm gear transmission mechanism to drive the robot's leg movement. The motor 20 is mounted on the middle electrostatic chuck 10 and drives the central shaft 30 through the worm gear assembly 21.

[0110] The active axis system, the first driven axis system, and the second driven axis system all include conductive materials to form part of the circuit. The wall-climbing robot body has three sets of conductive axes connecting the middle foot and the two side feet, which are both connecting components for robot movement and conductive lines between the robot's three electrostatic chucks. The electrostatic adsorption wall-climbing robot of this invention uses both low-voltage (3 to 5 volts) motors and servo motors 44 and high-voltage (above kilovolts) electrostatic chucks; therefore, simple and interference-free wiring becomes an important design goal. Considering the high-voltage and low-current characteristics of the electrostatic chucks (voltage above kilovolts, current in the microampere range), three sets of conductive axes can be used as part of the circuit. The three axes respectively conduct one ground signal and two high-voltage electrical signals, with the electrostatic adsorption voltage being the high-voltage electrical signal (HV). Specifically, for the wired version of the robot, as shown in Figure 1, conductive shaft 1 can be used to connect to the high-voltage end of the central electrostatic chuck, and then a wire can be led out from one side of the robot body to the boost module; conductive shaft 2 can be used to connect to the low-voltage ends of the three electrostatic chucks simultaneously, and a wire can be led out from the middle of the robot body to ground. This signal line is at the same low voltage as the motor signal line in the vicinity, so it will not cause interference; conductive shaft 3 can be used to connect to the high-voltage ends of the electrostatic chucks on both sides simultaneously, and then a wire can be led out from the other side of the robot body to the boost module. For the unwired version of the robot, a control platform can be placed on the central leg, on which the signal input module, the first power amplifier module 60, the second power amplifier module 70, the boost module, and the power supply module can be placed, as shown in Figure 12. The three electrical signals on the three conductive shafts can be connected to the corresponding positions therein. In this way, all the necessary components can be integrated into the same wall-climbing robot.

[0111] The servo motor 44 mainly consists of the following core components: DC motor: Serves as the power source, providing the necessary rotational torque. Reduction gear set: Reduces the motor speed and amplifies the torque to achieve the required driving force. Position sensor: Such as a potentiometer or magnetic encoder, used to detect the actual angular position of the output shaft. Control drive circuit: The core component, receiving external control signals and sensor feedback signals, driving the motor rotation, and ensuring accurate and stable operation through closed-loop control. Interface cable: Connects the servo motor 44 to the external control system, including power, ground, and control signal lines. Servo disc / rocker arm: Connected to the output shaft, converting rotational motion into linear motion or angular change.

[0112] The servo motor 44 operates based on its feedback control system. When the input signal changes, the internal control circuitry of the servo motor 44 adjusts the output shaft according to the feedback signal, causing it to rotate to a specified angular position. The control signal received by the servo motor 44 is typically a pulse width modulation (PWM) signal, where the pulse width represents the desired angular position. For example, a 1.5 millisecond pulse typically causes the servo motor 44 to rotate to the middle position (90° for a 180° servo motor 44). When the pulse is less than 1.5 ms, the output shaft rotates counterclockwise; when it is greater than 1.5 ms, it rotates clockwise.

[0113] Referring to Figure 13, in this embodiment, the servo motor 44 is used to drive the middle electrostatic chuck selection switch 45 and the two side electrostatic chuck selection switches 49, and can selectively connect the suction cup detachment module of the middle electrostatic chuck and the suction cup detachment module of the two side electrostatic chucks to the circuit. During the movement of the wall-climbing robot, the coordination between the driving motor and the control servo motor 44 is very important. A microcontroller 51 can be used to modulate the control signals of the motor and the servo motor 44. Among them, the control signal of the motor (first control signal) is a square wave with a certain duty cycle, and its period is the movement cycle of the wall-climbing robot. The high level time in one cycle is the time required for the middle foot or the two side feet to move 180 degrees. The control signal of the servo motor 44 (second control signal) is a square wave with a higher frequency and a certain duty cycle. Its frequency and duty cycle are related to the model of the servo motor 44. Whenever the control signal of the motor changes from high level to low level, the control signal of the servo motor 44 changes from one level to another level. Additionally, Figure 13 illustrates the wiring relationships of the middle electrostatic chuck positive terminal 14, the left electrostatic chuck negative terminal 15, the left electrostatic chuck positive terminal 16, the right electrostatic chuck negative terminal 17, the right electrostatic chuck positive terminal 18, the middle electrostatic chuck negative terminal 19, the middle electrostatic chuck selector switch 45, the middle electrostatic chuck connection point 46, the two side electrostatic chuck connection points 47, the two side electrostatic chuck desorption unit connection points 48, and the two side electrostatic chuck selector switches 49.

[0114] When the servo motor 44 is in the first position, the middle electrostatic chuck selector switch 45 selects to connect the circuit of the middle electrostatic chuck 10 and the middle electrostatic chuck 10 is attracted to the wall. At the same time, the two electrostatic chuck selector switches 49 connect the suction cup detachment module of the two electrostatic chucks to the circuit, and the two electrostatic chucks detach from the wall.

[0115] When the servo motor 44 is in the second position, the middle electrostatic chuck selector switch 45 selects to connect the suction cup detachment module of the middle electrostatic chuck 10 to the circuit, the middle electrostatic chuck 10 detaches from the wall, and the two electrostatic chuck selector switches 49 select to connect the circuits of the two electrostatic chucks and attach them to the wall.

[0116] The key to the stable movement of the wall-climbing robot lies in the rapid and precise control of the electrostatic chuck's adsorption force. A servo motor 44, controlled by a microcontroller 51, acts as the adsorption control switch. Flexible rocker arms are connected to its two sides, and the ends of the rocker arms are connected to the control lines of the central electrostatic chuck 10 and the two side electrostatic chucks, respectively (each electrostatic chuck is controlled by two signal lines, one of which is always grounded, and the other is the control line here). During the operation of the servo motor 44, when the end of one rocker arm contacts the lower terminal, the electrostatic chuck controlled by that rocker arm is connected to a high voltage, and the electrostatic chuck begins to generate adsorption force. At the same time, the end of the other rocker arm contacts the upper terminal, and the electrostatic chuck controlled by that rocker arm is connected to the cantilever resonant device. The charge in the electrostatic chuck is rapidly dissipated, and the adsorption force decreases rapidly (the rapid desorption principle used here can be found in the patent "A Rapid Response Electrostatic Adsorption Device and Electrostatic Adsorption Method, Patent No.: ZL 202111135729.6").

[0117] Referring to Figure 13, the suction cup detachment module includes parallel plates, which include a first plate 41 and a second plate 42 arranged in parallel. It also includes a conductive cantilever beam, one end of which is a fixed end and the other end is a free end. The free end is at least partially located between the first plate 41 and the second plate 42, and the free end can be excited by the first plate 41 and the second plate 42 to generate vibration. The fixed end of the conductive cantilever beam is outside the parallel plates, and the free end can vibrate between the first plate 41 and the second plate 42 and can contact the two plates at the maximum amplitude. The suction cup detachment module is connected to the circuit through the conductive cantilever beam.

[0118] It is understandable that the suction cup detachment module (first suction cup detachment module) of the middle electrostatic chuck 10 and the suction cup detachment modules (first suction cup detachment modules) of the two electrostatic chucks both adopt this suction cup detachment module structure.

[0119] This embodiment implements a structural design for an off-the-knot robot:

[0120] Compared to wired robots, the off-wire robot arranges the power supply, Bluetooth module 52, microcontroller 51, boost module, servo motor 44 and suction cup detachment module on an insulating board (in this example, a wooden board), and connects and fixes this board to the support frame on the robot's middle leg to form a structural whole.

[0121] Power supply path in the offline mode of the electrostatic adsorption legged wall-climbing robot:

[0122] ①Low-voltage path: The 3.7V lithium battery powers the microcontroller 51. The negative terminal of the battery (GND in the figure) is also the zero potential reference point for the motor, servo motor 44, boost module and electrostatic chuck. The 3.7V signal from the positive terminal of the battery is processed by the microcontroller 51 and then sent to the motor, servo motor 44 and boost module.

[0123] ② High voltage path: The 3.7V signal is converted into a high voltage signal of about 4kV (i.e., electrostatic adsorption voltage, also known as +HV in the figure) after passing through the boost module. This signal is connected to the two terminals below the flexible rocker arm of the servo motor 44, which serve as the high voltage power supply terminals (i.e., +HV1 and +HV2) for the middle electrostatic chuck 10 and the two side electrostatic chucks, respectively.

[0124] ③ Signals and Drives: The microcontroller 51 receives input commands from the Bluetooth module 52 and generates three different PWM signals: The first signal is the first control signal (motor control signal), which is connected to the motor (the motor is a two-wire motor, with the other wire grounded) after passing through the first power amplifier module 60; the second signal is the second control signal (servo control signal), which is connected to a JST socket along with the GND wire and the 3.7V low-voltage wire, and then connected to the JST plug of the servo 44; the third signal is the boost control signal (boost module control signal), which is connected to the boost module along with a ground wire after passing through the second power amplifier module 70, and finally outputs a high-voltage signal at the kilovolt level (electrostatic adsorption voltage).

[0125] The wall-climbing method of the electrostatic adsorption legged wall-climbing robot in this embodiment, i.e., the working process, includes the following steps:

[0126] The host sends a signal to the Bluetooth module 52, and the Bluetooth module 52 forwards it to the microcontroller 51.

[0127] The microcontroller 51 generates a boost control signal based on the signal from the host, the second power amplifier module 70 amplifies the boost control signal, and the boost module outputs an electrostatic adsorption voltage to the second electrostatic chuck based on the amplified boost control signal, so that the second electrostatic chuck is adsorbed onto the wall.

[0128] The microcontroller 51 generates and sends a second control signal based on the signal from the host. The suction cup detachment module connects to the first electrostatic suction cup according to the second control signal to cause the first electrostatic suction cup to detach.

[0129] The microcontroller 51 generates a first control signal based on the signal from the host, the first power amplifier module 60 obtains and amplifies the signal, and the driving module drives the first electrostatic chuck to move according to the amplified first control signal.

[0130] The microcontroller 51 generates a boost control signal based on the signal from the host, the second power amplifier module 70 amplifies the boost control signal, and the boost module outputs an electrostatic adsorption voltage to the first electrostatic chuck based on the amplified boost control signal, so that the first electrostatic chuck is adsorbed onto the wall.

[0131] The microcontroller 51 generates and sends a second control signal based on the signal from the host. The suction cup detachment module connects to the second electrostatic suction cup according to the second control signal to cause the second electrostatic suction cup to detach.

[0132] The microcontroller 51 generates a first control signal based on the signal from the host, which is obtained and amplified by the first power amplifier module 60. The driving module drives the second electrostatic chuck to move according to the amplified first control signal.

[0133] The above steps are executed cyclically to enable the wall-climbing robot to climb and walk. There is no restriction that the steps must be in the above order; steps can start or end simultaneously, or the next step can begin before the previous one is finished. For example, the step of the microcontroller 51 generating the first control signal based on the signal from the host terminal can begin when the suction cup detachment module connects to the first electrostatic suction cup according to the second control signal, causing the first electrostatic suction cup to detach incompletely. Therefore, the specific steps depend on the actual situation and are not limited here, as long as wall-climbing and walking can be achieved.

[0134] Specifically, when the middle electrostatic chuck 10 is attracted to the wall, the two electrostatic chuck detachment units are connected to the circuit, and the two electrostatic chucks are lifted and moved under the action of the drive component; when the two electrostatic chucks are attracted to the wall, the suction cup detachment module of the middle electrostatic chuck 10 is connected to the circuit, and the middle electrostatic chuck 10 is lifted and moved under the action of the drive component.

[0135] In the operation of the electrostatic adsorption wall-climbing robot: the central electrostatic suction cup 10 and its connected support frame serve as the central foot, while the two side electrostatic suction cups and their connected support frames serve as the two side feet. The overall motion characteristics of the robot are as follows: In the initial state, both the central electrostatic suction cup 10 and the two side electrostatic suction cups are in contact with the wall surface, with the central electrostatic suction cup 10 in front; the central electrostatic suction cup 10 is first energized to generate an adsorption force, adsorbing the robot onto the wall surface (see Figure 14), at which point the two side electrostatic suction cups are not energized; the reduction motor receives a drive signal for a certain duration, causing the two side feet to rotate 180 degrees around the central foot, at which point both the central foot and the two side feet are in contact with the wall surface, with the two side feet in front; at this time, the switch controls the two side electrostatic suction cups to energize and generate an adsorption force, while the central electrostatic suction cup 10 begins to detach; after the central electrostatic suction cup 10 has detached, the reduction motor receives a drive signal again, causing the central foot to rotate 180 degrees around the two side feet; when the central electrostatic suction cup 10 contacts the wall surface again, the switch controls the central electrostatic suction cup 10 to energize and generate an adsorption force, and the two side electrostatic suction cups begin to detach. The above steps are repeated continuously, and the wall-climbing robot realizes the wall-climbing movement according to the designed gait. For details, please refer to the continuous action diagrams given in Figures 15 and 16.

[0136] This embodiment realizes rapid wall-climbing movement of an electrostatic adsorption wall-climbing robot. The existing wired configuration (see Figure 14) weighs 7.1g and is less than 10cm in size. It can move stably on a vertical wall at a speed of 44.44mm / s (0.45 times its body length per second). One movement cycle is 0.45 seconds, of which about 0.25 seconds are used for motor rotation and about 0.2 seconds are used for adsorption or detachment of the electrostatic chuck. Furthermore, there is a wireless configuration weighing 18g, with basically the same size as the wired configuration. Components such as a lithium battery for power supply, a microcontroller 51 and Bluetooth module 52 for generating control signals, a boost circuit 81 for generating high-voltage signals, and a device for controlling the switching on and off of high voltage are integrated into the wall-climbing robot, enabling stable climbing on outdoor ceramic tile and other wall surfaces.

[0137] Referring to Figure 17, this embodiment provides a method for implementing the circuit system of an electrostatic adsorption legged wall-climbing robot based on a signal input module, including:

[0138] The signal input module sends a second control signal to detach the first electrostatic chuck.

[0139] The signal-giving module sends a first control signal to enable the driving module to drive the first electrostatic chuck to move.

[0140] The signal input module sends a boost control signal to enable the first electrostatic chuck to obtain the voltage output by the boost module to achieve electrostatic adsorption.

[0141] The signal-given module sends a second control signal to detach the second electrostatic chuck.

[0142] The signal-giving module sends a first control signal to enable the driving module to drive the second electrostatic chuck to move.

[0143] The signal-given module sends a boost control signal to enable the second electrostatic chuck to obtain the voltage output by the boost module, thus achieving electrostatic adsorption.

[0144] It should be understood that the execution order of the above methods may vary depending on the execution process. Therefore, the above methods do not represent or imply that all steps must be executed in this order. For example, some steps may be performed synchronously or overlapping. Those skilled in the art can change or modify the execution order of the above steps based on the present invention. Some embodiments of the above methods are illustrated below.

[0145] The present invention also provides a computer program product, including a computer program or instructions, wherein when the computer program or instructions are executed by a processor, the method for the electrostatic adsorption legged wall-climbing robot to walk is implemented.

[0146] The present invention also provides a computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the steps of the implementation method of the circuit system of the electrostatic adsorption legged wall-climbing robot described in any of the above embodiments.

[0147] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0148] The circuit system, related methods, and product effects of the electrostatic adsorption legged wall-climbing robot of the present invention are as follows:

[0149] This invention uses a signal input module as the control center. The suction cup detachment module can selectively consume the charge on either the first or second electrostatic suction cup, and the boost module can selectively output to either the first or second electrostatic suction cup. This results in a compact circuit system, solving the problem of bulky circuitry. By consuming the charge on either the first or second electrostatic suction cup through the suction cup detachment module, this invention accelerates the de-adhesion speed, thereby increasing the climbing speed of the wall-climbing robot. Furthermore, by significantly reducing residual charge through the suction cup detachment module, this invention maintains the wall-climbing robot's adhesion force even after multiple steps, solving the problem of significant adhesion force decay affecting wall-climbing functionality.

[0150] The present invention also has the following effects:

[0151] Improvements in the wall-climbing robot's configuration: An electric motor is used as the drive module, and the robot's movement is achieved through worm gear transmission. Previously used drive methods for micro-sized wall-climbing robots include pneumatic drive, piezoelectric drive, and dielectric elastomer drive, but all of these are inferior to the motor used in this invention in terms of overall reliability, controllability, and stability.

[0152] Improved electrostatic adsorption control: A servo motor 44 connected to a flexible rocker arm serves as the main structure of the suction cup detachment module. Combined with the rapid detachment technology from the applicant's prior patent application, seamless switching of the bipedal adsorption force can be achieved. A key issue for legged wall-climbing robots is the timely generation and elimination of adsorption force. Traditional methods for detaching electrostatic suction cups from insulating walls typically involve directly cutting off the power, leaving residual charge in the dielectric layer of the suction cup. This results in a relatively slow detachment speed (a few seconds to tens of seconds), and the accumulation of residual charge can cause a significant decrease in adsorption force or even adsorption failure after multiple adsorptions. This invention applies rapid detachment technology to wall-climbing robots, enabling the adsorption feet to respond quickly, thus making rapid movement of the wall-climbing robot possible.

[0153] Improved Conductive Path: By using the conductive shaft, a structural component of the robot body, as a medium for transmitting high-voltage electrical signals, the wiring of the wall-climbing robot is effectively simplified, creating possibilities for a cordless configuration. The electrostatic adsorption wall-climbing robot of this invention uses three electrostatic suction cups, one geared motor, and one servo motor 44, totaling 11 independent conductive lines. Without this innovative conductive path, interference between high-voltage and low-voltage lines, and interference between each line and the robot's moving structure, would pose numerous difficulties to the robot's movement.

[0154] Improved control signal integration: Using a single microcontroller 51 to achieve coordinated control of modules such as the robot's motors, servo motors 44, and boost circuit 81 improves the reliability of the overall control and provides crucial support for the off-line configuration. The motors require a periodically on / off PWM signal, the servo motor 44 requires a PWM signal with a fixed frequency but periodically changing duty cycle, and the boost circuit 81, which provides a high-voltage signal to the electrostatic chuck, requires a high-frequency, low-duty-cycle PWM signal. Through circuit design and code writing, these three signals can be integrated into a single microcontroller 51, which is then controlled in real-time via a Bluetooth module 52, further enhancing the robot's reliable control performance.

[0155] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The circuit system of an electrostatic adsorption legged wall-climbing robot, characterized in that, The circuit system includes a signal input module, a first power amplifier module, and a driving drive module connected in sequence. The signal input module is connected to a suction cup removal module. The signal input module, a second power amplifier module, and a boost module are connected in sequence. Both the suction cup removal module and the boost module can be connected to a first electrostatic chuck and a second electrostatic chuck. The signal input module is used to generate a first control signal and send it to the first power amplifier module for amplification, to generate a second control signal and send it to the suction cup removal module, and to generate a boost control signal and send it to the second power amplifier module for amplification. The boost module is used to output an electrostatic adsorption voltage according to the amplified boost control signal, and selectively output it to the first electrostatic chuck or the second electrostatic chuck; the driving module is used to selectively drive the first electrostatic chuck or the second electrostatic chuck to move according to the amplified first control signal; the chuck detachment module is used to selectively consume the charge on the first electrostatic chuck or the second electrostatic chuck according to the second control signal.

2. The circuit system of the electrostatic adsorption legged wall-climbing robot as described in claim 1, characterized in that, The signal input circuit includes a microcontroller and a wireless transmission module. The microcontroller is communicatively connected to the wireless transmission module, which is used to communicate with the outside world. The microcontroller is connected to a first power amplifier module, a suction cup removal module, and a second power amplifier module. The microcontroller is used to adjust the frequency and / or duty cycle of the first control signal, the second control signal, and / or the boost control signal according to the information transmitted to it by the wireless transmission module.

3. The circuit system of the electrostatic adsorption legged wall-climbing robot as described in claim 1, characterized in that, The circuit system also includes a power supply module, which supplies power to the signal input module, the first power amplifier module, the driving drive module, the suction cup detachment module, the second power amplifier module, and the boost module.

4. The circuit system of the electrostatic adsorption legged wall-climbing robot as described in claim 3, characterized in that, The first power amplifier module includes a first transistor, resistor R3, and resistor R7. The C1 terminal of the first transistor is connected to the power supply module, its C2 terminal is grounded, its B1 terminal and its B2 terminal are both connected to the signal input module through resistor R7, and its E1 terminal and its E2 terminal are both connected to the driving drive module through resistor R7. The second power amplifier module includes a bipolar transistor, resistors R8 and R9. The signal input module is connected to pin B1 of the bipolar transistor through resistor R8. Pin B1 is connected to pin B2. Pin C1 is connected to the power supply module. Pin C2 is grounded. Pins E1 and E2 are both connected to one end of resistor R9. The other end of resistor R9 is connected to the boost module.

5. The circuit system of the electrostatic adsorption legged wall-climbing robot as described in claim 3, characterized in that, The boost module includes a transformer circuit connected to the power supply and the second power amplifier module, and a boost circuit connected to the transformer circuit. The transformer circuit is used to boost and transform the voltage according to the amplified boost control signal, and the boost circuit is used to further boost the voltage after boost transformation to obtain an electrostatic adsorption voltage.

6. The circuit system of the electrostatic adsorption legged wall-climbing robot as described in claim 1, characterized in that, The suction cup detachment module includes a first suction cup detachment module for detaching a first electrostatic suction cup and a second suction cup detachment module for detaching a second electrostatic suction cup; when the second suction cup detachment module is connected to the signal input module, the first electrostatic suction cup is connected to the boost module; when the first suction cup detachment module is connected to the signal input module, the second electrostatic suction cup is connected to the boost module.

7. An electrostatic adsorption legged wall-climbing robot, characterized in that, The circuit system includes the electrostatic adsorption legged wall-climbing robot as described in any one of claims 1 to 6.

8. A wall-climbing method for an electrostatic adsorption legged wall-climbing robot, characterized in that, The wall-climbing robot is the wall-climbing robot as described in claim 7, and the wall-climbing method includes: The signal input module sends a boost control signal, the second power amplifier module obtains and amplifies the boost control signal, and the boost module outputs an electrostatic adsorption voltage to the second electrostatic chuck according to the amplified boost control signal, so that the second electrostatic chuck is adsorbed on the wall. The signal input module sends a second control signal, which the suction cup detachment module receives and connects to the first electrostatic chuck according to the second control signal to cause the first electrostatic chuck to detach. The signal input module sends out a first control signal, the first power amplifier module obtains and amplifies the first control signal, and the driving module drives the first electrostatic chuck to move according to the amplified first control signal. The signal input module sends a boost control signal, the second power amplifier module amplifies the boost control signal, and the boost module outputs an electrostatic adsorption voltage to the first electrostatic chuck according to the amplified boost control signal, so that the first electrostatic chuck is adsorbed on the wall. The signal input module sends a second control signal, and the suction cup detachment module connects to the second electrostatic suction cup according to the second control signal to cause the second electrostatic suction cup to detach. The signal input module sends out a first control signal, the first power amplifier module obtains and amplifies the first control signal, and the driving module drives the second electrostatic chuck to move according to the amplified first control signal.

9. A method for implementing the circuit system of an electrostatic adsorption legged wall-climbing robot, characterized in that, The circuit system of the electrostatic adsorption legged wall-climbing robot is the circuit system of the electrostatic adsorption legged wall-climbing robot as described in any one of claims 1 to 6, and the method includes: The signal input module sends a second control signal to detach the first electrostatic chuck. The signal-giving module sends a first control signal to enable the driving module to drive the first electrostatic chuck to move. The signal input module sends a boost control signal to enable the first electrostatic chuck to obtain the voltage output by the boost module to achieve electrostatic adsorption. The signal-given module sends a second control signal to detach the second electrostatic chuck. The signal-giving module sends a first control signal to enable the driving module to drive the second electrostatic chuck to move. The signal-given module sends a boost control signal to enable the second electrostatic chuck to obtain the voltage output by the boost module, thus achieving electrostatic adsorption.

10. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by the processor, they implement the circuit system of the electrostatic adsorption legged wall-climbing robot as described in claim 9.

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