Cable-type wall-climbing robot distance measuring method and cable-type wall-climbing robot

Abstract

The invention relates to the technical field of distance measurement of wall-climbing robots, in particular to a distance measurement method of a cable-type wall-climbing robot and the cable-type wall-climbing robot, in the method, the cable-type wall-climbing robot comprises a rotating structure and an encoder, the rotating structure is connected with a rope connected with the cable-type wall-climbing robot and is used for synchronously moving with the cable-type wall-climbing robot, and the encoder is connected with the cable-type wall-climbing robot. The encoder is connected with the rotating structure. The method comprises the following steps: acquiring the pulse number of the encoder; and the moving distance of the cable type wall-climbing robot is determined according to the pulse number and the preset unit length corresponding to each pulse. According to the technical scheme, the mode that the encoder measures the moving distance is adopted, the influence of the external environment is small, the influence of the height is avoided, the stability during distance measurement is higher, the distance measurement range is larger, the testing precision of the encoder is higher, and more accurate height data can be provided.

Description

Technical Field

[0001] The present invention relates to the technical field of distance measurement of wall-climbing robots, and in particular to a distance measurement method of a rope-type wall-climbing robot and a rope-type wall-climbing robot. Background Art

[0002] Vertical walls need to be cleaned regularly. A vertical rope-type wall-climbing robot is a robot that can move up and down along a rope lowered from the top of a building. During the movement, the robot can climb the wall by cooperating with the winch and the rope. Specifically, the rope passes through the winch, and the friction between the rope and the winch makes the rope stationary relative to the winch. When the winch rotates, the rope will be continuously reeled in by the winch along the direction of the winch entrance, and at the same time, the excess rope will be released in the direction of the winch exit, so that the winch can climb on the rope.

[0003] During the movement, the robot needs to determine its exact height from the ground. Traditional height calculation methods include laser ranging, ultrasonic ranging, visual ranging, etc. However, these methods have certain limitations when moving in complex environments and on vertical walls. For example:

[0004] Barometric altimetry: uses a barometric pressure sensor to measure changes in air pressure and calculates the robot's height based on the relationship between air pressure and altitude. However, changes in atmospheric conditions may lead to inaccurate height calculations.

[0005] Positioning altimetry method: The positioning system receives satellite signals and obtains height information by calculating the distance between the robot and the satellite. However, when moving on a vertical wall, the height calculation of the positioning system is unstable due to the obstruction of the satellite signal.

[0006] Laser ranging method: Laser ranging is often used in traditional robots to obtain target distance, but it is easily affected by light reflection when moving on the wall, resulting in height measurement errors;

[0007] Ultrasonic ranging method: It uses the principle of ultrasonic wave propagation in the air to measure the distance, but it is easily interfered by multipath effect in complex environments, resulting in inaccurate height calculation;

[0008] Visual odometry: Use a camera or other visual sensor to obtain the robot's position relative to the wall and then calculate the height; however, measurement errors may occur due to the influence of ambient light. Summary of the invention

[0009] In order to solve at least the above technical problems existing in the prior art, the present invention provides a rope-type wall-climbing robot ranging method and a rope-type wall-climbing robot.

[0010] On one hand, the present invention provides a method for measuring distance of a rope-type wall-climbing robot, wherein the rope-type wall-climbing robot comprises a rotating structure and an encoder, wherein the rotating structure is connected to a rope connected to the rope-type wall-climbing robot and is used to move synchronously with the rope-type wall-climbing robot, and the encoder is connected to the rotating structure. The method comprises: obtaining the number of pulses of the encoder; and determining the moving distance of the rope-type wall-climbing robot according to the number of pulses and a preset unit length corresponding to each pulse.

[0011] In some embodiments, the rotating structure includes a winch for driving the rope-type wall-climbing robot to move along the rope, the encoder is connected to the winch, and the method includes: obtaining the number of pulses of the encoder on the winch.

[0012] In some embodiments, the rotating structure includes a driven wheel for moving synchronously with the rope-type wall-climbing robot, the rope drives the driven wheel to rotate, the encoder is connected to the driven wheel, and the method includes: obtaining the number of pulses of the encoder on the driven wheel.

[0013] In some embodiments, the step of obtaining the pulse number of the encoder also includes: synchronously obtaining status information of the rope-type wall-climbing robot and / or the rope, and when the status information is greater than a set threshold, the obtained pulse number of the encoder is a correction pulse number; the step of determining the moving distance of the rope-type wall-climbing robot based on the pulse number and the preset unit length corresponding to each pulse also includes: determining the moving distance of the rope-type wall-climbing robot based on the correction pulse number and the preset unit length corresponding to each pulse.

[0014] In some embodiments, the step of obtaining status information of the rope-type wall-climbing robot and / or the rope includes: obtaining torque value information of a driving motor of the rope-type wall-climbing robot and / or obtaining tension value information of the rope.

[0015] On the other hand, the present invention also provides a rope-type wall-climbing robot, including a robot body, a rotating structure, an encoder and a controller; the rotating structure is arranged on the robot body, the rotating structure moves synchronously with the robot body, and rotates along the rope connected to the robot body, the encoder is connected to the rotating structure and rotates synchronously with the rotating structure, and the encoder is used to obtain rotation information of the rotating structure; the controller is used to calculate the distance moved by the rotating structure along the rope based on the rotation information.

[0016] In some embodiments, the rotating structure includes a servo motor and a capstan, the output shaft of the servo motor is connected to the capstan and is used to drive the capstan to rotate; the encoder is connected to the capstan and is used to obtain rotation information of the capstan.

[0017] In some embodiments, the rotating structure includes a driven wheel, and the driven wheel rotates due to friction with the rope; the encoder is connected to the driven wheel and is used to obtain rotation information of the driven wheel.

[0018] In some embodiments, a state detection device is also included, which is used to detect state information of the robot body and / or the rope; when the state information is greater than a set threshold, the rotation information obtained is corrected rotation information, and the controller is used to calculate the distance moved by the rotating structure along the rope based on the corrected rotation information.

[0019] In some embodiments, the state detection device includes a torque detection sensor for detecting a torque value of a driving motor of the robot body and / or a tension detection sensor for detecting a tension value of the rope.

[0020] The present invention provides a method for measuring the distance of a rope-type wall-climbing robot and a rope-type wall-climbing robot. The rope-type wall-climbing robot is attached to a working surface, a driving motor is connected to a winch, and the winch rotates to achieve movement on the rope. By setting a rotating structure and an encoder, the rotating structure and the encoder can be driven by the rope to rotate. During the rotation process, the encoder generates pulses, and the moving distance of the winch is determined according to the number of pulses; and the invalid movement of the rope-type wall-climbing robot can be filtered according to the acquired state information to improve the accuracy of the distance calculation. The technical solution of the present invention uses an encoder to measure the moving distance, which is less affected by the external environment and is not affected by the height. The stability during distance measurement is higher and the distance measurement range is larger. The encoder has higher test accuracy and can provide more accurate height data. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, in which:

[0022] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0023] Figure 1 The process flow of the rope-type wall-climbing robot distance measurement method provided by the embodiment of the present invention is as follows: Figure 1 ;

[0024] Figure 2 The process flow of the rope-type wall-climbing robot distance measurement method provided by the embodiment of the present invention is as follows: Figure 2 ;

[0025] Figure 3A flowchart of the height zeroing of the rope-type wall-climbing robot ranging method provided in an embodiment of the present invention;

[0026] Figure 4 A side view of a rope-type wall-climbing robot provided in an embodiment of the present invention.

[0027] In the figure:

[0028] 10: robot body; 20: rotating structure; 30: encoder; 40: rope;

[0029] 11: guide wheel;

[0030] 21: Winch; 22: Driven wheel. DETAILED DESCRIPTION

[0031] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0032] An embodiment of the present invention provides a distance measurement method for a rope-type wall-climbing robot. The distance measurement method for the rope-type wall-climbing robot includes a rotating structure and an encoder. The rotating structure is connected to a rope connected to the rope-type wall-climbing robot and is used to move synchronously with the rope-type wall-climbing robot. The encoder is connected to the rotating structure.

[0033] The rope-type wall-climbing robot includes a negative pressure adsorption device, which is used to make the rope-type wall-climbing robot adsorb on the working surface, and the rope-type wall-climbing robot is connected to the rope through a winch. The specific connection method is described below; the winch is controlled to rotate, forming a driving form in which the winch climbs on the rope, thereby achieving the purpose of controlling the lifting and lowering of the rope-type wall-climbing robot.

[0034] An embodiment of the present invention provides a distance measurement method for a rope-type wall-climbing robot. Based on this, a rotating structure and an encoder are set. The rotating structure rotates as the rope-type wall-climbing robot moves, and the encoder is synchronously driven to rotate during the rotation.

[0035] like Figure 1 As shown, the distance measurement method of the rope-type wall-climbing robot includes:

[0036] Step S10: Obtain the number of pulses of the encoder. There is friction between the ropes of the rotating structure. The rope-type wall-climbing robot moves and the rotating structure moves synchronously, thereby realizing the rolling of the rotating structure on the rope. For each rotation of the rotating structure, the encoder generates a set number of pulses, and the climbing distance of the rope-type wall-climbing robot is subsequently calculated based on the number of pulses.

[0037] In the embodiment of the present invention, the rope-type wall-climbing robot climbs and moves on the rope via a winch, and the drive of the winch structure is completed by a servo motor, that is, the winch is a rotating structure on the rope-type wall-climbing robot, and the encoder can be set at this position, or the encoder can also be set on the servo motor used to drive the winch to rotate.

[0038] In the method provided in the embodiment of the present invention, step S10 is to obtain the pulse number of the encoder on the winch. Alternatively, in the embodiment of the present invention, a pulley structure can also be separately provided, and the pulley structure is a rotating structure, which is an external rotating structure of the pulley structure relative to the servo motor and the winch. The pulley structure is connected to the rope-type wall-climbing robot. When the rope-type wall-climbing robot climbs, the pulley structure moves synchronously. During the movement, due to the friction between the pulley structure and the rope, the pulley structure will climb on the rope.

[0039] As the pulley rotates, the encoder generates pulses. In the method provided by the embodiment of the present invention, step S10 is to obtain the number of pulses of the encoder on the driven wheel.

[0040] The rope has a set length. When the load is large, there will be a certain stretching rate, so there will also be errors. In addition, the winch will produce sliding friction during movement, so that the distance the winch rotates is not equal to the actual moving distance of the rope-type wall-climbing robot, which will also cause errors. When using an external encoder (setting up a pulley structure), the pulley structure connected to the encoder is driven by the rope to rotate, and the sliding friction between the pulley structure and the rope is smaller, so the error is smaller.

[0041] Step S20: Determine the moving distance of the rope-type wall-climbing robot according to the number of pulses and the preset unit length corresponding to each pulse. Each pulse corresponds to a unit length. After the precise number of pulses is determined, the moving distance of the rope-type wall-climbing robot can be obtained by multiplying the unit length by the number of pulses.

[0042] In the embodiment of the present invention, the climbing distance of the rope-type wall-climbing robot is determined by an encoder. This method is little or not affected by the external environment, and can provide more accurate height data. Moreover, the encoder moves synchronously with the rope-type wall-climbing robot and is not limited by the climbing height, so that the ranging range is larger and the versatility is higher.

[0043] In the embodiment of the present invention, when the rope-type wall-climbing robot is located on the ground and the rope is not completely straightened, the rope-type wall-climbing robot is started at this time, and the encoder will rotate with the rope, but in fact the rope-type wall-climbing robot does not produce a height change. In this state, if the above method is used, the calculated distance may have a certain deviation, so it is necessary to filter out interference factors and correct the number of encoder pulses.

[0044] like Figure 2 As shown, in the embodiment of the present invention, step S10': obtain the pulse number of the encoder, synchronously obtain the state information of the rope-type wall-climbing robot and / or the rope, when the state information is greater than the set threshold, the obtained pulse number of the encoder is the corrected pulse number. It can be seen that by adding a limiting factor, only under the set conditions, the obtained pulse number of the encoder is a valid pulse number, that is, a corrected pulse number.

[0045] For example, the torque value information of the driving motor of the rope-type wall-climbing robot and / or the tension value information of the rope are obtained. When the rope-type wall-climbing robot climbs, the torque value of the driving motor (servo motor) of the rope-type wall-climbing robot is large and maintained within a certain range, that is, when the driving motor torque reaches a certain value, it can be determined that the rope-type wall-climbing robot is in a climbing state; or, for example, when the rope changes from a relaxed state to a tensioned state, the tension of the rope is different, and when the tension of the rope reaches a certain level, it indicates that the rope-type wall-climbing robot is in a climbing state.

[0046] The state of the rope-type wall-climbing robot is determined by acquiring the state information of the torque of the driving motor and / or the tension of the rope. Therefore, only when the state information is within the set range, the pulse number of the encoder is a valid pulse, that is, the pulse number is corrected.

[0047] In the embodiment of the present invention, step S20': according to the correction pulse number and the preset unit length corresponding to each pulse, the moving distance of the rope-type wall-climbing robot is determined. The correction pulse number is the pulse number of the encoder obtained when the state information meets the set conditions, which indicates that the rope-type wall-climbing robot is in the climbing state under the set conditions. Therefore, the moving distance calculated according to the pulse number has higher accuracy.

[0048] like Figure 3 As shown, in the embodiment of the present invention, in order to avoid cumulative errors, the measured moving distance is cleared. As shown in the figure, when the moving direction of the rope-type wall-climbing robot is upward movement (upward movement can be determined according to the rotation direction of the driving motor), and the torque of the servo motor is less than the set threshold, it is considered that in this state, the rope-type wall-climbing robot has landed, the encoder height is cleared, and the next time the rope-type wall-climbing robot runs, the number of pulses is recalculated, thereby reducing the cumulative error.

[0049] An embodiment of the present invention provides a rope-type wall-climbing robot, including a robot body, a rotating structure, an encoder and a controller. The robot body is used for climbing and completing corresponding cleaning operations. For example, a cleaning device and an adsorption device are arranged on the robot body; the rotating structure and the encoder cooperate, and distance measurement is performed by rotating the encoder; the controller can calculate the moving distance of the robot body according to the number of pulses of the encoder and the preset unit length corresponding to each pulse.

[0050] The following describes in detail the various structures of the rope-type wall-climbing robot provided in the embodiments of the present invention, as well as the positional relationship and connection relationship between the various structures, in conjunction with the accompanying drawings.

[0051] like Figure 4 As shown, in the embodiment of the present invention, the robot body 10 includes a servo motor and a winch 21, and the power for the movement of the robot body 10 is provided by the servo motor and the winch 21. As shown in the figure, two sets of guide wheels 11 are arranged on one side of the winch 21, which respectively serve as the inlet of the layer rope 40 and the outlet of the rope 40. The rope 40 passes through one set of guide wheels 11, then winds around the winch 21, and finally passes through the other set of guide wheels 11. There is friction between the rope 40 and the winch 21, and as the winch 21 rotates, the robot body 10 can be moved along the rope 40.

[0052] In the embodiment of the present invention, the rotating structure 20 is provided on the robot body 10, the rotating structure 20 moves synchronously with the robot body 10, and rotates along the rope 40 connected to the robot body 10, the encoder 30 is connected to the rotating structure 20, and rotates synchronously with the rotating structure 20, and the encoder 30 is used to obtain the rotation information of the rotating structure 20. Among them, the servo motor and the capstan 21 are a rotating structure 20 on the robot body 10, the encoder 30 can be set on the capstan 21 or the servo motor, the rotation information is the rotation information of the capstan 21, and the encoder 30 rotates with the capstan 21 to generate pulses.

[0053] For example, an independent rotating structure 20 is provided on the robot body 10, and the rotating structure 20 is located outside the servo motor and the encoder 30 and is independently provided, such as Figure 4 As shown, the rotating structure 20 is a driven wheel 22, and the driven wheel 22 is not in a vertical position with respect to the rope 40. Therefore, the rope 40 needs to change a certain direction and then be wound around the driven wheel 22. The driven wheel 22 has a certain angle with the vertical direction of the rope 40. The driven wheel 22 is tensioned and retracted, so that there is a certain friction force between the driven wheel 22 and the rope 40. Therefore, when the robot body 10 moves, the driven wheel 22 will produce relative rotation with the rope 40.

[0054] The encoder 30 is set on the driven wheel 22, and the encoder 30 generates pulses as the driven wheel 22 rotates, that is, the rotation information of the driven wheel 22 is obtained through the encoder 30. The encoder 30 set on the driven wheel 22 is an external encoder 30. When the external encoder 30 (set on the driven wheel 22) is used, the driven wheel 22 connected to the encoder 30 is driven to rotate by the rope 40, and the sliding friction between the driven wheel 22 and the rope 40 is smaller, so the error is smaller.

[0055] The controller is used to calculate the distance that the rotating structure 20 moves along the rope 40 according to the rotation information. The rotation information is the number of pulses obtained by the encoder 30. The controller pre-stores the unit length corresponding to each pulse. After determining the number of pulses and the unit length, the distance moved by the robot body 10 can be confirmed.

[0056] In the embodiment of the present invention, the position or number of the rotating structure 20 is flexibly designed, and more possible settings can be provided, for example, single-side measurement, double-side measurement, single-side dual encoder 30 measurement, etc.

[0057] In an embodiment of the present invention, the rope-type wall-climbing robot also includes a state detection device, which is used to detect state information of the robot body 10 and / or the rope 40; when the state information is greater than a set threshold, the obtained rotation information is the corrected rotation information, and the controller is used to calculate the distance moved by the rotating structure 20 along the rope 40 based on the corrected rotation information.

[0058] In order to determine a more accurate number of pulses and filter out invalid pulses, the rotation information can be corrected through the state information. For example, when the rope-type wall-climbing robot is on the ground and the rope 40 is not completely straightened, the rope-type wall-climbing robot is started at this time, and the encoder 30 will rotate with the rope 40, but in fact the rope-type wall-climbing robot does not produce a height change. In this state, if the current number of pulses is used to calculate the distance moved by the robot body 10, there may be a certain deviation. Therefore, it is necessary to filter out interference factors and correct the number of pulses of the encoder 30.

[0059] Specifically, the state detection device includes a torque detection sensor for detecting the torque value of the driving motor of the robot body 10 and / or a tension detection sensor for detecting the tension value of the rope 40. When the robot body 10 is climbing, the torque of the driving motor or the tension of the rope 40 will change. At this time, one of the information obtained can further determine the operating state of the robot body 10; that is, the torque detection sensor obtains the torque value, and the tension detection sensor obtains the tension value of the rope 40. If the detected value is within the set range (the range when the robot is running), the current operating state of the robot body can be determined.

[0060] In this state, the pulse number of the encoder 30 obtained is recorded. This part of the pulse number is the effective pulse number, that is, the pulse number generated by the encoder 30 when the robot body 10 climbs, and this pulse number is more accurate.

[0061] The present invention provides a method for measuring distance of a rope-type wall-climbing robot and a rope-type wall-climbing robot. The rope-type wall-climbing robot is attached to a working surface, a driving motor is connected to a winch 21, and the winch 21 rotates to realize movement on a rope 40. By setting a rotating structure 20 and an encoder 30, the rotating structure 20 and the encoder 30 can be driven by the rope 40 to rotate. During the rotation process, the encoder 30 generates pulses, and the moving distance of the winch 21 is determined according to the number of pulses; and the invalid movement of the rope-type wall-climbing robot can also be filtered according to the acquired state information to improve the accuracy of distance calculation. The technical solution of the present invention uses the encoder 30 to measure the moving distance, which is less affected by the external environment and is not affected by the height. The stability during distance measurement is higher and the distance measurement range is larger. The test accuracy of the encoder 30 is higher, and more accurate height data can be provided.

[0062] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0063] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0064] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for measuring distance using a rope-type wall-climbing robot, characterized in that: The rope-type wall-climbing robot distance measurement includes a rotating structure and an encoder, the rotating structure is connected to the rope connected to the rope-type wall-climbing robot and is used to move synchronously with the rope-type wall-climbing robot, the encoder is connected to the rotating structure, and the method includes: Obtaining the number of pulses of the encoder; The moving distance of the rope-type wall-climbing robot is determined according to the number of pulses and a preset unit length corresponding to each pulse.

2. The method for measuring distance using a rope-type wall-climbing robot according to claim 1, characterized in that: The rotating structure includes a winch for driving the rope-type wall-climbing robot to move along the rope, the encoder is connected to the winch, and the method includes: The pulse number of the encoder on the capstan is obtained.

3. The method for measuring distance using a rope-type wall-climbing robot according to claim 1, characterized in that: The rotating structure includes a driven wheel for synchronously moving with the rope-type wall-climbing robot, the rope drives the driven wheel to rotate, the encoder is connected to the driven wheel, and the method includes: The pulse number of the encoder on the driven wheel is obtained.

4. The method for measuring distance using a rope-type wall-climbing robot according to any one of claims 1 to 3, characterized in that: The step of obtaining the number of pulses of the encoder also includes: Synchronously acquiring status information of the rope-type wall-climbing robot and / or the rope, and when the status information is greater than a set threshold, the pulse number of the encoder obtained is the correction pulse number; The step of determining the moving distance of the rope-type wall-climbing robot according to the number of pulses and the preset unit length corresponding to each pulse also includes: The moving distance of the rope-type wall-climbing robot is determined according to the correction pulse number and the preset unit length corresponding to each pulse.

5. The method for measuring distance using a rope-type wall-climbing robot according to claim 4, characterized in that: The step of obtaining the status information of the rope-type wall-climbing robot and / or the rope comprises: The torque value information of the driving motor of the rope-type wall-climbing robot is obtained and / or the tension value information of the rope is obtained.

6. A rope-type wall-climbing robot, characterized in that: It comprises a robot body (10), a rotating structure (20), an encoder (30) and a controller; The rotating structure (20) is arranged on the robot body (10), the rotating structure (20) moves synchronously with the robot body (10), and rotates along a rope (40) connected to the robot body (10), the encoder (30) is connected to the rotating structure (20), and rotates synchronously with the rotating structure (20), and the encoder (30) is used to obtain rotation information of the rotating structure (20); The controller is used to calculate the distance that the rotating structure (20) moves along the rope (40) according to the rotation information.

7. The rope-type wall-climbing robot according to claim 6, characterized in that: The rotating structure (20) comprises a servo motor and a capstan (21), wherein an output shaft of the servo motor is connected to the capstan (21) and is used to drive the capstan (21) to rotate; The encoder (30) is connected to the capstan (21) and is used to obtain rotation information of the capstan (21).

8. The rope-type wall-climbing robot according to claim 6, characterized in that: The rotating structure (20) comprises a driven wheel (22), and the driven wheel (22) rotates due to friction with the rope (40); The encoder (30) is connected to the driven wheel (22) and is used to obtain rotation information of the driven wheel (22).

9. The rope-type wall-climbing robot according to any one of claims 6 to 8, characterized in that: It also includes a state detection device, which is used to detect state information of the robot body (10) and / or the rope (40); When the state information is greater than a set threshold, the rotation information obtained is correction rotation information, and the controller is used to calculate the distance that the rotation structure (20) moves along the rope (40) according to the correction rotation information.

10. The rope-type wall-climbing robot according to claim 9, characterized in that: The state detection device comprises a torque detection sensor for detecting the torque value of the driving motor of the robot body (10) and / or a tension detection sensor for detecting the tension value of the rope (40).

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