Wall-climbing robot and positioning method thereof

Abstract

The application provides a wall-climbing robot based on a safety cable and a positioning method thereof, comprising: using a calculation of a derivation formula to design a safety cable for preventing the wall-climbing robot from falling as a positioning basis to position the wall-climbing robot; using a sensor to obtain a safety cable length, two included angles of the safety cable and xyz coordinates and an Euler angle of the robot itself from the derivation formula, so as to calculate x, y and z coordinates of the robot relative to a safety cable winch origin, the x, y and z coordinates can find a surface shape of a route of the robot, and can also find a curved surface and a scanning boundary of a working route or an area of the robot at any position, the scanning boundary can provide path planning of the robot when walking, so that engineering work can be covered in the scanning boundary range of the curved surface, and the engineering work is not missed. The application improves positioning accuracy of the wall-climbing robot working on a facade, and is not easily disturbed by the surrounding environment.

Description

Technical Field

[0001] This invention relates to the field of spatial positioning technology, and in particular, to the positioning of a wall-climbing robot working on a vertical surface. Specifically, it relates to a wall-climbing robot and its positioning method that uses a safety cable as the positioning basis. Background Technology

[0002] Currently, there is a considerable demand for engineering operations on vertical facades in various engineering fields, such as building wall cleaning, facade cutting and welding of large structures, all of which require operations on facades.

[0003] However, the biggest difficulty in these facade engineering operations lies in the difficulty of positioning. The difficulty of positioning makes it very difficult to automate many engineering operations, which can only be completed manually. For example, building cleaning requires people to be lowered into the cage and cleaned manually, while ship welding and sandblasting (or water jet, laser) cleaning require scaffolding to support workers to work at height. All these engineering operations that require facade positioning make automation difficult to carry out.

[0004] The first step in automation is to accurately determine the robot's position at any given time when it moves left, right, up, or down to perform certain processing actions. Furthermore, it's also necessary to determine the working areas of all processing tools (welding, spraying, waterjet, or laser cleaning heads, etc.) when the robot is in that position.

[0005] Currently, the most commonly used equipment for spatial positioning is the drone. Besides utilizing GPS technology for positioning, drones typically employ real-time kinematic (RTK) or post-processed kinematic (PPK) technologies to further enhance positioning accuracy, performing GPS positioning correction. This allows for position data correction during on-site measurement and image capture by the drone. However, both RTK and PPK technologies require a base station. The base station transmits received satellite signals to the rover station in real time via a wireless communication network. The positional relationship between the base station and the rover station is determined using the coordinate information of the base station. In open outdoor areas, positioning accuracy down to the centimeter level can be achieved.

[0006] Another method is to use an indoor wireless transmitter to emit radio waves. By relying on the transmission and reception of radio waves, the location of the target object can be determined (e.g., Industry 4.0-UWB Precision Indoor Positioning System). This system can locate the positions of people, materials, equipment, and vehicles for various applications, such as tracking people or objects and controlling intelligent robots. The positioning accuracy is in the range of centimeters to ten centimeters.

[0007] However, the biggest drawback of the existing positioning methods is their inability to achieve millimeter (mm) level accuracy, making them impractical for machining operations requiring millimeter-level precision. Furthermore, the surrounding environment significantly impacts the accuracy of these methods, especially in workplaces with numerous target objects where various electromagnetic waves are blocked. Additionally, electromagnetic waves emitted by machinery can interfere with external electromagnetic waves, and adverse weather conditions severely affect photoelectric propagation. All these disturbances contribute to poor positioning accuracy.

[0008] Therefore, there is an urgent need to develop a method for more accurate positioning when performing precision engineering work on facades, and one that is less susceptible to interference from the surrounding environment. Summary of the Invention

[0009] Therefore, the purpose of this invention is to use formulas to find the surface features of the surface that the wall-climbing robot climbs for engineering operations, so as to generate surface formulas for engineering operations.

[0010] This invention provides a wall-climbing robot based on a safety cable for positioning, comprising: a robot capable of adhering to a wall and a safety cable, wherein the robot includes: wheels, climbing feet or other climbing devices that contact the wall for climbing; one end of the safety cable is fixedly connected to the robot, and the other end of the safety cable is fixedly connected to the winch of a winch, and the extension length of the safety cable changes with the rotation of the winch;

[0011] The surface formula for the walking path of the wall-climbing robot is set as z=f(x,y), and the contact point between the safety cable and the robot is... a point, a The coordinates of the point are (x, y, z), and the attachment points of the safety cable and winch are fixed to the outside. b point, L For the length of the safety rope, L exist xy The projection of the plane is Lxy , L exist xz The projection of the plane is Lxz , H The height of the wall-climbing robot, Angle is the safety rope The angle between the y-axis and the y-axis. For the direction of travel and safety rope of the wall-climbing robot The included angle, For safety rope The angle between the x-axis and the x-axis. For safety rope and xy Angle between planes Angle is the safety rope The angle between the winch axle and the winch axle. For the xz cross section of the wall-climbing robot and The included angle of the axis; It's the roll angle of the wall-climbing robot. For the pitch angle of the wall-climbing robot, The yaw angle (i.e., left and right rotation angle) is the yaw angle of the wall-climbing robot.

[0012] The roll angle, pitch angle, and yaw angle together constitute Euler angles. For machining lines inside the vehicle body related to engineering operations. The length is B 1, The perpendicular distance to point a is H 2, i The coordinates are ( x i , y i ,z i ), j The coordinates are ( x j ,y j ,z j ) ;

[0013] Connection point between the wall-climbing robot and the safety cable a The formula for calculating the coordinates (x, y, z) of a point is:

[0014] (1)

[0015] (2)

[0016] (3).

[0017] The present invention also provides a preferred embodiment of the positioning method for a wall-climbing robot based on a safety cable as described above, comprising the following steps:

[0018] S1. Select a four-wheeled wall-climbing robot with two wheels at the front and two at the back. Set the robot's initial Euler angle to zero and the direction of movement to be up and down.

[0019] The contact points between the center points of the four wheels and the curved surface are as follows: e point, f point, g point, h point, e The coordinates of the point are ( xe , y e ,z e ), f The coordinates of the point are ( x f ,y f ,z f ), g The coordinates of the point are ( x g ,y g ,z g ), h The coordinates of the point are ( x h ,y h ,z h ); front axle and a The perpendicular distance between the points is H 1. The distance between the front and rear axles is F The distance between the left and right wheels is B The intersection of the front axle and the winch centerline is c The point is the intersection of the rear axle and the winch centerline. d point;

[0020] S2, based on the connection position between the robot and the safety cable a The coordinate calculation formulas (1), (2), and (3) are used to solve for the contact point between the center point of the wheel and the curved surface. x, y, z coordinate;

[0021] The solution involves finding the contact point between the center point of the wheel and the curved surface. x, y, z Methods for obtaining coordinates include: obtaining them through measurement. L Angles θ and θ3 are set by the wall-climbing robot. a The roll angle is measured by the attitude angle measuring device at the point. Pitch angle and yaw angle ; obtain e point, f point, g point, h Pointed x, y, z coordinate;

[0022] e Pointed x, y, z coordinate( x e ,y e ,ze The formula for calculating ) is:

[0023] (4)

[0025] (5)

[0027] (6)

[0029] f Pointed x, y, z coordinate( x f ,y f ,z f The formula for calculating ) is:

[0030] (7)

[0032] (8)

[0034] (9)

[0036] g Pointed x, y, z coordinate( x g ,y g ,z g The formula for calculating ) is:

[0037]

[0038] (10) (11)

[0040] (12)

[0042] h Pointed x, y, z coordinate( x h ,y h ,z h The formula for calculating ) is:

[0043] (13)

[0045] (14)

[0046] (15)

[0048] S3. Set the robot's working area as a straight line, and calculate the working area respectively. The two endpoints i, j coordinates ( x i 、y i 、z i (), x j、 y j 、z j ), The length is B 1, The perpendicular distance to point a is H 2, i coordinates ( x i ,y i ,z i ), j coordinates ( x j ,y j ,z j The formula for calculating ) is:

[0049] (16)

[0051] (17)

[0053] (18)

[0055] (19)

[0056] (20)

[0058] (twenty one)

[0060] The coordinates of each wheel's surface can be obtained from equations (4)-(15), and the working line can be obtained from equations (16)-(21). Both ends i， j The coordinates of the two points.

[0061] From equations (1), (2), and (3), it can be seen that as long as the measurement is obtained... L By using angles θ and θ3, the position and orientation of point a, the contact point between the safety cable and the robot, can be obtained; roll angle (Roll) Pitch angle and yaw angle The attitude angle measurement can be obtained by setting up a device at point a on the wall-climbing robot.

[0062] Furthermore, utilizing the contact point between the safety cable and the robot... a The methods for establishing a mathematical surface model of the object to be worked on, based on the location of points, include:

[0063] Calculate the lengths of different lengths using equations (4)-(15) L Different e point, f point, g point, h The coordinates of the point ( x e ,y e , z e ), ( x f ,y f ,z f ), ( x g ,y g ,z g ), ( x h ,y h ,z h ), to the different lengths L Below e point, f point, g point, h The coordinate data of the points are collected and summarized. The collected coordinate data is then input into a computer for processing to generate a network diagram of the surface shape of the object and to establish a mathematical surface model of the object.

[0064] Furthermore, the aforementioned L , and The methods for obtaining it include:

[0065] The length of the safety cable, which is attached to the winch and is related to the engineering operation, is obtained by measuring its elongation. L The angle θ and θ3 are obtained by measuring the angle using an angle measuring device at an appropriate position.

[0066] Furthermore, the roll angle (Roll) Pitch angle and yaw angle The methods for obtaining it include:

[0067] An attitude angle measuring device is set at point a on the robot, and the roll angle is measured using the attitude angle measuring device. Pitch angle and yaw angle .

[0068] By comparing models of multiple objects under maintenance at different times (e.g., comparing the shape of the hull during the previous maintenance with the shape of the hull in the current maintenance), the health status of the objects under maintenance over many years of use can be obtained as a reference for subsequent maintenance.

[0069] Furthermore, the feature is that the length of the safety rope is measured using a long strip ruler, meaning that the external force is borne by the safety rope, while the positioning dimension is measured and determined by the long strip ruler.

[0070] Furthermore, the four wheels can be replaced with any device that can support the wall-climbing robot to climb the wall, and the coordinates of the contact point between the device and the curved surface can be obtained by the method of equations (4)-(15);

[0071] If the robot's working area is a surface region, the coordinates of each point are obtained by the same method as in equations (16)-(21).

[0072] The device includes: climbing legs, three wheels consisting of a front wheel and a rear wheel, or other mechanisms that can be attached to the robot and enable it to climb walls.

[0073] For safety reasons, wall-climbing robots working on facades, whether wheeled or legged, are equipped with safety ropes to prevent damage caused by the robot falling due to malfunction in certain situations (such as the waterjet paint removal wall-climbing robots for ships that are already on the market).

[0074] The safety cable is usually installed inside the winch and extends and retracts as the wall-climbing robot moves up, down, left, and right. The length of the safety cable and the angle with the vertical plane change with the movement of the robot. The length of the safety cable pulled out can be measured by sensors (there must be sufficient tension to keep the safety cable approximately straight; if this is difficult, the catenary formula of statics can be used for correction), the angle with the line perpendicular to the direction of gravity, and the angle with the safety cable and the vertical plane.

[0075] because H 1 , B, F and H All of these are known design geometric parameters, which can be converted into the x, y, z coordinates of the connection point between the robot and the safety cable. The robot is equipped with sensors to measure the robot's Euler angles (such as POLO's UM6 Orientation Sensor). Alternatively, three angle sensors can be used to measure the angles in three dimensions and then convert them into Euler angles.

[0076] By obtaining the robot's position coordinates at any point and then adding them to the coordinate vectors of the robot's initial Euler angles and the coordinates of the Euler angle measurement origin after movement, coordinate transformation can be used to obtain the coordinates of any point relative to the safety cable connection point. Adding the x, y, z coordinates of the safety cable connection point yields the coordinates with the winch as the origin. If the robot is at contact points with the facade, a mathematical surface model of the facade can be obtained from these contact points. If it is an engineering work line (e.g., a laser scanning surface) or work area, the working surface and work boundary on the engineering work path can be obtained, allowing for clear control of the working surface to complete the entire work path.

[0077] Once the area covered by the safety cable at position 1 is exhausted, the robot can move to position 2 and perform coordinate translation on the boundary of the previous work area. The robot's path can then be replanned using the new coordinates of this boundary, resulting in a larger working range. Since the winch position needs to be moved when moving from position 1 to position 2, the movement accuracy can be corrected by sensors mounted on the robot, using the processing boundary at position 1 as a reference.

[0078] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the above-described wall-climbing robot positioning method based on a safety cable.

[0079] The present invention also provides a computer device, the computer device including a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the steps of the wall-climbing robot positioning method based on the safety cable as described above.

[0080] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0081] This invention obtains the total Euler angles by adding the robot's position coordinates at any point to the robot's initial Euler angles and the coordinate vector of the Euler angle measurement origin after movement. This total Euler angles are then transformed to obtain the xyz coordinates of any point on the robot relative to the safety cable connection point. Adding the x, y, z coordinates of the safety cable connection point yields the coordinates with the winch as the origin. The contact point between the robot and the facade provides a mathematical surface model of the facade. The work surface and work boundary on the work path can be obtained from the engineering work line (e.g., laser scanning surface) or area. This allows for clear control of the work surface, thus completing the entire work path. This significantly improves the positioning accuracy on the facade and reduces susceptibility to interference from the surrounding environment. Attached Figure Description

[0082] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention.

[0083] In the attached diagram:

[0084] Figure 1 This is a schematic diagram illustrating the coordinate transformation of the robot moving from position 1 to position 2 according to an embodiment of the present invention;

[0085] Figure 2 This is a schematic diagram of the configuration of a computer device according to an embodiment of the present invention;

[0086] Figure 3 This is a schematic diagram of the xy plane and xz plane according to an embodiment of the present invention;

[0087] Figure 4 This is an enlarged schematic diagram of the robot body according to an embodiment of the present invention;

[0088] Figure 5 This is a flowchart of the wall-climbing robot positioning method based on a safety cable, as described in this invention. Detailed Implementation

[0089] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and products consistent with some aspects of this disclosure as detailed in the appended claims.

[0090] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0091] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0092] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0093] This invention provides a wall-climbing robot based on a safety cable for positioning, comprising: a robot capable of adhering to a wall and a safety cable, wherein the robot includes: wheels for climbing the wall that contact the wall; one end of the safety cable is fixedly connected to the robot, and the other end of the safety cable is fixedly connected to the winch of a winch, and the extension length of the safety cable changes with the rotation of the winch;

[0094] The surface formula for the walking path of the wall-climbing robot is set as z=f(x,y), and the contact point between the safety cable and the robot is... a point, a The coordinates of the point are (x, y, z), and the attachment points of the safety cable and winch are fixed to the outside. b point, L For the length of the safety rope, L exist xy The projection of the plane is Lxy , L exist xz The projection of the plane is Lxz , H The height of the wall-climbing robot, Angle is the safety rope The angle between the y-axis and the y-axis. For the direction of travel and safety rope of the wall-climbing robot The included angle, For safety rope The angle between the x-axis and the x-axis. For safety rope and xyThe angle between the planes (not shown in the figure, but projected onto the xz plane is...) ), Angle is the safety rope The angle between the winch axle and the winch axle. For the xz cross section of the wall-climbing robot and The included angle of the axis; It's the roll angle of the wall-climbing robot. For the pitch angle of the wall-climbing robot, The yaw angle (i.e., left and right rotation angle) is the yaw angle of the wall-climbing robot.

[0095] The roll angle, pitch angle, and yaw angle together constitute Euler angles. Figure 3 The Euler angles in the xy plane are for illustrative purposes only and are not a correct Euler angle diagram; For the vehicle body and the engineering work line, The length is B 1, The perpendicular distance to point a is H 2, i The coordinates are ( x i ,y i ,z i ), j The coordinates are ( x j ,y j ,z j ) ;

[0096] Connection point between the wall-climbing robot and the safety cable a The formula for calculating the coordinates (x, y, z) of a point is:

[0097] (1)

[0098] (2)

[0099] (3).

[0100] This invention also provides a positioning method for a wall-climbing robot based on a safety cable, as described above. (See also...) Figure 5 As shown, it includes the following steps:

[0101] S1. Select a four-wheeled wall-climbing robot with two wheels at the front and two at the back. Set the robot's initial Euler angle to zero and the direction of movement to be up and down.

[0102] The contact points between the center points of the four wheels and the curved surface are as follows: e point, f point, g point, h point, e The coordinates of the point are ( x e , y e ,z e ), f The coordinates of the point are ( x f ,y f ,z f ), g The coordinates of the point are ( x g ,y g ,z g ), h The coordinates of the point are ( x h ,y h ,z h ); front axle and a The perpendicular distance between the points is H 1. The distance between the front and rear axles is F The distance between the left and right wheels is B The intersection of the front axle and the winch centerline is c The point is the intersection of the rear axle and the winch centerline. d point;

[0103] S2, based on the connection position between the robot and the safety cable a The coordinate calculation formulas (1), (2), and (3) are used to solve for the contact point between the center point of the wheel and the curved surface. x, y, z coordinate;

[0104] The solution involves finding the contact point between the center point of the wheel and the curved surface. x, y, z Methods for obtaining coordinates include: obtaining them through measurement. L Angles θ and θ3 are set by the wall-climbing robot. a The roll angle is measured by the attitude angle measuring device at the point. Pitch angle and yaw angle ; obtain e point, f point, g point, h Pointed x, y, z coordinate;

[0105] e Pointed x, y, z coordinate( x e ,y e ,z e The formula for calculating ) is:

[0106] (4)

[0108] (5)

[0110] (6)

[0112] f Pointed x, y, z coordinate( x f ,y f ,z f The formula for calculating ) is:

[0113]

[0114] (7) (8)

[0116] (9)

[0118] g Pointed x, y, z coordinate( x g ,y g ,z g The formula for calculating ) is:

[0119] (10) (11)

[0121] (12)

[0123] h Pointed x, y, z coordinate( x h ,y h ,z h The formula for calculating ) is:

[0124] (13)

[0126] (14)

[0127] (15)

[0129] S3. Set the robot's working area as a straight line, and calculate the working area respectively. The two endpoints i, j coordinates ( x i 、y i 、z i (), x j、 y j 、z j The calculation formula is:

[0130] (16)

[0132] (17)

[0134] (18)

[0136] (19)

[0137] (20)

[0139] (twenty one)

[0141] The coordinates of the surfaces on which each wheel is located can be obtained from equations (4)-(21).

[0142] From equations (1), (2), and (3), it can be seen that as long as the measurement is obtained... L By using angles θ and θ3, the position and orientation of point a, the contact point between the safety cable and the robot, can be obtained; roll angle (Roll) Pitch angle and yaw angle The attitude angle measurement can be obtained from the attitude angle measuring device set at point a of the wall-climbing robot;

[0143] Utilizing the contact point between the safety cable and the robota The methods for establishing a mathematical surface model of the object to be worked on, based on the location of points, include:

[0144] Calculate the lengths of different lengths using equations (4)-(21) L Different e point, f point, g point, h The coordinates of the point ( x e ,y e ,z e ), ( x f ,y f ,z f ), ( x g ,y g ,z g ), ( x h ,y h ,z h ), to the different lengths L Below e point, f point, g point, h The coordinate data of the points are collected and summarized. The collected coordinate data is then input into a computer for processing to generate a network diagram of the surface shape of the object and to establish a mathematical surface model of the object.

[0145] The L , and The methods for obtaining it include:

[0146] The length of the safety cable, which is attached to the winch and is related to the engineering operation, is obtained by measuring its elongation. L The angle θ and θ3 are obtained by measuring the angle using an angle measuring device at an appropriate position.

[0147] The roll angle (Roll) Pitch angle and yaw angle The methods for obtaining it include:

[0148] An attitude angle measuring device is set at point a on the robot, and the roll angle is measured using the attitude angle measuring device. Pitch angle and yaw angle .

[0149] By comparing models of multiple objects under maintenance at different times (e.g., comparing the shape of the hull during the previous maintenance with the shape of the hull in the current maintenance), the health status of the objects under maintenance over many years of use can be obtained as a reference for subsequent maintenance.

[0150] For safety reasons, wall-climbing robots working on facades, whether wheeled or legged, are equipped with safety ropes to prevent damage caused by the robot falling due to malfunction in certain situations (such as the waterjet paint removal wall-climbing robots for ships that are already on the market).

[0151] like Figure 1 As shown, the safety cable is usually installed inside the winch and extends and retracts as the wall-climbing robot moves up, down, left, and right. The length of the safety cable and the angle with the vertical plane change with the movement of the robot. The length of the safety cable pulled out can be measured by sensors (there must be sufficient tension to keep the safety cable approximately straight; if this is difficult, the catenary formula of statics can be used for correction), the angle with the line perpendicular to the direction of gravity, and the angle with the safety cable and the vertical plane.

[0152] because H 1 , B, F and H All of these are known design geometric parameters, which can be converted into the x, y, z coordinates of the connection point between the robot and the safety cable. The robot is equipped with sensors to measure the robot's Euler angles (such as POLO's UM6 Orientation Sensor). Alternatively, three angle sensors can be used to measure the angles in three dimensions and then convert them into Euler angles.

[0153] Obtain the robot's position coordinates at any point, then add them to the coordinate vectors of the robot's initial Euler angles and the coordinates of the Euler angle measurement origin after movement. This allows you to use coordinate transformation to obtain the coordinates of any point relative to the safety cable connection point. Adding the x, y, and z coordinates of the safety cable connection point yields the coordinates with the winch as the origin. If the robot is at contact points with the facade, the mathematical surface model of the facade can be obtained from these contact points. For engineering work lines (e.g., laser scanning surfaces) or areas, see [reference needed]. Figure 4 As shown, the working surfaces and boundaries along the engineering work path can be obtained, allowing for clear control of the working surfaces to complete the entire work path. See also... Figure 1As shown, once the range covered by the safety cable at position 1 is exhausted, the robot can move to position 2 and perform coordinate translation on the boundary of the previous work area. The robot's path is then replanned using the new coordinates of this boundary, resulting in a larger work area. Since the winch position needs to be moved when moving from position 1 to position 2, the movement accuracy can be corrected by sensors mounted on the robot to locate the processing boundary at position 1.

[0154] This invention also provides a computer device. Figure 2 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention; see the accompanying drawings. Figure 2 As shown, the computer device includes: an input device 23, an output device 24, a memory 22, and a processor 21; the memory 22 is used to store one or more programs; when the one or more programs are executed by the one or more processors 21, the one or more processors 21 implement the wall-climbing robot positioning method based on a safety cable as provided in the above embodiment; wherein the input device 23, the output device 24, the memory 22, and the processor 21 can be connected via a bus or other means. Figure 2 Taking the example of a connection between China and Israel via a bus.

[0155] The memory 22, as a read / write storage medium for a computing device, can be used to store software programs and computer-executable programs, such as the program instructions corresponding to the wall-climbing robot positioning method based on a safety cable as described in this embodiment of the invention. The memory 22 may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the device. Furthermore, the memory 22 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 22 may further include memory remotely located relative to the processor 21, and these remote memories can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0156] Input device 23 can be used to receive input digital or character information, and generate key signal inputs related to user settings and function control of the device; output device 24 may include display devices such as a display screen.

[0157] The processor 21 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 22, thereby realizing the above-mentioned wall-climbing robot positioning method based on the safety cable.

[0158] The computer equipment provided above can be used to execute the wall-climbing robot positioning method based on safety ropes provided in the above embodiments, and has corresponding functions and beneficial effects.

[0159] This invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the wall-climbing robot positioning method based on a safety lanyard as provided in the above embodiments. The storage medium can be any type of memory device or storage device, including: mounting media such as CD-ROM, floppy disk, or magnetic tape; computer system memory or random access memory such as DRAM, DDRRAM, SRAM, EDORAM, Rambus RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory components; the storage medium may also include other types of memory or combinations thereof; furthermore, the storage medium may reside in a first computer system in which the program is executed, or it may reside in a different second computer system connected to the first computer system via a network (such as the Internet); the second computer system can provide program instructions to the first computer for execution. The storage medium includes two or more storage media that can reside in different locations (e.g., in different computer systems connected via a network). The storage medium can store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0160] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the wall-climbing robot positioning method based on the safety cable as described in the above embodiments, but can also execute related operations in the wall-climbing robot positioning method based on the safety cable provided in any embodiment of the present invention.

[0161] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0162] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A positioning method for a wall-climbing robot based on a safety cable, characterized in that, The wall-climbing robot includes: a robot that can adhere to a wall and a safety rope. The robot includes: wheels, climbing feet or other climbing devices that come into contact with the wall for climbing. One end of the safety rope is fixedly connected to the robot, and the other end of the safety rope is fixedly connected to the winch of a winch. The extension length of the safety rope changes with the rotation of the winch. The surface formula for the walking path of the wall-climbing robot is set as z=f(x,y), and the contact point between the safety cable and the robot is... a point, a The coordinates of the point are (x, y, z), and the attachment point of the safety cable and winch is... b point, L For the length of the safety rope, L exist xy The projection of the plane is Lxy , L exist xz The projection of the plane is Lxz , H The height of the wall-climbing robot, Angle is the safety rope The angle between the y-axis and the y-axis. For the direction of travel and safety rope of the wall-climbing robot The included angle, For safety rope The angle between the x-axis and the x-axis. For safety rope and xy Angle between planes Angle is the safety rope The angle between the winch axle and the winch axle. For the xz cross section of the wall-climbing robot and The included angle of the axis; It's the roll angle of the wall-climbing robot. For the pitch angle of the wall-climbing robot, The yaw angle of the wall-climbing robot; The roll angle, pitch angle, and yaw angle together constitute Euler angles. The machining range within the vehicle body. The length is B 1, The perpendicular distance to point a is H 2, i The coordinates are ( x i ,y i ,z i ), j The coordinates are ( x j , y j ,z j ) ; Connection point between the wall-climbing robot and the safety cable a The formula for calculating the coordinates (x, y, z) of a point is: (1) (2) (3)； The positioning method for the wall-climbing robot based on the safety cable includes the following steps: S1. Select a four-wheeled wall-climbing robot with two wheels at the front and two at the back. Set the robot's initial Euler angle to zero and the direction of movement to be up and down. The contact points between the center points of the four wheels and the curved surface are as follows: e point, f point, g point, h point, e The coordinates of the point are ( x e ,y e , z e ), f The coordinates of the point are ( x f ,y f ,z f ), g The coordinates of the point are ( x g ,y g ,z g ), h The coordinates of the point are ( x h ,y h ,z h ); front axle and a The perpendicular distance between the points is H 1. The axle distance between the front and rear wheels is F The distance between the left and right wheels is B The intersection of the front axle and the winch centerline is c The point is the intersection of the rear axle and the winch centerline. d point; S2, based on the connection position between the robot and the safety cable a The coordinate calculation formulas (1), (2), and (3) are used to solve for the contact point between the center point of the wheel and the curved surface. x, y, z coordinate; The solution involves finding the contact point between the center point of the wheel and the curved surface. x, y, z Methods for obtaining coordinates include: obtaining them through measurement. L Angles θ and θ3 are set by the wall-climbing robot. a The roll angle is measured by the attitude angle measuring device at the point. Pitch angle and yaw angle ; obtain e point, f point, g point, h Pointed x, y, z coordinate; e Pointed x, y, z coordinate( x e ,y e ,z e The formula for calculating ) is: (4) （5） （6） f Pointed x, y, z coordinate( x f ,y f ,z f The formula for calculating ) is: （7） （8） （9） g Pointed x, y, z coordinate( x g ,y g ,z g The formula for calculating ) is: （10） （11） （12） h Pointed x, y, z coordinate( x h ,y h ,z h The formula for calculating ) is: （13） （14） （15） S3. Set the robot's working area as a straight line, and calculate the working area respectively. The two endpoints i, j coordinates ( x i 、y i 、z i (), x j、 y j 、z j ), The length is B 1, The perpendicular distance to point a is H 2, i coordinates ( x i ,y i ,z i ), j coordinates ( x j ,y j ,z j The formula for calculating ) is: (16) (17) (18) (19) (20) (21) The coordinates of each wheel's surface can be obtained from equations (4)-(15), and the working line can be obtained from equations (16)-(21). Both ends i, j The coordinates of the two points.

2. The positioning method for a wall-climbing robot based on a safety cable according to claim 1, characterized in that, Utilizing the contact point between the safety cable and the robot a The methods for establishing a mathematical surface model of the object to be worked on, based on the location of points, include: Calculate the lengths of different lengths using equations (4)-(15) L Different e point, f point, g point, h The coordinates of the point ( x e ,y e ,z e ), ( x f , y f ,z f ), ( x g ,y g ,z g ), ( x h ,y h ,z h ), to the different lengths L Below e point, f point, g point, h The coordinate data of the points are collected and summarized. The collected coordinate data is then input into a computer for processing to generate a network diagram of the surface shape of the object and to establish a mathematical surface model of the object.

3. The positioning method for a wall-climbing robot based on a safety cable according to claim 1, characterized in that, The L , and The methods for obtaining it include: The length of the safety cable, which is attached to the winch and is related to the engineering operation, is obtained by measuring its elongation. L The angle θ and θ3 are obtained by measuring the angle using an angle measuring device at an appropriate position.

4. The positioning method for a wall-climbing robot based on a safety cable according to claim 1, characterized in that, The roll angle Pitch angle and yaw angle The methods for obtaining it include: An attitude angle measuring device is set at point a on the robot, and the roll angle is measured using the attitude angle measuring device. Pitch angle and yaw angle .

5. The positioning method for a wall-climbing robot based on a safety cable according to any one of claims 1-4, characterized in that, The length of the safety cable is measured using a long strip ruler.

6. The positioning method for a wall-climbing robot based on a safety cable according to any one of claims 1-4, characterized in that, The four wheels can be replaced with any device that can support the wall-climbing robot to climb the wall, and the coordinates of the contact point between the device and the curved surface can be obtained by the method of equations (4)-(15).

7. The positioning method for a wall-climbing robot based on a safety cable according to claim 1, characterized in that, If the robot's working area is a surface region, then the coordinates of each point are obtained by the same method as in equations (16)-(21).

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the positioning method for a wall-climbing robot based on a safety cable as described in any one of claims 1-7.

9. A computer device, the computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the program is executed by the processor, it implements the steps of the positioning method for a wall-climbing robot based on a safety cable as described in any one of claims 1-7.

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