阅读说明：本技术 一种轻质推压式爬墙机器人 (Light bulldozes formula wall climbing robot ) 是由 刘胜永 王仕刚 于 2018-05-29 设计创作，主要内容包括：本发明公开了一种轻质推压式爬墙机器人,包括基于3D打印的轻质底盘、抽气部、控制器、行走轮和行走轮驱动部；底盘上具有从靠近墙面一侧贯穿至远离墙面一侧的抽气腔,抽气部安装在抽气腔内；抽气腔靠近墙面的一侧设有连接架,连接架的外侧面设置有柔性密封结构；行走轮分别安装在所述底盘靠近前后端的位置,对称分布在底盘的两侧；行走轮驱动部与行走轮传动连接；控制器安装在底盘上,且与抽气部和行走轮驱动部电连接,用于控制抽气部抽气和行走轮行走。本发明同时对抽气腔内内气压和旋转电机的电流进行检测,具有良好的动态性能,提高爬壁机器人安全性；具有智能化程度高,重量轻、噪声低的优点。(the invention discloses a light push-type wall climbing robot, which comprises a light chassis based on 3D printing, an air exhaust part, a controller, a traveling wheel and a traveling wheel driving part, wherein the controller is connected with the light chassis; the chassis is provided with an air pumping cavity which penetrates from one side close to the wall surface to one side far away from the wall surface, and the air pumping part is arranged in the air pumping cavity; a connecting frame is arranged on one side of the air exhaust cavity close to the wall surface, and a flexible sealing structure is arranged on the outer side surface of the connecting frame; the travelling wheels are respectively arranged at the positions of the chassis close to the front end and the rear end and are symmetrically distributed at the two sides of the chassis; the traveling wheel driving part is in transmission connection with the traveling wheel; the controller is arranged on the chassis, is electrically connected with the air exhaust part and the walking wheel driving part and is used for controlling the air exhaust part to exhaust air and the walking wheel to walk. The invention simultaneously detects the air pressure in the air exhaust cavity and the current of the rotating motor, has good dynamic performance and improves the safety of the wall climbing robot; the intelligent control system has the advantages of high intelligent degree, light weight and low noise.)

1. a light push-type wall climbing robot is characterized by comprising a light chassis (1) based on 3D printing, an air exhaust part (2), a controller, a traveling wheel (3) and a traveling wheel driving part;

The chassis (1) is provided with an air pumping cavity (4) penetrating from one side close to the wall surface to one side far away from the wall surface, and the air pumping part (2) is arranged in the air pumping cavity (4);

a connecting frame (41) is arranged on one side, close to the wall surface, of the air pumping cavity (4), and a flexible sealing structure is arranged on the outer side surface of the connecting frame (41);

The walking wheels (3) are arranged in at least two groups, the two groups of walking wheels (3) are respectively arranged at the positions, close to the front end and the rear end, of the chassis (1), and the walking wheels (3) of each group are symmetrically distributed on two sides of the chassis (1);

the walking wheel driving part is in transmission connection with the walking wheel (3);

The controller is installed on the chassis (1), is electrically connected with the air exhaust part (1) and the traveling wheel driving part, and is used for controlling the air exhaust part (1) to exhaust air and the traveling wheel (3) to travel.

2. A lightweight push type wall climbing robot according to claim 1, wherein the traveling wheel driving part is a traveling wheel driving motor (5); motor mounting grooves (6) are formed in the two sides of the front end and the rear end of the chassis (1), and the driving motor (5) is correspondingly mounted in the motor mounting grooves (6); a strip-shaped hole (7) for adjusting and fixing the installation position of the motor is formed in the position, corresponding to the chassis (1), of the motor installation groove (6); the traveling wheels (3) are mounted on an output shaft of the driving motor (5).

3. A lightweight push-type wall-climbing robot according to claim 1, wherein the air extraction part (2) comprises a rotating motor (21), a motor base (22) and a blade (23), the motor base (22) is mounted on the connecting frame (41), the rotating motor (21) is fixed in the motor base (22), and a power output shaft of the rotating motor (21) is fixedly connected with the blade (23).

4. A light push-type wall-climbing robot as claimed in claim 1, wherein the inner surface of the air pumping cavity (4) is provided with a noise elimination device, and one side far away from the wall surface is further provided with a rectification mesh enclosure.

5. A lightweight push type wall climbing robot according to any one of claims 1 to 4, wherein the controller comprises: the system comprises a main control module (112), a driving module (113), a power management module (114), a wireless communication module (115), a sensor module (116) and a power supply (117);

the main control module (112) is in bidirectional communication connection with the upper computer (111) through a wireless communication module (115); two output interfaces of the main control module (112) respectively correspond to the power management module (114) and the driving module (113), and one input interface of the main control module is connected with the sensor module (116);

The driving module (113) is electrically connected with the air exhaust part (1) and the walking wheel driving part, and the driving module (113) drives the air exhaust part (1) and the walking wheel driving part to operate according to the instruction of the main control module (112);

The power management module (114) is used for providing different voltage requirements for the main control module (112), the driving module (113), the wireless communication module (115) and the sensor module (116);

the power supply (117) is connected with the power management module (114).

6. a lightweight push-type wall-climbing robot according to claim 5, characterized in that the sensor module (116) comprises:

The voltage sensor (1161), the said voltage sensor (1161) is used for detecting the electric quantity of the said power (117), and convey the detected value to the said master control module (112);

The current sensor (1162) is used for acquiring a current value of the rotating motor (11) and transmitting the current value to the main control module (112);

the air pressure sensor (1163) is used for detecting air pressure in the air pumping cavity (2) and feeding back a measured air pressure value to the main control module (112);

The video detector (1164), the video detector (1164) is a high-definition camera device, and is used for collecting image information of road conditions and feeding back the collected information to the main control module (112);

the pose sensor (1165) is used for collecting the moving speed of the wall climbing robot and the rotating angle of the vehicle body and feeding back the moving speed and the rotating angle to the main control module (112).

7. The light push type wall climbing robot according to claim 6, wherein the main control module (112) comprises an A/D conversion circuit, a PWM output circuit and a single chip microcomputer;

the A/D conversion circuit converts voltage and current signals acquired by the voltage sensor (1161) and the current sensor (1162) and transmits the converted signals to the single chip microcomputer, and the single chip microcomputer receives the signals acquired by the voltage sensor (1161), compares the signals with preset voltage values set by the single chip microcomputer and outputs power supply switching execution signals to the power supply management module (114);

the single chip microcomputer receives signals collected by the air pressure sensor (1163) and compares the signals with preset voltage values set by the single chip microcomputer, and the PWM output circuit controls the driving module (113) to adjust the rotating speed of the rotating motor (11) according to output instructions of the single chip microcomputer.

8. the light pushing-type wall-climbing robot according to claim 6, wherein a pan head steering engine (8) used for mounting the video detector (1164) is arranged on the chassis, and the pan head steering engine (8) is electrically connected with the driving module (113).

9. A lightweight push-type wall-climbing robot as set forth in claim 5, wherein: the power supply (117) is a plurality of lithium batteries having different voltage sources.

Technical Field

The invention relates to the technical field of robots, in particular to a light pushing and pressing type wall climbing robot.

Background

The wall climbing robot is a robot capable of operating on a vertical steep wall, and is increasingly paid more attention to as an automatic mechanical device for high-altitude limit operation.

At present, the wall climbing robot mainly has the following absorption modes: magnetic force adsorbs, the bionic material is grabbed, modes such as vacuum adsorption, thrust absorption have very practical application prospect, if armed anti-terrorism investigation, high altitude cleaning operation, building wall crack inspection, high altitude spraying operation, high altitude fire control etc.. However, the traditional wall-climbing robot has many disadvantages, such as weak adaptability to the material and shape of the wall surface, weak ability to cross obstacles and large volume.

The Disney company in 2015 introduced a Vertigo push-type wall climbing robot, which adopts two brushless motors as push sources, can control the movement of the planes where the two motors are located, and simultaneously adjusts the inclination angles of the two planes to drive the movement of the vehicle body, but has the defects that a large amount of electric energy is required for the moving system and the adsorption system, the requirement on the capacity of a battery is increased, the volume and the weight of the used battery are correspondingly increased, the wall climbing effect is poor, and if the carrying capacity of the battery is reduced, the problem that the safe return of the wall climbing robot cannot be realized due to insufficient electric quantity in midway exists.

the wall climbing robot generally extracts a relative sealing part between the robot and a wall, so that the external atmospheric pressure is greater than the atmospheric pressure of the relative sealing part between a vehicle body and the wall, and the external atmospheric pressure presses the robot on the wall; but because the wall climbing robot adsorbs hardly to realize faster translation rate on the wall to there are very big pneumatic noise and vortex noise, hardly control within reasonable decibel coefficient, the structure of wall climbing robot design is complicated simultaneously, and volume and weight are big, have increased corresponding cost, hardly go on further upgrading and transformation on having the basis, are unfavorable for popularizing and applying.

Therefore, how to provide a wall climbing robot with simple structure, high intelligence degree and low noise is a problem that needs to be solved urgently by the technical personnel in the field.

disclosure of Invention

In view of this, the invention provides a light pushing-type wall climbing robot, which has the advantages of high intelligent degree, low noise and strong adaptability.

In order to achieve the purpose, the invention adopts the following technical scheme:

a light push-type wall climbing robot comprises a light chassis based on 3D printing, an air exhaust part, a controller, a traveling wheel and a traveling wheel driving part;

the chassis is provided with an air pumping cavity which penetrates from one side close to the wall surface to one side far away from the wall surface, and the air pumping part is arranged in the air pumping cavity;

a connecting frame is arranged on one side of the air pumping cavity close to the wall surface, and a flexible sealing structure is arranged on the outer side surface of the connecting frame;

the walking wheels are arranged at the positions, close to the front end and the rear end, of the chassis respectively, and each group of walking wheels are symmetrically distributed on two sides of the chassis;

the walking wheel driving part is in transmission connection with the walking wheel;

The controller is installed on the chassis, is electrically connected with the air exhaust part and the traveling wheel driving part and is used for controlling the air exhaust part to exhaust air and the traveling wheel to travel.

the robot has the beneficial effects that the dead weight of the robot body is effectively reduced by using the 3D printed light shell, the soft material is used as the sealing skirt pad of the air exhaust cavity, the characteristics of sound insulation, shock absorption and wear resistance are realized, the dynamic friction factor of the body and the wall surface is increased, the adsorption capacity is enhanced, and the robot can adapt to various road conditions.

Preferably, the walking wheel driving part is a walking wheel driving motor; motor mounting grooves are formed in the two sides of the front end and the rear end of the chassis, and the driving motors are correspondingly mounted in the motor mounting grooves; a strip-shaped hole for adjusting and fixing the motor installation position is formed in the position, corresponding to the chassis, of the motor installation groove; the traveling wheel is installed on an output shaft of the driving motor.

The beneficial effects who adopts above-mentioned scheme are that, adopt driving motor to imbed into the position at four angles of automobile body to strip hole is opened respectively to mounting groove both sides, and is fixed it through the adjusting screw elasticity, and can adjust driving motor in the fixed position of mounting groove from top to bottom according to actual conditions, thereby changed the height that the walking wheel transferred, realize the control of gap height between robot chassis and the wall.

preferably, the air exhaust part comprises a rotating motor, a motor base and a blade, the motor base is installed on the connecting frame, the rotating motor is fixed in the motor base, and a power output shaft of the rotating motor is fixedly connected with the blade.

Preferably, a silencing device is arranged on the inner surface of the air pumping cavity, and a rectification mesh enclosure is further arranged on one side, far away from the wall surface, of the air pumping cavity.

the beneficial effects of adopting above-mentioned scheme are that, paste noise elimination material such as foamed aluminum at the exhaust chamber internal surface to fix the radome fairing above the exhaust chamber, on the one hand can the noise reduction, and on the other hand can keep apart the paddle, guarantee the personal and robot automobile body safety.

Preferably, the controller includes: the system comprises a main control module, a driving module, a power management module, a wireless communication module, a sensor module and a power supply;

The main control module is in bidirectional communication connection with the upper computer through a wireless communication module;

two output interfaces of the main control module respectively correspond to the power management module and the driving module, and one input interface of the main control module is connected with the sensor module;

The driving module is electrically connected with the air exhaust part and the traveling wheel driving part, and drives the air exhaust part and the traveling wheel driving part to operate according to the instruction of the main control module;

the power management module is used for providing different voltage requirements for the main control module, the driving module, the wireless communication module and the sensor module;

the power supply is connected with the power supply management module.

Preferably, the sensor module includes: the voltage sensor is used for detecting the electric quantity of a power supply and transmitting a detection value to the main control module;

The current sensor is used for acquiring a current value of the rotating motor and transmitting the current value to the main control module;

The air pressure sensor is used for detecting the air pressure in the air pumping cavity and feeding back the measured air pressure value to the main control module;

the video detector is a high-definition camera device and is used for acquiring image information of road conditions;

And the pose sensor is used for acquiring the moving speed of the wall climbing robot and the rotating angle of the vehicle body and feeding back the moving speed and the rotating angle to the main control module.

the robot running state detection system has the advantages that the robot running state detection system adopts a plurality of different sensors to detect various numerical values of the robot running process, detects the air pressure in the air pumping cavity and the current value of the rotating motor, reduces power consumption of the system, enables a vehicle body to be kept in a safe running state with the lowest power, and reduces noise.

preferably, the main control module comprises an A/D conversion circuit, a PWM output circuit and a single chip microcomputer;

The A/D conversion circuit converts voltage and current signals acquired by the voltage sensor and the current sensor and transmits the converted signals to the single chip microcomputer, and the single chip microcomputer receives the signals acquired by the voltage sensor, compares the signals with preset voltage values set by the single chip microcomputer and outputs power supply switching execution signals to the power supply management module;

the single chip microcomputer receives signals collected by the air pressure sensor and compares the signals with preset voltage values set by the air pressure sensor, and the PWM output circuit controls the driving module to adjust the rotating speed of the rotating motor according to output instructions of the single chip microcomputer.

The technical scheme has the advantages that the energy monitoring of the lithium battery is realized by utilizing the AD acquisition technology, when the electric quantity of the battery is lower than a preset value, the automatic switching of the battery is realized, and the working efficiency of the robot is effectively improved; when the gap between the chassis and the wall body is large, and the air pressure sensor collects data which are lower than a preset value, the air pressure in the air pumping cavity is maintained by utilizing the PWM control technology, so that the adsorption device works in a low energy consumption state meeting the safe adsorption condition, the noise radiation is reduced, meanwhile, the problem of saving electric energy can be guaranteed as much as possible, and the low-noise safe adsorption of the wall climbing robot is realized.

preferably, one end of the chassis is provided with a steering engine holder for mounting the video detector, and the rotation angle range of the steering engine is 0-360 degrees.

the beneficial effect who adopts above-mentioned scheme is that, the steering wheel rotates wantonly at 360 within ranges, has satisfied the cloud platform of carrying video detector and has pitched up and down and the requirement of rotating about.

Preferably, the power supply is a plurality of lithium batteries with different voltage sources.

The beneficial effect who adopts above-mentioned scheme is, has guaranteed automobile body duration.

According to the technical scheme, compared with the prior art, the light pushing type wall climbing robot is provided, a light chassis based on 3D printing is adhered with a material with good sealing performance and friction, and the adsorption stability is improved; the energy monitoring of the lithium battery is realized by using an AD acquisition technology, information is transmitted to the active module, and the automatic switching of a power supply is realized by using software programming, so that the working efficiency is effectively improved, and the safety of a vehicle body is guaranteed to the maximum extent; the invention simultaneously detects the air pressure in the air exhaust cavity and the current of the rotating motor, has good dynamic performance and improves the safety of the wall climbing robot; the input of the controller is the corresponding value of the minimum negative pressure, so that the power consumed by the air exhaust part is reduced; the robot works in a low-noise state, and the noise is greatly reduced by using a multiple noise reduction method, so that the noise during the operation of the robot is basically maintained at about 70 db.

Drawings

in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a lightweight push-type wall-climbing robot according to the present invention;

FIG. 2 is a schematic bottom structure view of a lightweight push-type wall-climbing robot according to the present invention;

FIG. 3 is a block diagram of the overall structure of a light-weight pushing type wall-climbing robot controller according to the present invention;

FIG. 4 is a block diagram illustrating a power connection relationship of a lightweight push-type wall-climbing robot according to the present invention;

Fig. 5 is a block diagram illustrating air pressure adjustment and control of an air pumping cavity of the light push-type wall climbing robot.

in the figure: 1-a chassis; 2-an air extraction part; 3-walking wheels; 4-air pumping cavity; 5-driving a motor; 6-motor mounting groove; 7-strip-shaped holes; 8-a pan-tilt steering engine; 21-a rotating electrical machine; 22-a motor base; 23-a paddle; 41-a connecting frame; 111-an upper computer; 112-a master control module; 113-a drive module; 114-a power management module; 115-a wireless communication module; 116; a sensor module; 1161-a voltage sensor; 1162-a current sensor; 1163-air pressure sensor; 1164-video detector; 1165-position and posture sensor.

Detailed Description

the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-2, the embodiment of the invention discloses a light push-type wall-climbing robot, which is based on a light chassis 1 for 3D printing, an air extraction part 2, a controller, a traveling wheel 3 and a traveling wheel driving part;

The chassis 1 is provided with an air extraction cavity 4 which penetrates from one side close to the wall surface to one side far away from the wall surface, and the air extraction part 2 is arranged in the air extraction cavity 4 and used for exhausting air in the air extraction cavity 4; a connecting frame 41 is arranged on one side of the air pumping cavity 4 close to the wall surface, and a flexible sealing structure is arranged on the outer side surface of the connecting frame 41; in some embodiments, the flexible sealing structure may be a foamed sponge rubber sheet material, which can adapt to wall conditions of various different situations, while a higher friction factor easily achieves a balance between friction and gravity. The walking wheels 3 are at least two groups, the two groups of walking wheels 3 are respectively arranged at the positions of the chassis 1 close to the front end and the rear end, and each group of walking wheels 3 are symmetrically distributed at two sides of the chassis 1; the walking wheel driving part is in transmission connection with the walking wheel 3; the controller is arranged on the chassis 1, is electrically connected with the air exhaust part 2 and the walking wheel driving part, and is used for controlling the air exhaust part 2 to exhaust air and the walking wheels 3 to walk.

The walking wheel driving part is a walking wheel driving motor 5; both sides of the front end and the rear end of the chassis 1 are provided with motor mounting grooves 6, and the driving motor 5 is correspondingly mounted in the motor mounting grooves 6; a strip-shaped hole 7 for adjusting and fixing the installation position of the motor is arranged at the position of the motor installation groove 6 corresponding to the chassis 1; the travelling wheel 3 is arranged on an output shaft of the driving motor 5; in some embodiments, a worm motor is used as a driving motor 5 and is embedded into a motor mounting groove 6, a high-torque worm type speed reducing motor is adopted in combination with a rubber travelling wheel with strong friction, the driving force and the moving speed of a vehicle body are increased, the stopping stability of the worm motor at a specified position is ensured due to the characteristic of power-off self-locking of the worm motor, and stable motion is realized; fix driving motor 5 through the screw to can adjust driving motor 5 fixed position in motor mounting groove 6 from top to bottom according to actual conditions, thereby changed the height that walking wheel 3 transferred, can realize the control of gap distance between chassis 1 and the wall like this.

Air exhaust portion 2 includes rotating electrical machines 21, motor cabinet 22 and paddle 23, and motor cabinet 22 installs on link 41, is fixed with rotating electrical machines 21 in the motor cabinet 22, and rotating electrical machines 21's power output shaft and paddle 23 fixed connection, 4 internal surfaces in chamber of bleeding are equipped with noise eliminator, and keep away from one side of wall still to be equipped with the rectification screen panel. In some embodiments, a brushless motor is used as the rotating motor 11 and fixed on the motor base 12, the 1400KV brushless motor is matched with 9-inch blades, the torsion is large, the rotating speed is high, the wind power is stable, sufficient negative pressure can be provided, the PWM technology is used for controlling the rotating speed, the thrust is large, the wind power is stable, and the total weight of the electric adjusting motor is less than 50g, so that the total weight of the vehicle body is greatly reduced; the foamed aluminum material is pasted on the inner surface of the air exhaust cavity 4 to be used as a noise elimination device, and the fairing is fixed above the air exhaust cavity 4, so that part of noise can be reduced, the blade 23 is isolated from the outside, and the personal safety and the vehicle body safety are guaranteed.

as shown in fig. 3, the controller includes: the main control module 112, the driving module 113, the power management module 114, the wireless communication module 115, the sensor module 116 and the power supply 117; the main chip adopts STM32 to complete receiving conversion and calculation processing of PWM wave generation, differential pressure feedback signal and current acquisition signal, and has the characteristics of high operation speed, low power consumption and easy realization of multi-motor control; the main control module 112 is in bidirectional communication connection with the upper computer 111 through a wireless communication module 115; two output interfaces of the main control module 112 respectively correspond to the power management module 114 and the driving module 113, and one input interface thereof is connected with the sensor module 116; the driving module 113 is electrically connected with the air extraction part 1 and the traveling wheel driving part, and the driving module 113 drives the air extraction part 1 and the traveling wheel driving part to operate according to the instruction of the main control module 112;

The power management module 114 is connected to a power source 117, and the power source 117 adopts multiple lithium batteries with different voltages, as shown in fig. 4, for providing different voltage requirements to the driving module 113, the wireless communication module 115 and the sensor module 116;

in some embodiments, the NRF24L01 wireless communication module is adopted, so that the advantages of good directional transmission effect, strong anti-interference capability, good sound quality and long transmission distance are achieved, and the distance requirement of application is met.

The sensor module 116 includes: the voltage sensor 1161 is used for detecting the electric quantity of the power supply 117 and transmitting the detected value to the main control module 112, the voltage sensor 1161 adopts 20-bit high-precision ads1250 as an analog-to-digital conversion chip, no amplification circuit is required to be added, the accuracy is high, and the noise of the circuit is reduced;

the current sensor 1162 is configured to obtain a current value of the rotating electrical machine 11 and transmit the current value to the main control module 112; the air pressure sensor 1163 can adopt a GY-63MS5611-01BA03 high-precision air pressure sensor module, and is used for detecting air pressure in the air extraction cavity 4 and feeding back the detected air pressure value to the main control module 112;

The video detector 1164 can adopt a 200-ten-thousand-width dynamic high-definition camera module widely applied to face recognition, security gate machines and backlight monitoring to acquire image information of road conditions;

The pose sensor 1165 may adopt an MPU6050 module as its position and pose detection, and the pose sensor 1165 is configured to acquire the moving speed and the rotation angle of the wall climbing robot and feed back the information to the main control module 112.

further, the main control module 112 includes an a/D conversion circuit, a PWM output circuit, and a single chip; the A/D conversion circuit converts the voltage and current signals acquired by the voltage sensor 1161 and the current sensor 1162 and transmits the converted signals to the single chip microcomputer, and the single chip microcomputer receives the signals acquired by the voltage sensor 1161, compares the signals with preset voltage values set by the single chip microcomputer and outputs power supply switching execution signals to the power supply management module 114;

the single chip microcomputer receives the signal collected by the air pressure sensor 1163 and compares the signal with a preset voltage value set by the single chip microcomputer, and the PWM output circuit controls the driving module 113 to adjust the rotating speed of the rotating motor 11 according to an output instruction of the single chip microcomputer.

one end on chassis is equipped with the cloud platform steering wheel 8 that is used for installing video detector 1164, and the every single move and the rotation of cloud platform adopt steering wheel drive to realize, and the steering wheel is connected with drive module 113 electricity, and the steering wheel is rotatory wantonly at 360 degrees within ranges, satisfies the requirement of cloud platform every single move and two degrees of freedom of left and right sides rotation.

In the embodiment of the invention, the 3D printing shell 100g, the driving motor 4 x 150 x 600g, the rotating motor 30g, the lithium battery 100g, the controller 10g and the blades 10g are combined to form a total weight 850g, so that the overall weight is reduced to the maximum extent; the power management module carries out power management on the wall-climbing robot control system, energy monitoring of the lithium battery is achieved through the AD acquisition technology, information is transmitted to the active module, automatic switching of the power supply is achieved through software programming, and working efficiency is effectively improved.

As shown in fig. 5, the present invention simultaneously detects the air pressure in the air extraction cavity and the current of the rotating motor, so that the negative pressure system has good dynamic performance, and the safety of the wall climbing robot is improved. The input of the negative pressure control system is the corresponding value of the minimum negative pressure, so that the power consumed by the negative pressure adsorption system is favorably reduced, and the robot works in a low-noise state.

The air pressure sensor collects air pressure data and compares the air pressure data with a preset numerical value, the set air pressure difference and the feedback pressure difference in the air pumping cavity form deviation, the rotating speed of the rotating motor is adjusted through a built-in algorithm of the main control module, the rotating speed changes the feedback current quantity of the current sensor, the feedback current and the rated current after speed change form deviation, the deviation is adjusted into the control quantity of the PWM duty ratio through current, the speed control of the negative pressure cavity electric fan is realized, the safe air pressure in the cavity is maintained by utilizing the PWM control technology and the current loop control algorithm, the negative pressure adsorption system works in a low energy consumption state meeting the safe adsorption condition, and therefore noise radiation is reduced.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

the previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.