The invention discloses a wind pressure adjusting method and system of a wall-climbing robot and the wall-climbing robot, and belongs to the technical field of wall-climbing robots. The method comprises the steps of collecting a current air pressure value of the negative pressure cavity; calculating a gravity center parameter of the wall-climbing robot, and determining a friction coefficient between the wall-climbing robot and the adsorption wall surface; the current posture of the wall-climbing robot is determined according to the posture angle, and the total supporting force of the adsorption wall surface to the wall-climbing robot and the overturning moment of the total supporting force under the current posture are calculated according to the pressure value; according to the gravity center parameter, the friction coefficient, the total supporting force and the overturning moment of the total supporting force of the wall-climbing robot, the safe wind pressure value needed by the wall-climbing robot in the current posture is obtained; and the rotating speed of the speed-adjustable fan is adjusted according to the current wind pressure value and the safe wind pressure value, and a wall-climbing robot protection mechanism is adopted according to the adjusted rotating speed of the speed-adjustable fan. The problems that the speed of a fan of a wall-climbing robot in the prior art cannot be adjusted, energy consumption is high, the service life is short, and the dangerous adsorption state cannot be recognized are solved.
本发明公开了一种爬壁机器人的风压调节方法、系统及爬壁机器人,属于爬壁机器人技术领域。方法包括采集负压腔的当前风压值;计算爬壁机器人的重心参数,并确定爬壁机器人与吸附壁面之间的摩擦系数;由姿态角确定爬壁机器人当前姿态,根据压力值计算当前姿态下吸附壁面对爬壁机器人的总支持力以及总支持力的倾覆力矩;根据爬壁机器人的重心参数、摩擦系数、总支持力以及总支持力的倾覆力矩得到爬壁机器人在当前姿态下所需的安全风压值;根据当前风压值和安全风压值调节可调速风机的转速,并根据调整后的可调速风机的转速采取爬壁机器人保护机制。本发明解决了现有技术爬壁机器人风机不可调速、能耗高且使用寿命低、无法识别危险吸附状态的问题。
Wind pressure adjusting method and system of wall-climbing robot and wall-climbing robot
一种爬壁机器人的风压调节方法、系统及爬壁机器人
2024-02-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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