The present invention provides a mechanism and a control method for a flight robot for wall climbing. According to the present invention, the control method for a flight robot for wall climbing includes: a step of enabling a flight robot to fly toward a structure; a step of recognizing a wall surface of the structure by using a sensor or a camera; a step of calculating a trajectory to enable the flight robot to land on the wall surface of the structure; a step of enabling the flight robot to change a posture thereof to access the wall surface of the structure; a step of enabling the flight robot to land on the wall surface of the structure; and a step of enabling the flight robot to be moved along the wall surface of the structure to perform a duty.

    벽면 이동을 위한 비행로봇 메커니즘 및 제어방법이 제시된다. 벽면 이동을 위한 비행로봇 제어방법에 있어서, 비행로봇이 구조물을 향해 비행하는 단계; 센서 또는 카메라를 이용하여 상기 구조물의 벽면을 인식하는 단계; 상기 구조물의 벽면에 착지하기 위한 궤적(trajectory)을 계산하는 단계; 상기 궤적에 따라 상기 비행로봇이 자세 변환하여 상기 구조물의 벽면으로 접근하는 단계; 상기 비행로봇이 상기 구조물의 벽면에 착지하는 단계; 및 상기 비행로봇이 상기 구조물의 벽면을 따라 이동하여 임무를 수행하는 단계를 포함할 수 있다.


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    Title :

    Mechanism and Control Method of the Wall-Climbing Aerial Robot


    Additional title:

    벽면 이동을 위한 비행로봇 메커니즘 및 제어방법


    Contributors:

    Publication date :

    2017-05-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen




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