Motion control method of wall-climbing robot

Abstract

The present invention discloses a motion control method for a wall-climbing robot. First, the initial posture information of the body is determined, and the posture information of the body is obtained. According to the initial posture information, the posture information is parsed to obtain the yaw angle of the body; the first wheel speed of the body is obtained from the first wheel encoder, and the second wheel speed of the body is obtained from the second wheel encoder. The first wheel speed is subtracted from the second wheel speed to obtain the wheel differential. The robot posture change is judged according to the wheel differential. According to the wheel differential and the yaw angle, the fan speed of the fixed duct, the speed and rotation direction of the first wheel, and the speed and rotation direction of the second wheel are adjusted to correct the yaw angle, so that the yaw angle is corrected and the robot's motion direction is maintained stable.

Description

Technical Field

[0001] The embodiments of the present invention relate to, but are not limited to, the field of robotics, and in particular to a motion control method for a wall-climbing robot. Background Art

[0002] With the development of intelligent equipment, robots are constantly entering more fields to replace manual operations, especially in high-risk areas. At present, at tunnel construction sites, due to the environmental problems of high temperature, high humidity, and harmful gases in some tunnel construction environments, and at the same time, some construction needs to be carried out on the side walls of the tunnel, robots are used to replace manual labor to enter the tunnel for operations. Tunnel operations require a lot of measurement, scanning, and line laying. Some measurement work requires robots to move in a straight line along the side walls of the tunnel for measurement. However, since the side walls of the tunnel are mostly concrete or shotcrete, and are attached with a large amount of mud, sand and dust, the surface friction coefficient of the side walls of the tunnel changes randomly and dramatically. Therefore, when the robot is measuring on the side walls of the tunnel, it is difficult to maintain continuous linear motion, and the robot posture will rotate or drift due to wheel slippage, that is, yaw. The unstable direction cannot guarantee the accuracy of the measurement data. Therefore, in the related technologies of robot motion control, it is difficult to solve the yaw problem caused by wheel slippage during robot movement, and it is impossible to maintain a stable direction of movement. Summary of the Invention

[0003] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0004] An embodiment of the present invention provides a motion control method for a wall-climbing robot. The method detects the wheel speed and yaw angle to determine the vehicle yaw, and promptly corrects the robot's yaw angle to maintain a stable motion direction.

[0005] An embodiment of the present invention provides a motion control method for a wall-climbing robot, which is applied to a wall-climbing robot. The wall-climbing robot includes a main body, a first wheel encoder for detecting the rotational speed of a wheel on one side of the main body, a second wheel encoder for detecting the rotational speed of a wheel on the other side of the main body, and at least one fixed duct for providing pressure. The method includes: determining initial posture information of the main body; parsing the posture information to obtain the yaw angle of the main body based on the initial posture information; obtaining the first wheel rotational speed of the main body from the first wheel encoder, obtaining the second wheel rotational speed of the main body from the second wheel encoder, calculating the difference between the first wheel rotational speed and the second wheel rotational speed, and obtaining the wheel differential; obtaining the posture information of the main body, and adjusting the fan speed of the fixed duct, the rotational speed and rotation direction of the first wheel, and the rotational speed and rotation direction of the second wheel based on the wheel differential and the yaw angle to correct the yaw angle.

[0006] According to the above-mentioned embodiments of the present application, at least the following beneficial effects are achieved: first, the initial posture information of the body is determined, and the posture information of the body is obtained. According to the initial posture information, the posture information is parsed to obtain the yaw angle of the body; the first wheel speed of the body is obtained from the first wheel encoder, and the second wheel speed of the body is obtained from the second wheel encoder. The first wheel speed is subtracted from the second wheel speed to obtain the wheel differential, and the robot posture change is judged according to the wheel differential. According to the wheel differential and the yaw angle, the fan speed of the fixed duct, the speed and rotation direction of the first wheel, and the speed and rotation direction of the second wheel are adjusted to correct the yaw angle so as to maintain a stable movement direction of the robot.

[0007] According to some embodiments of the present invention, the fan speed of the fixed duct, the speed and rotation direction of the first wheel, and the speed and rotation direction of the second wheel are adjusted according to the wheel differential and the yaw angle, and the yaw angle is corrected, including: when the wheel differential is not 0, calculating the difference between the yaw angle and a preset maximum yaw angle to obtain a yaw angle difference; when the yaw angle difference is 0, stopping the rotation of the first wheel and the second wheel; when the yaw angle difference is not 0, adjusting the speed and rotation direction of the first wheel, and the speed and rotation direction of the second wheel according to the yaw angle to correct the yaw angle.

[0008] According to some embodiments of the present invention, when the yaw angle difference is not 0, the rotation speed and rotation direction of the first wheel and the rotation speed and rotation direction of the second wheel are adjusted according to the yaw angle to correct the yaw angle, including: increasing the fan speed of the fixed duct; calculating the yaw angle change rate according to the yaw angle; adjusting the rotation speed and rotation direction of the first wheel and the rotation speed and rotation direction of the second wheel according to the yaw angle change rate to correct the yaw angle.

[0009] According to some embodiments of the present invention, adjusting the rotation speed and rotation direction of the first wheel and the rotation speed and rotation direction of the second wheel according to the yaw angle change rate to correct the yaw angle includes: when the yaw angle change rate is 0, maintaining the fan speed of the fixed duct, adjusting the rotation speed and rotation direction of the first wheel and the rotation speed and rotation direction of the second wheel according to the yaw angle to correct the yaw angle; when the yaw angle change rate is not 0, increasing the fan speed of the fixed duct to make the yaw angle change rate 0.

[0010] According to some embodiments of the present invention, when the yaw angle change rate is 0, the fan speed of the fixed duct is maintained, the speed and rotation direction of the first wheel and the speed and rotation direction of the second wheel are adjusted according to the yaw angle, and the yaw angle is corrected, including: when the yaw angle changes clockwise, the speed and rotation direction of the second wheel are changed so that the second wheel rotates in the opposite direction to the first wheel, and the yaw angle is corrected to 0; when the yaw angle changes counterclockwise, the speed and rotation direction of the first wheel are changed so that the first wheel rotates in the opposite direction to the second wheel, and the yaw angle is corrected to 0.

[0011] According to some embodiments of the present invention, when the yaw angle is a clockwise change angle, changing the rotation direction of the second wheel speed so that the second wheel rotates in the opposite direction to the first wheel and the yaw angle is corrected to 0 includes: when the yaw angle is corrected to 0, changing the rotation direction of the second wheel speed so that the second wheel rotates in the same direction as the first wheel.

[0012] According to some embodiments of the present invention, when the yaw angle changes counterclockwise, the direction of rotation of the first wheel speed is changed so that the first wheel and the second wheel rotate in opposite directions, and the yaw angle is corrected to 0. Correcting the yaw angle to 0 includes: when the yaw angle is corrected to 0, changing the direction of rotation of the first wheel speed so that the first wheel and the second wheel rotate in the same direction.

[0013] According to some embodiments of the present invention, the wall-climbing robot also includes a body encoder for detecting the displacement data of the body, and adjusting the rotation speed and rotation direction of the first wheel, the rotation speed and rotation direction of the second wheel according to the wheel differential and the yaw angle, and correcting the yaw angle, including: when the wheel differential value is 0, calculating the wheel linear velocity according to the wheel radius; obtaining the displacement data of the body, calculating the difference between the wheel linear velocity and the displacement data, and obtaining the displacement difference; when the displacement difference is not 0, adjusting the rotation speed and rotation direction of the first wheel, the rotation speed and rotation direction of the second wheel according to the displacement data.

[0014] According to some embodiments of the present invention, when the displacement difference is not 0, the rotation speed and rotation direction of the first wheel and the rotation speed and rotation direction of the second wheel are adjusted according to the displacement data, including: when the displacement data is 0, increasing the fan speed of the fixed duct and stopping the rotation of the first wheel and the second wheel; when the displacement data is not 0, increasing the fan speed of the fixed duct to make the displacement difference 0.

[0015] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation to the technical solution of the present invention.

[0017] Figure 1 This is a main flow chart of a motion control method for a wall-climbing robot provided by one embodiment of the present invention;

[0018] Figure 2 is a schematic diagram of a wall-climbing robot provided by one embodiment of the present invention;

[0019] Figure 3 Schematic diagram of the maximum yaw angle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] It should be understood that in the description of the embodiments of the present invention, "multiple" (or multiple) means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, and "above," "below," and "within" are understood to include the number itself. The terms "first," "second," and so on are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or implicitly indicating the number of the indicated technical features, or implicitly indicating the order of the indicated technical features.

[0022] With the development of intelligent equipment, robots are constantly entering more fields to replace manual operations, especially in high-risk areas. At present, at tunnel construction sites, due to the environmental problems of high temperature, high humidity, and harmful gases in some tunnel construction environments, and at the same time, some construction needs to be carried out on the tunnel side walls, robots are used to replace manual labor to enter the tunnel for operations. Tunnel operations require a lot of measurement, scanning, and line laying. Some measurement work requires the robot to move in a straight line along the tunnel side walls for measurement. However, since the tunnel side walls are mostly concrete or shotcrete, and are attached with a large amount of mud, sand and dust, the surface friction coefficient of the tunnel side walls changes randomly and drastically. Therefore, when the robot is measuring on the tunnel side walls, it is difficult to maintain continuous linear motion. The robot's posture will rotate or drift due to wheel slippage, that is, yaw. The direction is unstable and the accuracy of the measurement data cannot be guaranteed. Therefore, in response to the existing problems, an embodiment of the present invention provides a wall-climbing robot motion control method. By detecting the wheel speed and yaw angle, the vehicle body yaw is judged, and the robot's yaw angle is corrected in time to keep the movement direction stable. The wall-climbing robot motion control method provided by an embodiment of the present invention is applied to the wall-climbing robot, which includes a main body 100, a first wheel encoder for detecting the wheel speed on one side of the main body 100, a second wheel encoder for detecting the wheel speed on the other side of the main body 100, and at least one fixed duct 200 for providing pressure. First, the initial posture information of the main body 100 is determined, and the posture information of the main body 100 is obtained. Based on the initial posture information, the posture information is parsed to obtain the yaw angle of the main body 100; the first wheel speed of the main body 100 is obtained from the first wheel encoder, and the second wheel speed of the main body 100 is obtained from the second wheel encoder. The first wheel speed is subtracted from the second wheel speed to obtain the wheel differential, and the robot posture change is judged according to the wheel differential. According to the wheel differential and the yaw angle, the fan speed of the fixed duct 200, the speed and rotation direction of the first wheel 300, and the speed and rotation direction of the second wheel 400 are adjusted to correct the yaw angle, so that the yaw angle is corrected and the robot maintains a stable motion direction.

[0023] like Figure 1 As shown, Figure 1 This is a flow chart of a wall-climbing robot motion control method provided by one embodiment of the present invention. The wall-climbing robot motion control method includes but is not limited to the following steps:

[0024] Step S100, determining the initial posture information of the main body 100;

[0025] Step S200, obtaining the posture information of the main body 100, and analyzing the posture information based on the initial posture information to obtain the yaw angle of the main body 100;

[0026] Step S300, obtaining a first wheel speed of the body 100 from a first wheel encoder, obtaining a second wheel speed of the body 100 from a second wheel encoder, calculating a difference between the first wheel speed and the second wheel speed to obtain a wheel differential speed;

[0027] In step S400 , the fan speed of the fixed duct 200 , the speed and rotation direction of the first wheel 300 , and the speed and rotation direction of the second wheel 400 are adjusted according to the wheel differential and the yaw angle to correct the yaw angle.

[0028] It is understandable that if Figure 2-3 As shown, Figure 2 This is a schematic diagram of a wall-climbing robot provided in this embodiment. First, the initial posture information of the main body 100 is determined, that is, the posture of the robot when it moves in the horizontal direction after being attached to the wall. Specifically, in this embodiment, a six-axis gyroscope can be used to measure the posture information of the robot main body 100. The initial posture information of the main body 100 is the posture information when the robot starts to move after being adsorbed on the wall. In this embodiment, the initial posture of the robot is moving in the horizontal direction; the posture information of the main body 100 is obtained, that is, the posture information after the robot moves. According to the initial posture information, the posture information is analyzed to obtain the yaw angle of the main body 100, such as Figure 3 As shown, Figure 3 : is a schematic diagram of the maximum yaw angle. The yaw angle is the angle between the movement direction and the horizontal plane when the robot moves on the wall. Because the initial posture is moving in the horizontal direction, the angle between the initial forward direction and the horizontal plane is 0 degrees, that is, the yaw angle is 0 degrees; the first wheel speed of the body 100 is obtained from the first wheel encoder, and the second wheel speed of the body 100 is obtained from the second wheel encoder. Specifically, the wheel speed is obtained by the angular velocity of the wheel rotation, and the first wheel speed is subtracted from the second wheel speed to obtain the wheel differential. When there is a wheel differential between the wheels, it means that one wheel is slipping. Therefore, the robot body 100 will have posture rotation and position deviation, and cannot maintain a stable straight line motion direction. The robot posture change is judged according to the wheel differential. According to the wheel differential and the yaw angle, the fan speed of the fixed duct 200, the speed and rotation direction of the first wheel 300, and the speed and rotation direction of the second wheel 400 are adjusted to correct the yaw angle, so that the yaw angle is corrected and the robot maintains a stable motion direction.

[0029] It can be understood that when the wheel differential is not 0, there is wheel slippage. Generally speaking, the speed of the slipping wheel will be faster than that of the non-slipping wheel. The local friction coefficient of the wall is uneven, and the friction coefficients on both sides of the robot body 100 are different. The friction force of the wheel on one side breaks through the maximum static friction and becomes sliding friction. According to the wheel differential, it is possible to preliminarily determine in which direction the posture of the robot body 100 is rotating, that is, the direction of the yaw angle change, calculate the difference between the yaw angle and the preset maximum yaw angle, obtain the yaw angle difference, and prevent the body 100 from rotating. Excessive yaw exceeds the preset maximum yaw angle, so the preset maximum yaw angle is set as the maximum yaw limit to prevent excessive yaw, which leads to serious measurement errors. The yaw of the main body 100 is judged by the yaw angle difference. When the yaw degree of the main body 100 does not exceed the preset maximum yaw angle, the movement can be controlled, the posture of the main body 100 is adjusted, and the yaw angle of the main body 100 is corrected. When the yaw degree of the main body 100 reaches the preset maximum yaw angle, it is not suitable to adjust the main body 100, so the machine needs to enter an emergency state.

[0030] When the yaw angle difference is 0, that is, the machine yaw angle reaches the preset maximum yaw angle, it is no longer suitable for posture correction of the robot. At this time, the robot will enter an emergency state and stop the rotation of the first wheel 300 and the second wheel 400.

[0031] When the yaw angle difference is not 0, that is, the yaw angle of the robot body 100 is within the range of the preset maximum yaw angle, the posture of the robot body 100 can be adjusted. Therefore, the speed and rotation direction of the first wheel 300 and the speed and rotation direction of the second wheel 400 are adjusted according to the yaw angle to correct the yaw angle.

[0032] It can be understood that when the yaw angle difference is not zero, the speed and rotation direction of the first wheel 300 and the speed and rotation direction of the second wheel 400 are adjusted according to the yaw angle to correct the yaw angle. Specifically, the fan speed of the fixed duct 200 is increased to increase the pressure of the robot body 100 on the wall, that is, to increase the wheel friction. When the wheel friction increases, it will gradually prevent the wheel from slipping. The yaw angle change rate is calculated based on the yaw angle. The yaw angle change rate is used to determine whether the wheel slip problem is improved after increasing the fan speed of the fixed duct 200, that is, increasing the pressure between the wheel and the wall. For example, when the yaw angle change rate remains unchanged, it indicates that the slip has not improved, the posture of the robot body continues to deflect, and the increased pressure of the fan of the fixed duct 200 has not yet improved the wheel slip problem. When the yaw angle change rate gradually decreases, it indicates that the increased pressure of the fan of the fixed duct 200 is effective in preventing tire slip, that is, the friction is increased, the slip is improved, and the speed of the other side without slipping is decreasing. Therefore, the rotation speed and the rotation direction of the first wheel 300 and the rotation speed and the rotation direction of the second wheel 400 can be adjusted according to the yaw angle change rate to correct the yaw angle.

[0033] It can be understood that the speed and rotation direction of the first wheel 300 and the speed and rotation direction of the second wheel 400 are adjusted according to the yaw angle change rate. When the yaw angle change rate is 0, that is, the pressure increased by the fan of the fixed duct 200 is large enough to improve the problem of wheel slippage and stop slipping, and the slipping wheel is restored from sliding friction to static friction. Therefore, the fan speed of the fixed duct 200 is maintained, that is, the pressure is kept unchanged. At this time, the yaw angle of the robot body 100 no longer changes, and the posture of the robot body 100 remains unchanged. At this time, the speed and rotation direction of the first wheel 300 and the speed and rotation direction of the second wheel 400 are adjusted according to the yaw angle to correct the yaw angle; similarly, when the yaw angle change rate is not 0, it means that the pressure increased by the fan of the fixed duct 200 is not enough to stop the wheel slippage. Therefore, the fan speed of the fixed duct 200 is increased, and the pressure between the wheel and the wall is increased, that is, the friction is increased, so that the yaw angle change rate is 0.

[0034] It is understandable that when the yaw angle change rate is 0, the fan speed of the fixed duct 200 is maintained. At this time, the posture of the robot body 100 remains unchanged, the yaw angle remains unchanged, the wheels no longer slip, and the body 100 moves in the latest direction indicated by the yaw angle. At this time, the robot's posture needs to be corrected so that the robot's yaw angle is corrected to 0, so that the forward direction of the robot body 100 returns to the initial posture information, that is, the angle between the forward direction and the horizontal plane is 0 degrees. Therefore:

[0035] When the yaw angle changes clockwise, such as Figure 3As shown, the angle formed by clockwise rotation with the horizontal line is a positive yaw angle, and the angle formed by counterclockwise rotation with the horizontal line is a negative yaw angle. Therefore, when the yaw angle changes clockwise, the posture of the robot body 100 rotates in the clockwise direction, that is, the second wheel 400 previously slipped, and the rotation direction of the second wheel speed was changed so that the second wheel 400 rotated in the opposite direction to the first wheel 300. At this time, the robot body 100 will rotate counterclockwise, and gradually adjust the posture of the body 100 so that the yaw angle is corrected to 0, that is, the angle between the forward direction and the horizontal plane is 0 degrees; similarly, when the yaw angle changes counterclockwise, the posture of the robot body 100 rotates in the counterclockwise direction, that is, the first wheel 300 previously slipped, and the rotation direction of the first wheel speed was changed so that the first wheel 300 rotated in the opposite direction to the second wheel 400. At this time, the robot body 100 will rotate clockwise, and gradually adjust the posture of the body 100 so that the yaw angle is corrected to 0, that is, the angle between the forward direction and the horizontal plane is 0 degrees.

[0036] It is understood that when the yaw angle changes clockwise, meaning the robot body 100 undergoes a clockwise rotation, and when the yaw angle is corrected to 0, the second wheel speed is changed so that the second wheel 400 rotates in the same direction as the first wheel 300. At this point, the first wheel 300 and the second wheel 400 move at the same speed and in the same direction, the robot advances horizontally, and its posture is corrected. Similarly, when the yaw angle changes counterclockwise, meaning the robot body 100 undergoes a counterclockwise rotation, and when the yaw angle is corrected to 0, the first wheel speed is changed so that the first wheel 300 and the second wheel 400 rotate in the same direction.

[0037] It can be understood that the wall-climbing robot also includes a body encoder for detecting the displacement data of the main body 100. When the wheel differential value is 0, that is, the rotation speeds of the two wheels are the same, the wheel linear velocity is calculated based on the wheel radius; the displacement data of the main body 100 is obtained. In this embodiment, the body encoder is fixed to the vehicle body and is provided with wheels in contact with the ground. The wheel rotates to calculate the displacement data of the robot body 100, and the difference between the wheel linear velocity and the displacement data is calculated to obtain the displacement difference. It is judged whether the wheels of the vehicle body are rotating, but the robot body 100 does not move, indicating that a complete slip has occurred at this time, and the wheel is in a completely slipping state and cannot move forward; or the wheel rotation speed is greater than the movement speed of the robot body 100, which indicates that the wheel is slipping, but has not yet reached a complete slip in place, and is moving forward while slipping. This state causes serious wear on the wheel and needs to be dealt with in time. When the displacement data is 0, that is, the robot is in a completely slipping state and stops moving on the spot, but no yaw problem occurs. At this time, the tire slipping on the spot causes serious tire damage. At this time, the fan speed of the fixed duct 200 is increased, the robot's adsorption to the wall is enhanced, the safety of the robot is protected, the rotation of the first wheel 300 and the second wheel 400 is stopped, the wheel temperature is reduced, and the robot enters the alarm mode and waits for manual inspection; when the displacement difference is not 0, that is, the robot is not in a completely slipping state of the wheel, but is in a state of slipping and moving. The friction of the wall is still sufficient to provide some forward power for the wheel. At this time, the fan speed of the fixed duct 200 is increased, and the pressure between the robot and the wall is increased, that is, the friction is increased to prevent the wheel from slipping until the wheel stops slipping. At this time, the displacement difference is 0, that is, the linear velocity of the wheel is the same as the moving speed of the vehicle body.

[0038] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above implementation. Those skilled in the art can also make various equivalent modifications or substitutions under the shared conditions that do not violate the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A motion control method for a wall-climbing robot, characterized in that: The wall-climbing robot includes a body, a first wheel encoder for detecting the rotational speed of a wheel on one side of the body, a second wheel encoder for detecting the rotational speed of a wheel on the other side of the body, and at least one fixed duct for providing pressure. The method includes: Determining initial posture information of the body; Acquiring posture information of the main body, and analyzing the posture information according to the initial posture information to obtain the yaw angle of the main body; Obtaining a first wheel speed of the main body from the first wheel encoder, obtaining a second wheel speed of the main body from the second wheel encoder, and calculating a difference between the first wheel speed and the second wheel speed to obtain a wheel differential speed; adjusting the fan speed of the fixed duct, the speed and rotation direction of the first wheel, and the speed and rotation direction of the second wheel according to the wheel differential and the yaw angle to correct the yaw angle; The adjusting the fan speed of the fixed duct, the speed and rotation direction of the first wheel, and the speed and rotation direction of the second wheel according to the wheel differential and the yaw angle to correct the yaw angle includes: When the wheel differential is not 0, calculating the difference between the yaw angle and a preset maximum yaw angle to obtain a yaw angle difference; When the yaw angle difference is 0, stopping the rotation of the first wheel and the second wheel; When the yaw angle difference is not zero, increasing the fan speed of the fixed duct; calculating the yaw angle change rate based on the yaw angle; adjusting the speed and rotation direction of the first wheel and the speed and rotation direction of the second wheel based on the yaw angle change rate to correct the yaw angle; The adjusting the rotation speed and rotation direction of the first wheel and the rotation speed and rotation direction of the second wheel according to the yaw angle change rate to correct the yaw angle includes: When the yaw angle change rate is 0, maintaining the fan speed of the fixed duct, adjusting the speed and rotation direction of the first wheel and the speed and rotation direction of the second wheel according to the yaw angle, and correcting the yaw angle; When the yaw angle change rate is not 0, the fan speed of the fixed duct is increased.

2. The method according to claim 1, characterized in that When the yaw angle change rate is zero, maintaining the fan speed of the fixed duct, adjusting the speed and rotation direction of the first wheel and the speed and rotation direction of the second wheel according to the yaw angle, and correcting the yaw angle, includes: When the yaw angle changes clockwise, the rotation direction of the second wheel is changed so that the second wheel rotates in the opposite direction to the first wheel, and the yaw angle is corrected to 0; When the yaw angle changes counterclockwise, the rotation direction of the first wheel is changed so that the first wheel and the second wheel rotate in opposite directions, and the yaw angle is corrected to 0.

3. The method according to claim 2, characterized in that When the yaw angle changes clockwise, changing the rotation direction of the second wheel so that the second wheel rotates in the opposite direction to the first wheel and the yaw angle is corrected to 0 includes: When the yaw angle is corrected to 0, the rotation direction of the second wheel is changed so that the second wheel rotates in the same direction as the first wheel.

4. The method according to claim 3, characterized in that When the yaw angle changes counterclockwise, changing the rotation direction of the first wheel speed so that the first wheel rotates in the opposite direction to the second wheel, and correcting the yaw angle to 0, includes: When the yaw angle is corrected to 0, the rotation direction of the first wheel is changed so that the rotation direction of the first wheel is the same as that of the second wheel.

5. The method according to claim 1, wherein The wall-climbing robot further includes a body encoder for detecting the body displacement data. The adjusting the rotation speed and rotation direction of the first wheel and the rotation speed and rotation direction of the second wheel according to the wheel differential and the yaw angle, and correcting the yaw angle, includes: When the wheel differential value is 0, the wheel linear speed is calculated according to the wheel radius; Acquiring the displacement data of the body, calculating the difference between the wheel linear velocity and the displacement data, and obtaining a displacement difference; When the displacement difference is not 0, the rotation speed and the rotation direction of the first wheel and the rotation speed and the rotation direction of the second wheel are adjusted according to the displacement data.

6. The method according to claim 5, characterized in that When the displacement difference is not zero, adjusting the rotation speed and the rotation direction of the first wheel and the rotation speed and the rotation direction of the second wheel according to the displacement data includes: When the displacement data is 0, increasing the fan speed of the fixed duct and stopping the rotation of the first wheel and the second wheel; When the displacement data is not 0, the fan speed of the fixed duct is increased to make the displacement difference 0.

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