The present disclosure provides a path planning method for a wall-climbing robot. The method includes the following steps: step 1, establishing a spatial pose model of a wall-climbing robot during a working process; step 2, performing statics analysis on the wall-climbing robot, and decomposing a resultant force G of the gravity of the wall-climbing robot itself and the gravity of a load borne by the wall-climbing robot; step 3, performing kinetics analysis on the wall-climbing robot, and analyzing the crawling capability and steering capability thereof; and step 4, performing path planning according to analysis results of the crawling capability and the steering capability. The method is used for solving the problems of a traditional robot being controlled by an operator using a wireless remote to control the movement, lane changing and straight walking of the robot, and the operator being required to continuously operate the robot during the whole process of operating same, which greatly consumes the time and energy of personnel and increases labor costs. By means of the present application, automated operation for path planning, straight walking and lane changing of a wall-climbing robot is implemented, so that an operator is freed from frequently operating a remote and performing real-time monitoring, and the robot is more intelligent.


    Access

    Download


    Export, share and cite



    Title :

    PATH PLANNING METHOD FOR WALL-CLIMBING ROBOT


    Additional title:

    WEGPLANUNGSVERFAHREN FÜR EINEN WANDKLETTERROBOTER
    PROCÉDÉ DE PLANIFICATION DE TRAJET DE ROBOT D'ESCALADE DE PAROI


    Contributors:
    XU HUAYANG (author) / REN LUCHANG (author) / SONG ZHANGJUN (author) / LIU HAILONG (author) / ZHANG GUOQING (author) / LIU YANYU (author) / GUO CHAOQIONG (author)

    Publication date :

    2024-04-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English



    Wall-climbing robot for smooth plane and wall-climbing method of wall-climbing robot

    WANG GUODONG / YIN JUNPING / ZHANG SHUAIQI et al. | European Patent Office | 2021

    Free access

    Wall-climbing robot control method and wall-climbing robot

    BEN KECUN / CHEN KAI / LI ZHE et al. | European Patent Office | 2024

    Free access

    Wall-climbing robot and wall advancing method of wall-climbing robot

    FANG XINXIN / REN LONG / MI YE et al. | European Patent Office | 2020

    Free access

    Wall-climbing robot

    LIN FENG / TIAN JINGHAO / YAO YUNAN | European Patent Office | 2023

    Free access

    Wall-climbing robot

    LIAO JINJUN / YAN KE / YI DAYUN et al. | European Patent Office | 2023

    Free access