The invention discloses a multi-rotor flying adsorption type wall-climbing robot and a control method. The multi-rotor flying adsorption type wall-climbing robot comprises a frame, a plurality of wall-climbing wheels, two aircrafts and a controller, and the wall-climbing wheels are arranged at outer convex corners of the frame respectively; the two aircrafts are arranged on the upper surface and the side face of the frame respectively and are perpendicular to each other, and the upper aircraft is used for providing vertical lifting force. The robot has the beneficial effects that the capability of flexibly switching multiple postures of the robot in different environments is achieved, and walking or steering of the wall climbing wheels can be achieved by directly regulating and controlling the steering and rotating speed of the four rotors on the upper portion or the steering and rotating speed of the four rotors on the side portion so that moving or steering of the robot can be completed; according to the robot, a gear motor or a steering motor does not need to be additionally arranged to drive the wall climbing wheels to walk or steer, the production cost can be reduced, the weight of the whole robot can be reduced, and the portability of the robot is improved.
本发明公开了一种多旋翼飞行吸附式爬壁机器人及控制方法,其包括框架、若干个爬壁轮、两个飞行器及控制器,各个所述爬壁轮分别设置于所述框架的各个外凸角处;两个所述飞行器分别设置于所述框架的上表面和侧面,并相互垂直,上方的所述飞行器用以提供竖向升力。本发明的有益效果是:实现了机器人在不同环境下灵活切换多种姿态的能力,并且可以直接通过调控上方的四个旋翼的转向和转速或者侧方的四个旋翼的转向和转速实现爬壁轮的行走或者转向以完成机器人的移动或者转向,不再需要额外的设置减速电机或者转向电机以驱动爬壁轮行走或者转向,不仅可以降低生产成本,也可以降低整个机器人重量,提高了机器人的便携性。
Multi-rotor flying adsorption type wall-climbing robot and control method
一种多旋翼飞行吸附式爬壁机器人及控制方法
2024-02-20
Patent
Electronic Resource
Chinese
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