The invention discloses a control method for a wall-climbing robot to climb over an inner right-angle wall surface. The control method comprises the following steps that S10, a front adsorption wheelmakes contact with the wall surface perpendicular to the robot; S20, the lifting mechanism of the robot supports a wall surface parallel to the robot, so that the front adsorption wheel of the robot is separated from the parallel wall surface; S30, the lifting mechanism is reset; S40, when it is detected that the distance d between the robot and the vertical wall face in front of the robot meets the formula that d=v-[theta]1/[omega], the lifting mechanism of the robot rotates, and when the lifting mechanism makes contact with the wall face parallel to the robot, a front adsorption wheel just makes contact with the vertical wall face, wherein v is the advancing speed of the robot, [omega] is the rotating angular speed of the lifting mechanism, and theta1 is the rotating angle of the liftingmechanism.
本发明公开了一种爬壁机器人翻越内直角壁面的控制方法,包括如下步骤:步骤S10,前吸附轮接触与机器人垂直的壁面;步骤S20,机器人的提升机构支撑与机器人平行的壁面,使机器人前吸附轮脱离平行壁面;步骤S30,提升机构复位;步骤S10、步骤S20,检测机器人与行进前方的垂直壁面距离满足=•/时,机器人的提升机构转动,使提升机构与机器人平行的壁面接触时,前吸附轮正好接触垂直壁面;是机器人行进速度,是提升机构转动的角速度,是提升机构转动的角度。
Control method for wall-climbing robot to climb over inner right-angle wall surface
一种爬壁机器人翻越内直角壁面的控制方法
2020-06-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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