The invention relates to a wall-climbing robot chassis motion control method. A chassis is composed of four chassis driving units, two upper moving frames, two lower moving frames and four lifting fixing mechanisms. The method has a moving mode, a lifting mode, an obstacle crossing mode and a hovering mode, the obstacle crossing modes are divided into three modes according to different obstacle types, the structure of a construction robot in the prior art is simplified, and meanwhile more use functions of the robot are added; various obstacle crossing capabilities are achieved, and different obstacle crossing modes can be adopted according to different obstacle types; the forward, backward, leftward and rightward movement modes are easy to control, the movement direction is flexibly changed during movement, and the chassis movement control method can be applied to a firefighting/cleaning/lifting/welding/mounting/loading robot according to construction requirements.
本发明涉及一种爬壁机器人底盘运动控制方法,该底盘由四个底盘驱动单元、两个上移动架、两个下移动架和四个升降固定机构构成;具有移动模式、升降模式、越障模式和悬停模式,其中根据障碍物类型的不同越障模式又细分为三种,本发明在简化了现有技术中施工机器人结构的同时增加了其更多的使用功能,具有多种越障能力能针对不同的障碍物类型采取不同的越障方式;向前、向后、向左和向右的运动方式控制简单,且运动时改变运动方向灵活,根据施工需要可以将该底盘运动控制方法应用于消防/清洗/提升/焊接/安装/装载机器人当中。
Wall-climbing robot chassis motion control method
一种爬壁机器人底盘运动控制方法
2021-11-19
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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