Amphibious three-mode flying adsorption wall-climbing robot and control method

Abstract

The invention discloses an amphibious three-mode flying adsorption wall-climbing robot and a control method, and belongs to the field of specialized robots. The robot comprises a flight system, a wall adsorption system, a wall crawling system, a control system and an airborne task system. The control system is used for controlling the robot to fly in the air, adsorb on the wall surface and crawl on the wall surface; the airborne task system transmits reconnaissance content to the ground control center through a camera and a signal transmitter; a four-rotor type flight system and a suction cup of the wall adsorption system are integrated on the same flight platform, the robot can achieve amphibious movement in the air and on the wall, the same power system is used for movement in the air and on the wall, and the robot is low in system complexity, high in reliability and long in wall movement time. According to the flying adsorption wall-climbing robot, flexible movement in various complex environments such as the air and the wall surface can be achieved, task time is effectively prolonged, and meanwhile the robot is simple, reliable and wide in application range.

Description

technical field [0001] The invention belongs to the field of special robots, and specifically relates to an amphibious three-mode flying adsorption wall-climbing robot and a control method, which can complete amphibious movements in the air and on the wall, and has three modes of air flight, wall crawling and wall adsorption. robot. Background technique [0002] In the field of modern military defense and public security, more and more robots perform dangerous special tasks such as reconnaissance, surveillance, and detection. Robots also have a wider demand. [0003] The Morgan T. Pope team of Stanford University in the United States has successfully developed a robot SCAMP that can fly in the air and crawl on vertical walls (see reference [1] Pope M, Kimes C, Jiang H, et al.A Multimodal Robot for Perching and Climbing on Vertical Outdoor Surfaces [J]. IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society, 2017, 33(1): 38-48.). The bioni...

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Problems solved by technology

[0007] Based on the existing research and invention on the flying adsorption wall-climbing robot, there are disadvantages that the adaptability to the wall environment is not strong or the running time on the wall is not effectively extended compared with the flight in the air. The present invention proposes an amphibious three-mode flying adsorption The purpose of the wall-climbing robot and its control method is to develop an amphibious three-mode flight adsorption crawler that can adapt to complex air and wall environments, and the power of the wall operation is much lower than that of air flight, which can effectively extend the battery life of the robot. wall robot

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