The invention relates to the field of intelligent manufacturing, in particular to a wall-climbing robot control method and a wall-climbing robot. The method comprises the steps that the adsorption force is adjusted according to whether the wall-climbing robot is in an operation state or an advancing state, when the wall-climbing robot is in the advancing state, the height and the gradient of encountered obstacles are judged according to data collected by an image sensor, then the obstacles are selected to be bypassed or crossed, and in the process, the adsorption force is adjusted. The magnitude of the adsorption force is maintained at the advancing adsorption force; the method for adjusting the adsorption force comprises the steps that the distance between the adjustable permanent magnet and the working face is calculated according to the distance between each wheel and the working face, and the magnetic field of the adjustable permanent magnet is adjusted to the corresponding size according to the distance between the adjustable permanent magnet and the working face and the size of the adsorption force to be applied. Adsorption force can be adjusted according to conditions, operation is safer, and advancing is more flexible.
本发明涉及智能制造领域,具体涉及一种爬壁机器人控制方法、爬壁机器人。方法包括:根据爬壁机器人处于作业状态还是行进状态,调整吸附力大小,当爬壁机器人处于行进状态时,根据图像传感器采集的数据,判断遇到的障碍物的高度与坡度,进而选择绕过还是越过障碍物,在此过程中,吸附力的大小维持在行进吸附力;调整吸附力的方法为:根据每个车轮与作业面的距离,计算出可调永磁体与作业面的距离,根据可调永磁体与作业面的距离,以及欲实施的吸附力大小,调整可调永磁体的磁场至对应大小。本发明可根据情况调整吸附力,作业时更安全,行进时更灵活。
Wall-climbing robot control method and wall-climbing robot
一种爬壁机器人控制方法、爬壁机器人
2024-04-30
Patent
Electronic Resource
Chinese
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European Patent Office | 2021
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