The invention provides a main body structure of a wall-climbing robot, the wall-climbing robot and a control method. The main body structure of the wall-climbing robot comprises a supporting body, a vector rotor system and walking wheels, wherein the vector rotor system and the walking wheels are installed on the supporting body; walking wheels of the main body structure of the robot capable of climbing the wall walk on a working face under the action of negative pressure provided by the vector rotor wing system. The robot capable of climbing the wall comprises a laser surveying and mapping assembly, an image acquisition assembly and a main body structure of the robot capable of climbing the wall, and the laser surveying and mapping assembly and the image acquisition assembly are installed on the main body structure of the robot capable of climbing the wall. The vector rotor systems are matched with the walking wheels, and the vector rotor systems provide pressure towards the working face for the walking wheels, so that the static friction force between the walking wheels and the working face is increased; therefore, the main body structure of the wall-climbing robot and the wall-climbing robot with the main body structure of the wall-climbing robot can walk on the working face conveniently, and clear and stable image acquisition of the working face by the image acquisition assembly is facilitated; besides, when the robot capable of climbing the wall cannot climb over obstacles on the working face, the robot capable of climbing the wall can be lifted up from the working face through the vector rotor wing system, and then the robot capable of climbing the wall can climb on the working face through cooperation of the vector rotor wing system and the walking wheels.
本发明提供一种可攀墙机器人的主体结构、可攀墙机器人及控制方法,所述可攀墙机器人的主体结构包括支撑体以及分别安装于支撑体的矢量旋翼系统和行走轮;所述可攀墙机器人的主体结构的行走轮在矢量旋翼系统提供负压作用下在工作面上行走;所述可攀墙机器人包括激光测绘组件和图像采集组件以及可攀墙机器人的主体结构,所述激光测绘组件和图像采集组件安装于可攀墙机器人的主体结构上。本发明通过矢量旋翼系统与行走轮相配合,以矢量旋翼系统为行走轮提供向工作面的压力,从而提高行走轮与工作面之间的静摩擦力,以方便该可攀墙机器人的主体结构以及具有可攀墙机器人的主体结构的可攀墙机器人在工作面上行走,方便图像采集组件对工作面进行清晰稳定的图像采集;此外,当该可攀墙机器人在工作面上无法翻越障碍时,可以通过矢量旋翼系统将该可攀墙机器人从工作面上提起,然后再通过矢量旋翼系统与行走轮相配合在工作面上攀爬。
Main body structure of wall-climbing robot, wall-climbing robot and control method
可攀墙机器人的主体结构、可攀墙机器人及控制方法
2023-03-07
Patent
Electronic Resource
Chinese
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