Climbing robot, and traveling control method and controller thereof

Abstract

This invention provides a climbing robot, a method for controlling the climbing robot's movement, and a controller, solving the technical problems of long inspection cycles, high climbing risks, and low work efficiency caused by manual inspection of power transmission line towers in the prior art. This invention provides a climbing robot that includes two forelegs (a first foreleg and a second foreleg) and two hind legs (a first hind leg and a second hind leg). Compared to the prior art which uses a clamping device to lock angle steel, the four legs of this invention can lock and release angle steel through a locking structure, and each leg corresponds to a straight steel plate within an angle steel. The structure is simple and easy to control, thereby improving the overall work efficiency of the climbing robot.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, specifically to climbing robots and their movement control methods and controllers. Background Technology

[0002] The stability and safety of electricity are fundamental guarantees for the development of all industries. Transmission lines are a crucial component of the power system, and their safe operation directly affects the stability and reliability of power supply. Transmission line towers are numerous and widely distributed, and are often exposed to harsh environments, including dusty, windy, and humid conditions. Regular inspection and maintenance of transmission line towers and their accessories to ensure their safe and reliable operation is a key measure to ensure stable power supply. Traditionally, maintenance personnel must carry the equipment and climb the angle steel towers along the footholds, gradually attaching safety ropes to prevent falls. This results in long inspection cycles, high climbing risks, and low work efficiency. Summary of the Invention

[0003] In view of this, the present invention provides a climbing robot and a method for controlling the movement of the climbing robot, which solves the technical problems of long inspection cycles, high climbing risks, and low work efficiency caused by manual inspection of power transmission line towers in the prior art.

[0004] As a first aspect of the present invention, the present invention provides a climbing robot for climbing angle steel, the angle steel having a first flat steel plate and a second flat steel plate; wherein, the climbing robot includes: a robot body, the robot body being capable of traveling along the length direction of the angle steel; and four feet disposed below the robot body, the four feet being a first forefoot, a second forefoot, a first hindfoot, and a second hindfoot; wherein, the feet include a locking structure, the locking structure being used to lock or release the first flat steel plate and the second flat steel plate, so that the feet lock or release the first flat steel plate and the second flat steel plate.

[0005] In one embodiment of the present invention, the locking structure includes: a first electromagnetic structure; a first rotating structure; and a second electromagnetic structure, wherein the second electromagnetic structure is rotatably connected to one end of the first electromagnetic structure through the first rotating structure; wherein, when the first electromagnetic structure and the second electromagnetic structure are subjected to opposite currents, the first electromagnetic structure and the second electromagnetic structure attract each other, and the second electromagnetic structure rotates relative to the first electromagnetic structure to lock the first flat steel plate and the second flat steel plate.

[0006] In one embodiment of the present invention, the climbing robot further includes four robotic legs disposed below the robot body. The four robotic legs include a first front robotic leg, a second robotic leg, a first rear robotic leg, and a second rear robotic leg. The first front robotic leg, the second robotic leg, the first rear robotic leg, and the second rear robotic leg are respectively connected to the first forefoot, the second forefoot, the first rearfoot, and the second rearfoot. The locking structure further includes a second rotating structure, through which the first electromagnetic structure is rotatably connected to the robotic legs. The climbing robot further includes a third rotating structure, one end of which is rotatably connected to the robot body, and the other end of which is rotatably connected to the robotic legs.

[0007] In one embodiment of the present invention, the climbing robot further includes: a power supply device, which is electrically connected to the first electromagnetic structure and the second electromagnetic structure respectively; wherein the power supply device provides current to the first electromagnetic structure and the second electromagnetic structure.

[0008] As a second aspect of the present invention, the present invention also provides a method for controlling the movement of a climbing robot, wherein the method for controlling the movement of the climbing robot includes: acquiring a movement control signal; controlling the locking structure in the first hind foot to release the first flat steel plate and the locking structure in the second hind foot to release the second flat steel plate according to the movement control signal, and generating a first disengagement signal, the first disengagement signal indicating that the first hind foot has disengaged from the first flat steel plate and the second hind foot has disengaged from the second flat steel plate; and controlling the first hind foot and the second hind foot to move closer to the locking structure in the first hind foot according to the first disengagement signal. The robot moves a first preset distance in the direction of the first forefoot and the second forefoot to propel the robot body forward; it controls the locking structure in the first hindfoot to lock the first flat steel plate and the locking structure in the second hindfoot to lock the second flat steel plate, and generates a first locking signal; according to the first locking signal, it controls the locking structure in the first forefoot to release the first flat steel plate and the locking structure in the second forefoot to release the second flat steel plate, and generates a second disengagement signal; according to the second disengagement signal, it controls the first forefoot and the second forefoot to move the first preset distance away from the first hindfoot and the second hindfoot.

[0009] In one embodiment of the present invention, the locking structure includes: a first electromagnetic structure; a first rotating structure; and a second electromagnetic structure, wherein the second electromagnetic structure is rotatably connected to one end of the first electromagnetic structure via the first rotating structure; wherein, according to the travel control signal, controlling the locking structure in the first hind foot to release the first flat steel plate and the locking structure in the second hind foot to release the second flat steel plate, and generating a first disengagement signal, includes: according to the travel control signal, passing current in the same direction to the first electromagnetic structure and the second electromagnetic structure in the first hind foot to control the force between the first electromagnetic structure and the second electromagnetic structure to be zero; controlling the first rotating structure in the first hind foot to rotate so that the first electromagnetic structure rotates relative to the second electromagnetic structure by a first preset angle, the first preset angle being greater than 90°, so that the first hind foot disengages from the first flat steel plate; passing current in the same direction to the first electromagnetic structure and the second electromagnetic structure in the second hind foot to control the force between the first electromagnetic structure and the second electromagnetic structure to be zero; controlling the locking structure in the second hind foot to release the first electromagnetic structure; and ... The first rotating structure rotates such that the first electromagnetic structure rotates relative to the second electromagnetic structure by a second preset angle, the second preset angle being greater than 90°, so that the second hind foot disengages from the second flat steel plate; and a first disengagement signal is generated; wherein, controlling the locking structure in the first hind foot to lock the first flat steel plate and the locking structure in the second hind foot to lock the second flat steel plate, and generating the first locking signal, includes: passing currents in opposite directions to the first electromagnetic structure and the second electromagnetic structure in the first hind foot to control the generation of an action force between the first electromagnetic structure and the second electromagnetic structure, the action force driving the first rotating structure to rotate, so that the first electromagnetic structure and the second electromagnetic structure lock the first flat steel plate; passing currents in opposite directions to the first electromagnetic structure and the second electromagnetic structure in the second hind foot to control the generation of an action force between the first electromagnetic structure and the second electromagnetic structure, the action force driving the first rotating structure to rotate, so that the first electromagnetic structure and the second electromagnetic structure lock the second flat steel plate; and generating the first locking signal.

[0010] In one embodiment of the present invention, the climbing robot further includes four robotic legs disposed below the robot body. The four robotic legs include a first front robotic leg, a second robotic leg, a first rear robotic leg, and a second rear robotic leg. The first front robotic leg, the second robotic leg, the first rear robotic leg, and the second rear robotic leg are respectively connected to the first forefoot, the second forefoot, the first rearfoot, and the second rearfoot. The locking structure further includes a second rotating structure, through which the first electromagnetic structure is rotatably connected to the robotic legs. The climbing robot further includes a third rotating structure, one end of which is rotatably connected to the robot body, and the other end of which is rotatably connected to the robotic legs.

[0011] The system further includes controlling the locking structure in the first hind foot to release the first flat steel plate and the locking structure in the second hind foot to release the second flat steel plate, respectively, according to the travel control signal, and generating a first disengagement signal. The system also includes: controlling the second rotating structure in the first hind foot to rotate, causing the first electromagnetic structure to rotate relative to the first hind robotic leg, thereby disengaging the first electromagnetic structure from the first flat steel plate; controlling the third rotating structure corresponding to the first hind robotic leg to rotate, causing the first hind robotic leg to rotate relative to the robot body, thereby moving the first hind foot away from the first flat steel plate; controlling the second rotating structure in the second hind foot to rotate, causing the first electromagnetic structure to rotate relative to the second hind robotic leg, thereby disengaging the first electromagnetic structure from the second flat steel plate; and controlling the third rotating structure corresponding to the second hind robotic leg to rotate, causing the second hind robotic leg to rotate relative to the robot body, thereby moving the second hind foot away from the second flat steel plate.

[0012] In one embodiment of the present invention, before acquiring the travel control signal, the travel control method further includes: acquiring an image of the angle steel in the travel direction of the climbing robot; determining whether there is an obstacle on the angle steel in the travel direction of the climbing robot based on the image of the angle steel; and generating obstacle information when there is an obstacle on the angle steel in the travel direction of the climbing robot; wherein, acquiring the travel control signal includes: generating the travel control signal based on the obstacle information.

[0013] As a third aspect of the present invention, the present invention also provides a travel controller for a climbing robot, comprising: a data acquisition module for acquiring travel control signals; and a first control module for controlling the locking structures in the first hind foot to release the first flat steel plate and the locking structures in the second hind foot to release the second flat steel plate, respectively, according to the travel control signals, and generating a first disengagement signal, the first disengagement signal indicating that the first hind foot has disengaged from the first flat steel plate and the second hind foot has disengaged from the second flat steel plate, and controlling the locking structures in the first hind foot to lock the first flat steel plate and the locking structures in the second hind foot to lock. The second flat steel plate generates a first locking signal; according to the first locking signal, the locking structure in the first forefoot releases the first flat steel plate and the locking structure in the second forefoot releases the second flat steel plate, and generates a second disengagement signal; and a second control module, used to control the first hindfoot and the second hindfoot to move a first preset distance toward the first forefoot and the second forefoot according to the first disengagement signal, so as to drive the robot body to move; and to control the first forefoot and the second forefoot to move a first preset distance away from the first hindfoot and the second hindfoot according to the second disengagement signal.

[0014] In one embodiment of the present invention, the travel controller of the climbing robot further includes: an obstacle recognition module, which is used to acquire an image of the angle steel in the travel direction of the climbing robot; determine whether there is an obstacle on the angle steel in the travel direction of the climbing robot based on the image of the angle steel; and generate obstacle information when there is an obstacle on the angle steel in the travel direction of the climbing robot.

[0015] The climbing robot provided by this invention includes two forefeet (a first forefeet and a second forefeet) and two hindfeet (a first hindfeet and a second hindfeet). Compared with the prior art that uses a clamping device to lock the angle steel, the four feet of this invention can lock and release the angle steel through a locking structure, and each foot corresponds to a straight steel plate in an angle steel. The structure is simple and easy to control, thereby improving the working efficiency of the entire climbing robot. Attached Figure Description

[0016] The above and other objects, features, and advantages of the present invention will become more apparent from the more detailed description of the embodiments of the invention in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts or steps.

[0017] Figure 1 The image shown is a front view of a climbing robot provided in an embodiment of the present invention;

[0018] Figure 2 The image shown is a right view of a climbing robot provided in an embodiment of the present invention;

[0019] Figure 3 The diagram shown is a structural schematic of the locking structure in a climbing robot according to an embodiment of the present invention;

[0020] Figure 4 The image shown is a left view of a climbing robot provided in another embodiment of this application;

[0021] Figure 5 As shown Figure 2 A schematic diagram of the release angle iron of the locking structure in the climbing robot shown;

[0022] Figure 6 As shown Figure 4 A schematic diagram of the release angle iron of the locking structure in the climbing robot shown;

[0023] Figure 7 The diagram shown is a flowchart illustrating a method for controlling the movement of a climbing robot according to an embodiment of the present invention.

[0024] Figure 8 The diagram shown is a flowchart illustrating a method for controlling the movement of a climbing robot according to another embodiment of the present invention.

[0025] Figure 9 The diagram shown is a flowchart illustrating a method for controlling the movement of a climbing robot according to another embodiment of the present invention.

[0026] Figure 10 The diagram shown is a flowchart illustrating a method for controlling the movement of a climbing robot according to another embodiment of the present invention.

[0027] Figure 11 The diagram shown illustrates the working principle of a climbing robot's travel controller according to an embodiment of the present invention.

[0028] Figure 12 The diagram shown is a schematic diagram of the working principle of an electronic device provided in an embodiment of the present invention.

[0029] Figure label:

[0030] 100 - Angle steel, 101 - First straight steel plate, 102 - Second straight steel plate;

[0031] 200 - Robot body; 201 - First forefoot; 202 - Second forefoot; 203 - First hindfoot; 204 - Second hindfoot; 2010 - Locking structure; 2011 - First electromagnetic structure; 2012 - Second electromagnetic structure; 2013 - First rotating structure; 2014 - Second rotating structure; 400 - First front robotic leg; 401 - Second front robotic leg; 402 - First rear robotic leg; 403 - Second rear robotic leg; 2015 - Third rotating structure

[0032] 1-Controller, 11-Data acquisition module, 12-First control module, 13-Second control module, 14-Obstacle recognition module;

[0033] 60 - Electronic device; 61 - Processor; 62 - Memory; 63 - Input device; 64 - Output device. Detailed Implementation

[0034] In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, top, bottom, etc.) in the embodiments of this invention are only used to explain the relative positional relationships and movement of the components in a specific orientation (as shown in the figures). If the specific orientation changes, the directional indication will also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0035] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0036] Application Overview

[0037] Traditionally, maintenance personnel must carry the equipment and climb the angle steel tower along the foot spikes, gradually attaching safety ropes to prevent falls. This results in long inspection cycles, high climbing risks, and low work efficiency. Therefore, climbing robots suitable for angle steel towers have emerged, and various types of climbing robots with different shapes and structures have gradually developed, such as snake-like robots, wheeled robots, and inchworm-like robots.

[0038] Existing tower-climbing robots are bolt-fastening robots, using a stepping motion. The robot has two legs: a primary leg fixed to the main body and a secondary leg assisting in stepping movement. The secondary leg is mechanically gripped and fixed to the angle iron tower. During movement, the secondary leg remains fixed, the mechanical gripper of the primary leg releases, and the primary leg, carrying the robot body, moves upward a certain distance. The mechanical gripper then grips the angle iron, and the secondary leg continues upward, thus completing the forward movement. However, when there are obstacles on the angle iron, a telescopic device is required to overcome them. Both the telescopic and gripping devices are present, making the system quite complex. Furthermore, to achieve good obstacle-crossing ability, a relatively long mechanical leg is needed for extension and retraction. A long mechanical leg can be difficult to support the robot's weight. When the robot is heavy, a large gripping force is required to keep it stationary, potentially damaging the tower structure.

[0039] Therefore, the present invention provides a climbing robot that includes two forefeet (a first forefeet and a second forefeet) and two hindfeet (a first hindfeet and a second hindfeet). Compared with the prior art that uses a clamping device to lock the angle steel, the four feet of the present invention can lock and release the angle steel through a locking structure, and each foot corresponds to a straight steel plate in an angle steel. The structure is simple and easy to control, thereby improving the working efficiency of the entire climbing robot.

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Exemplary climbing robot

[0042] As a first aspect of the invention, the invention provides a climbing robot for climbing angle steel. Figure 1 The image shown is a front view of a climbing robot provided in an embodiment of the present invention. Figure 2 As shown Figure 1 The right view of the climbing robot shown. Figure 3 As shown Figure 1 The diagram shown is an unfolded representation of the locking structure in the climbing robot. Figures 1-3 As shown, the climbing robot includes: a robot body 200, which can travel along the length of the angle steel 100;

[0043] The robot body 200 has four robotic legs (first front robotic leg 400, second front robotic leg 401, first rear robotic leg 402, and second rear robotic leg 403) positioned below it, and four feet (first front foot 201, second front foot 202, first rear foot 203, and second rear foot 204) mounted on the robotic legs. The first and second front robotic legs 400 and 401 are movably connected to the robot body 200; both the first and second front robotic legs 400 and 401 can slide back and forth relative to the robot body 200. Similarly, the robot body 200 can also slide back and forth relative to the first and second front robotic legs 400 and 401. Specifically, the movable connection between the first and second front robotic legs 400 and the robot body 200 can be a sliding connection. The first rear robotic leg 402 and the second rear robotic leg 403 are movably connected to the robot body 200. Both the first rear robotic leg 402 and the second rear robotic leg 403 can slide back and forth relative to the robot body 200. Similarly, the robot body 200 can also slide back and forth relative to the first rear robotic leg 402 and the second rear robotic leg 403. Specifically, the movable connection between the first rear robotic leg 402 and the second rear robotic leg 403 and the robot body 200 can be a sliding connection.

[0044] The foot includes a locking structure 2010, which can lock the first flat steel plate 101 and the second flat steel plate 102, thereby locking the foot to the first flat steel plate 101 and the second flat steel plate 102. That is, the first forefoot 201 can lock the first flat steel plate 101 through the locking structure 2010, the second forefoot 202 can lock the second flat steel plate 102 through the locking structure 2010, the first hindfoot 203 can lock the first flat steel plate 101 through the locking structure 2010, and the second hindfoot 204 can lock the second flat steel plate 102 through the locking structure 2010. This allows the climbing robot to be fixed to the angle iron. At the same time, the locking structure 2010 can also allow the foot to disengage from the first flat steel plate 101 and the second flat steel plate 102.

[0045] Figure 6 As shown Figure 1 The flowchart shown illustrates the movement control method of the climbing robot. Figure 6 As shown, the movement control method of this climbing robot includes the following steps:

[0046] Step S100: Obtain the travel control signal;

[0047] Step S200: According to the travel control signal, control the locking structure 2010 in the first hind foot 203 to release the first flat steel plate 101 and the locking structure 2010 in the second hind foot 204 to release the second flat steel plate 102, and generate a first disengagement signal. The first disengagement signal is used to indicate that the first hind foot 203 disengages from the first flat steel plate 101 and the second hind foot 204 disengages from the second flat steel plate 102.

[0048] According to the travel control signal, the locking structure 2010 in the first hind foot 203 and the second hind foot 204 is released, so that the first hind foot 203 can be disengaged from the first flat steel plate 101 and the second hind foot 204 can be disengaged from the second flat steel plate 102.

[0049] Step S300: According to the first disengagement signal, control the first hind foot 203 and the second hind foot 204 to move a first preset distance toward the first forefoot 201 and the second forefoot 202, so as to drive the robot body 200 to move.

[0050] When the first hind foot 203 detaches from the first flat steel plate 101 and the second hind foot 204 detaches from the second flat steel plate 102, the first hind foot 203 and the second hind foot 204 are controlled to move a first preset distance toward the first forefoot 201 and the second forefoot 202 according to the first detachment signal, so as to drive the robot body 200 to move.

[0051] Step S400: Control the locking structure 2010 in the first hind foot 203 to lock the first flat steel plate 101 and the locking structure 2010 in the second hind foot 204 to lock the second flat steel plate 102, and generate a first locking signal;

[0052] After the first hind foot 203 and the second hind foot 204 travel a first preset distance toward the first forefoot 201 and the second forefoot 202, the locking structure 2010 in the first hind foot 203 and the second hind foot 204 is controlled to lock the first hind foot 203 and the second hind foot 204 onto the first flat steel plate 101 and the second flat steel plate 102, and a first locking signal is generated.

[0053] Step S500: According to the first locking signal, control the tight structure in the first forefoot 201 and the second forefoot 202 to loosen, so that the first forefoot 201 is disengaged from the first flat steel plate 101 and the second forefoot 202 is disengaged from the second flat steel plate 102.

[0054] That is, when the locking structure 2010 is locked so that the first hind foot 203 and the second hind foot 204 are locked on the first flat steel plate 101 and the second flat steel plate 102, the locking mechanism in the first forefoot 201 and the second forefoot 202 is controlled to be released so that the first forefoot 201 is disengaged from the first flat steel plate 101 and the second forefoot 202 is disengaged from the second flat steel plate 102.

[0055] Step S600: Control the first forefoot 201 and the second forefoot 202 to travel a first preset distance away from the first hindfoot 203 and the second hindfoot 204.

[0056] After the first forefoot 201 and the second forefoot 202 detach from the first flat steel plate 101 and the second flat steel plate 102, the first forefoot 201 and the second forefoot 202 are controlled to travel a first preset distance away from the first hindfoot 203 and the second hindfoot 204, that is, the climbing robot has completed the first preset distance.

[0057] The climbing robot provided by this invention includes two forefeet (first forefeet 201 and second forefeet 202) and two hindfeet (first hindfeet 203 and second hindfeet 204). Compared with the prior art which uses a clamping device to lock the angle steel 100, the four feet of this invention can lock and release the angle steel through the locking structure 2010, and each foot corresponds to a straight steel plate in the angle steel. The structure is simple and easy to control, thereby improving the working efficiency of the entire climbing robot.

[0058] In one embodiment of the present invention, such as Figures 2-6 As shown, the locking structure 2010 includes a first electromagnetic structure 2011, a second electromagnetic structure 2012, and a first rotating structure 2013. One end of the first electromagnetic structure 2011 and one end of the second electromagnetic structure 2012 are rotatably connected via the first rotating structure 2013. When opposite currents flow through the first electromagnetic structure 2011 and the second electromagnetic structure 2012, they attract each other, and the second electromagnetic structure 2012 rotates relative to the first electromagnetic structure 2011 to lock the first flat steel plate 101 and the second flat steel plate 102.

[0059] Specifically, when the first electromagnetic structure 2011 and the second electromagnetic structure 2012 in the locking structure 2010 of the first forefoot 201 are supplied with opposite currents, the second electromagnetic structure 2012 rotates relative to the first electromagnetic structure 2011 to lock the first flat steel plate 101. Similarly, when the first electromagnetic structure 2011 and the second electromagnetic structure 2012 in the locking structure 2010 of the second forefoot 202 are supplied with opposite currents, the second electromagnetic structure 2012 rotates relative to the first electromagnetic structure 2011 to lock the second flat steel plate 102.

[0060] Specifically, the climbing robot also includes a power supply device, which is electrically connected to the first electromagnetic structure 2011 and the second electromagnetic structure 2012 respectively; wherein the power supply device provides the same or opposite current to the first electromagnetic structure 2011 and the second electromagnetic structure 2012.

[0061] Optionally, as described above, the foot includes a locking structure 2010. Besides the locking structure 2010, the foot may also include other structures, such as the foot body, with the locking structure 2010 connected to the foot body. The foot can also be the locking structure 2010, meaning the entire foot serves as the locking structure 2010. In other words, the foot itself includes a first electromagnetic structure 2011, a second electromagnetic structure 2012, and a first rotating structure 2013, such as... Figures 3-6 As shown, one end of the first electromagnetic structure 2011 is connected to the machine leg, and the other end of the first electromagnetic structure 2011 is rotatably connected to one end of the second electromagnetic structure 2012 through the first rotating structure 2013. For example, the first forefoot 201, the second forefoot 202, the first hindfoot 203, and the second hindfoot 204 can all be locking structures 2010. That is, the first forefoot 201 includes a first electromagnetic structure 2011, a second electromagnetic structure 2012, and a first rotation. One end of the first electromagnetic structure 2011 is connected to the first front robot leg 400, and the other end of the second electromagnetic structure 2012 is rotatably connected to one end of the second electromagnetic structure 2012 through the first rotation structure 2013. The first electromagnetic structure 2011 and the second electromagnetic structure 2012 can be located at the two ends of the first flat steel plate 101, respectively. When the first electromagnetic structure 2011 and the second electromagnetic structure 2012 are supplied with opposite currents, the first electromagnetic structure 2011 and the second electromagnetic structure 2012 generate a force to make the second electromagnetic structure 2012 rotate, thereby locking the first electromagnetic structure 2011 and the second electromagnetic structure 2012 into the first flat steel plate 101. The structure and working principle of the second forefoot 202, the first hindfoot 203, and the second hindfoot 204 are as described above, and will not be repeated here.

[0062] Optionally, both the first electromagnetic structure 2011 and the second electromagnetic structure 2012 can be electromagnetic pads.

[0063] The locking structure 2010 is a magnetic structure. By controlling the power supply device, opposite currents are supplied to the first electromagnetic structure 2011 and the second electromagnetic structure 2012. Since the angle steel 100 is made of metal, a strong magnetic force is generated between the first electromagnetic structure 2011 and the second electromagnetic structure 2012, allowing the foot to lock the first flat steel plate 101 and the second flat steel plate 102. Compared with the clamping devices in the prior art that lock the angle steel 100, the magnetic locking structure 2010 has a simpler structure, and both locking and releasing the angle steel 100 are easy without any additional complex actions, allowing the foot to lock or release the angle steel 100.

[0064] In this case, such as Figure 8 As shown, the movement control method of this climbing robot includes the following steps:

[0065] Step S100: Obtain the travel control signal;

[0066] Step S201: According to the movement control signal, current in the same direction is passed to the first electromagnetic structure 2011 and the second electromagnetic structure 2012 in the first hind foot 203 so that the force between the first electromagnetic structure 2011 and the second electromagnetic structure 2012 is zero.

[0067] Specifically, the force between the first electromagnetic structure 2011 and the second electromagnetic structure 2012 is zero, so there is no longer an attraction between the first electromagnetic structure 2011 and the second electromagnetic structure 2012, no attraction between the first electromagnetic structure 2011 and the first flat steel plate 101, and no attraction between the second electromagnetic structure 2012 and the first flat steel plate 101.

[0068] Step S202: Control the first rotating structure 2013 in the first hind foot 203 to rotate so that the first electromagnetic structure 2011 rotates relative to the second electromagnetic structure 2012 by a first preset angle, the first preset angle being greater than 90°, so that the first hind foot 203 disengages from the first flat steel plate 101.

[0069] Specifically, after the first rotating structure 2013 rotates such that the first electromagnetic structure 2011 rotates relative to the second electromagnetic structure 2012 by a first preset angle, the first electromagnetic structure 2011 and the second electromagnetic structure 2012 can be parallel, as shown below. Figure 5 As shown. At this time, the first hind foot 203 detaches from the first flat steel plate 101.

[0070] Step S203: Pass current in the same direction to the first electromagnetic structure 2011 and the second electromagnetic structure 2012 in the second hind foot 204 so that the force between the first electromagnetic structure 2011 and the second electromagnetic structure 2012 is zero.

[0071] Specifically, the force between the first electromagnetic structure 2011 and the second electromagnetic structure 2012 is zero, so there is no longer an attraction between the first electromagnetic structure 2011 and the second electromagnetic structure 2012, no attraction between the first electromagnetic structure 2011 and the first flat steel plate 101, and no attraction between the second electromagnetic structure 2012 and the first flat steel plate 101.

[0072] Step S204: Control the first rotating structure 2013 in the second hind foot 204 to rotate so that the first electromagnetic structure 2011 rotates relative to the second electromagnetic structure 2012 by a first preset angle, the first preset angle being greater than 90°, so that the second hind foot 204 disengages from the second flat steel plate 102.

[0073] Specifically, after the first rotating structure 2013 rotates such that the first electromagnetic structure 2011 rotates relative to the second electromagnetic structure 2012 by a first preset angle, the first electromagnetic structure 2011 and the second electromagnetic structure 2012 can be parallel, as shown below. Figure 5 As shown. At this time, the second hind foot 204 detaches from the second flat steel plate 102.

[0074] Step S205: Generate the first breakaway signal.

[0075] When the first hind foot 203 and the second hind foot 204 detach from the first flat steel plate 101 and the second flat steel plate 102 respectively in steps S202 and S204, a first detachment signal is generated.

[0076] Once the separation signal is generated, the first hind foot 203 and the second hind foot 204 can move.

[0077] Step S300: According to the first disengagement signal, control the first hind foot 203 and the second hind foot 204 to move a first preset distance toward the first forefoot 201 and the second forefoot 202, so as to drive the robot body 200 to move.

[0078] When the first hind foot 203 detaches from the first flat steel plate 101 and the second hind foot 204 detaches from the second flat steel plate 102, the first hind foot 203 and the second hind foot 204 are controlled to move a first preset distance toward the first forefoot 201 and the second forefoot 202 according to the first detachment signal, so as to drive the robot body 200 to move.

[0079] After the first hind foot 203 and the second hind foot 204 have traveled the first preset distance, the first hind foot 203 and the second hind foot 204 need to re-lock the angle steel, that is, the first hind foot 203 locks the first straight steel plate 101, and the second hind foot 204 locks the second straight steel plate 102.

[0080] Step S401: Pass currents in opposite directions to the first electromagnetic structure 2011 and the second electromagnetic structure 2012 in the first hind foot 203 to control the force generated between the first electromagnetic structure 2011 and the second electromagnetic structure 2012.

[0081] Specifically, when the first electromagnetic structure 2011 and the second electromagnetic structure 2012 in the first hind foot 203 are supplied with currents in opposite directions, since the first flat steel plate 101 is also metal, a strong magnetic force is generated between the first electromagnetic structure 2011 and the second electromagnetic structure 2012. The magnetic force causes the first rotating structure 2013 to rotate, thereby causing the second electromagnetic structure 2012 to rotate relative to the first electromagnetic structure 2011, so that the vertical distance between the first electromagnetic structure 2011 and the second electromagnetic structure 2012 becomes smaller and smaller, thereby locking the first flat steel plate 101.

[0082] Optionally, when the positional relationship between the first electromagnetic structure 2011 and the second electromagnetic structure 2012 in the locking structure 2010 of the first hind foot 203 and the first flat steel plate 101 is as follows: Figure 4 As shown, the first flat steel plate 101 is located between the first electromagnetic structure 2011 and the second electromagnetic structure 2012. This allows current to be directly passed in opposite directions to the first electromagnetic structure 2011 and the second electromagnetic structure 2012 in the first hind foot 203.

[0083] When the positional relationship between the first electromagnetic structure 2011 and the second electromagnetic structure 2012 in the locking structure 2010 of the first hind foot 203 and the first flat steel plate 101 is as follows: Figure 6 As shown, firstly, the first rotating structure 2013 in the locking structure 2010 of the first hind foot 203 is controlled to rotate, so that the second electromagnetic structure 2012 rotates relative to the first electromagnetic structure 2011, so that the first flat steel plate 101 is located between the first electromagnetic structure 2011 and the second electromagnetic structure 2012. Then, step S401 is executed (currents in opposite directions are passed to the first electromagnetic structure 2011 and the second electromagnetic structure 2012 in the first hind foot 203 to control the generation of a force between the first electromagnetic structure 2011 and the second electromagnetic structure 2012).

[0084] Step S402: Pass currents in opposite directions to the first electromagnetic structure 2011 and the second electromagnetic structure 2012 in the second hind foot 204 to control the force generated between the first electromagnetic structure 2011 and the second electromagnetic structure 2012.

[0085] Specifically, when the first electromagnetic structure 2011 and the second electromagnetic structure 2012 in the second hind foot 204 are supplied with currents in opposite directions, since the first flat steel plate 101 is also metal, a strong magnetic force is generated between the first electromagnetic structure 2011 and the second electromagnetic structure 2012. The magnetic force causes the first rotating structure 2013 to rotate, thereby causing the second electromagnetic structure 2012 to rotate relative to the first electromagnetic structure 2011, so that the vertical distance between the first electromagnetic structure 2011 and the second electromagnetic structure 2012 becomes smaller and smaller, thereby locking the second flat steel plate 102.

[0086] Step S403: Generate the first locking signal.

[0087] When the first hind foot 203 and the second hind foot 204 lock the first flat steel plate 101 and the second flat steel plate 102 respectively in steps S401 and S402, a first locking signal is generated.

[0088] Once the first hind foot 203 and the second hind foot 204 are locked to the first flat steel plate 101 and the second flat steel plate 102, the first forefoot 201 and the second forefoot 202 can be controlled to disengage from the first flat steel plate 101 and the second flat steel plate 102.

[0089] Step S501: According to the first locking signal, current in the same direction is passed to the first electromagnetic structure 2011 and the second electromagnetic structure 2012 in the first forefoot 201 so that the force between the first electromagnetic structure 2011 and the second electromagnetic structure 2012 is zero.

[0090] Specifically, the force between the first electromagnetic structure 2011 and the second electromagnetic structure 2012 is zero, so there is no longer an attraction between the first electromagnetic structure 2011 and the second electromagnetic structure 2012, no attraction between the first electromagnetic structure 2011 and the first flat steel plate 101, and no attraction between the second electromagnetic structure 2012 and the first flat steel plate 101.

[0091] Step S502: Control the first rotating structure 2013 in the first forefoot 201 to rotate so that the first electromagnetic structure 2011 rotates relative to the second electromagnetic structure 2012 by a first preset angle, the first preset angle being greater than 90°, so that the first hindfoot 203 disengages from the first flat steel plate 101.

[0092] Specifically, after the first rotating structure 2013 rotates such that the first electromagnetic structure 2011 rotates relative to the second electromagnetic structure 2012 by a first preset angle, the first electromagnetic structure 2011 and the second electromagnetic structure 2012 can be parallel, as shown below. Figure 5 As shown. At this time, the first forefoot 201 detaches from the first flat steel plate 101.

[0093] Step S503: Pass current in the same direction to the first electromagnetic structure 2011 and the second electromagnetic structure 2012 in the second forefoot 202 so that the force between the first electromagnetic structure 2011 and the second electromagnetic structure 2012 is zero.

[0094] Specifically, the force between the first electromagnetic structure 2011 and the second electromagnetic structure 2012 is zero, so there is no longer an attraction between the first electromagnetic structure 2011 and the second electromagnetic structure 2012, no attraction between the first electromagnetic structure 2011 and the first flat steel plate 101, and no attraction between the second electromagnetic structure 2012 and the first flat steel plate 101.

[0095] Step S504: Control the first rotating structure 2013 in the second forefoot 202 to rotate so that the first electromagnetic structure 2011 rotates relative to the second electromagnetic structure 2012 by a first preset angle, the first preset angle being greater than 90°, so that the second forefoot 202 disengages from the second flat steel plate 102.

[0096] Step S505: Generate a second disconnect signal.

[0097] Step S600: Control the first forefoot 201 and the second forefoot 202 to travel a first preset distance away from the first hindfoot 203 and the second hindfoot 204.

[0098] When controlling the foot to lock the first flat steel plate 101 and the second flat steel plate 102, the power supply device is directly controlled to supply opposite currents to the first electromagnetic structure 2011 and the second electromagnetic structure 2012. Since the angle steel 100 is made of metal, a strong magnetic force is generated between the first electromagnetic structure 2011 and the second electromagnetic structure 2012, allowing the locking structure 2010 to lock the first flat steel plate 101 and the second flat steel plate 102, thus locking the foot to the angle steel 100. Compared with the clamping device in the prior art for locking the angle steel 100, the magnetic locking structure 2010 has a simple structure, and both locking and releasing the angle steel 100 are easy without additional complex actions, allowing the first locking structure 2010 to lock or release the angle steel 100.

[0099] In another embodiment of the invention, such as Figure 4 as well as Figure 6As shown, the locking structure 2010 further includes: a second rotating structure 2014, wherein the first electromagnetic structure 2011 is rotatably connected to the robotic leg via the second rotating structure 2014; the climbing robot also includes: a third rotating structure 2015, one end of which is rotatably connected to the robot body 200, and the other end of which is rotatably connected to the robotic leg. Specifically, the locking structure 2010 in the second hind foot 204 includes: a first electromagnetic structure 2011, a second electromagnetic structure 2012, a first rotating structure 2013, and a second rotating structure 2014, wherein one end of the first electromagnetic structure 2011 is rotatably connected to the second hind robotic leg 403 via the second rotating structure 2014, and the other end of the first electromagnetic structure 2011 is rotatably connected to the second electromagnetic structure 2012 via the first rotating structure 2013.

[0100] In this case, such as Figure 9 As shown, in Figure 8 Based on the control method shown, between steps S203 and S205, step S200 further includes:

[0101] Step S206: Control the second rotating structure 2014 in the first hind foot 203 to rotate, so that the first electromagnetic structure 2011 rotates relative to the first hind robotic leg 402, so that the first electromagnetic structure 2011 moves away from the first flat steel plate 101, that is, the first electromagnetic structure 2011 does not contact the first flat steel plate 101. Figure 6 As shown.

[0102] Step S207: Control the third rotating structure 2015 corresponding to the first rear robotic leg 402 to rotate, so that the first rear robotic leg 402 rotates relative to the robot body 200, so that the first hind foot 203 moves away from the first flat steel plate 101; so that there is no contact between the entire first hind foot 203 and the first flat steel plate 101, and there is a certain distance between the first hind foot 203 and the first flat steel plate 101.

[0103] Specifically, the distance between the first hindfoot 203 and the first flat steel plate 101 can be adjusted by controlling the rotation angle of the third rotating structure.

[0104] Specifically, when an obstacle exists on the first flat steel plate, the third rotating structure 2015 can be controlled to rotate relative to the robot body 200, thereby moving the entire first hind foot 203 away from the first flat steel plate 101, allowing the first hind foot 203 to cross the obstacle. The minimum distance required for the first hind foot 203 to cross the obstacle (i.e., the minimum distance between the first hind foot 203 and the first flat steel plate 101) can be determined based on the height of the obstacle, and then the rotation angle required for the third rotating structure 2015 to rotate can be calculated based on the minimum distance.

[0105] Step S208: Control the second rotating structure 2014 in the second hind foot 204 to rotate, so that the first electromagnetic structure 2011 rotates relative to the second hind robotic leg 403, so that the first electromagnetic structure 2011 moves away from the second flat steel plate 102, that is, the first electromagnetic structure 2011 does not contact the second flat steel plate 102, such as... Figure 6 As shown.

[0106] Step S209: Control the third rotating structure 2015 corresponding to the second rear robotic leg 403 to rotate, so that the second rear robotic leg 403 rotates relative to the robot body 200, so that the second hind foot 204 moves away from the second flat steel plate 102; so that there is no contact between the entire second hind foot 204 and the second flat steel plate 102, and there is a certain distance between the second hind foot 204 and the second flat steel plate 102.

[0107] Specifically, the gap between the second hindfoot 204 and the second flat steel plate 102 can be adjusted by controlling the rotation angle of the third rotating structure.

[0108] Specifically, when an obstacle exists on the second flat steel plate, the third rotating structure 2015 can be controlled to rotate relative to the robot body 200, thereby moving the entire second hind foot 204 away from the second flat steel plate 102, allowing the second hind foot 204 to cross the obstacle. The minimum distance required for the second hind foot 204 to cross the obstacle (i.e., the minimum distance between the second hind foot 204 and the second flat steel plate 102) can be determined based on the height of the obstacle, and then the rotation angle required for the third rotating structure 2015 to rotate can be calculated based on the minimum distance.

[0109] Through steps S207 and S209, the first hind foot 203 does not contact the first flat steel plate 101, and there is no frictional resistance between the first hind foot 203 and the first flat steel plate 101. The second hind foot 204 does not contact the second flat steel plate 102, and there is no frictional resistance between the second hind foot 204 and the second flat steel plate 102. During the process of the first hind foot 203 and the second hind foot 204 traveling the first preset distance, there is little resistance and the movement is easy.

[0110] In one embodiment of the present invention, such as Figure 10 As shown, before obtaining the travel control signal in step S100, the travel control method further includes the following steps:

[0111] Step S10: Obtain an image of the angle iron 100 in the direction of the climbing robot's movement;

[0112] Step S11: Determine whether there are obstacles on the angle steel 100 in the direction of the climbing robot's movement based on the image of the angle steel 100;

[0113] When the judgment result in step S11 is yes, that is, it is determined that there is an obstacle on the angle iron 100 in the direction of travel of the climbing robot, then obstacle information is generated based on the image.

[0114] Specifically, obstacle information includes, but is not limited to: obstacle type, obstacle height, obstacle length, etc.

[0115] Step S100 (acquiring the travel control signal) further includes the following steps:

[0116] Step S101: Generate a travel control signal based on obstacle information.

[0117] Specifically, the movement control signals include, but are not limited to: a first preset distance that the first forefoot 201 and second forefoot 202, the first hindfoot 203 and second hindfoot 204 need to travel (which can be calculated based on the length of the obstacle), and the height that the first front robotic leg 400 and second front robotic leg 401, the first rear robotic leg 402 and second rear robotic leg 403 need to be raised (which can be calculated based on the height of the obstacle). That is, when encountering an obstacle, during the movement of the climbing robot, it is necessary to control the first front robotic leg 400 and second front robotic leg 401 to rise to a preset height so that the first forefoot 201 and second forefoot 202 can cross the obstacle. Similarly, it is necessary to control the first rear robotic leg 402 and second rear robotic leg 403 to rise to a preset height so that the first hindfoot 203 and second hindfoot 204 can cross the obstacle.

[0118] Exemplary controller

[0119] As a third aspect of the invention, the invention also provides a travel controller for a climbing robot, such as... Figure 11 As shown, it includes:

[0120] The data acquisition module is used to acquire travel control signals;

[0121] Specifically, the data acquisition module is used to execute step S100 in the above-mentioned climbing robot travel control method.

[0122] The first control module is used to control the locking structure in the first hind foot to release the first flat steel plate and the locking structure in the second hind foot to release the second flat steel plate according to the travel control signal, and generate a first disengagement signal. The first disengagement signal is used to indicate that the first hind foot is disengaged from the first flat steel plate and the second hind foot is disengaged from the second flat steel plate. The module also controls the locking structure in the first hind foot to lock the first flat steel plate and the locking structure in the second hind foot to lock the second flat steel plate, and generates a first locking signal. The module also controls the locking structure in the first forefoot to release the first flat steel plate and the locking structure in the second forefoot to release the second flat steel plate according to the first locking signal, and generates a second disengagement signal.

[0123] That is, the first control module is used to control the first hind foot and the second hind foot to lock or disengage from the first flat steel plate and the second flat steel plate, and to control the first hind foot and the second hind foot to move, that is, to control steps S200-S400 in the above-mentioned climbing robot movement control method.

[0124] The second control module is used to control the first hind foot and the second hind foot to move a first preset distance toward the first forefoot and the second forefoot according to the first disengagement signal, so as to drive the robot body to move; and to control the first forefoot and the second forefoot to move a first preset distance away from the first hind foot and the second hind foot according to the second disengagement signal.

[0125] That is, the first control module is used to control the first forefoot and the second forefoot to lock or disengage from the first flat steel plate and the second flat steel plate, and to control the first forefoot and the second forefoot to move, that is, to control steps S500-S600 in the above-mentioned climbing robot movement control method.

[0126] The present invention provides a movement controller for a climbing robot. Because it includes two forefeet (a first forefeet and a second forefeet) and two hindfeet (a first hindfeet and a second hindfeet), compared to the prior art which uses a clamping device to lock the angle steel, the four feet of the present invention can lock and release the angle steel through a locking structure. Each foot corresponds to a straight steel plate within an angle steel, resulting in a simple and easy-to-control structure, thereby improving the overall working efficiency of the climbing robot.

[0127] Optional, such as Figure 11 As shown, the climbing robot's travel controller also includes an obstacle recognition module. The obstacle recognition module is used to acquire an image of the angle steel in the direction of travel of the climbing robot; determine whether there is an obstacle on the angle steel in the direction of travel of the climbing robot based on the image of the angle steel; and generate obstacle information when there is an obstacle on the angle steel in the direction of travel of the climbing robot.

[0128] Exemplary electronic devices

[0129] Below, for reference Figure 12 To describe an electronic device according to an embodiment of the present invention. Figure 12 The diagram shown is a structural schematic of an electronic device provided in an embodiment of the present invention.

[0130] like Figure 12 As shown, the electronic device 60 includes one or more processors 61 and a memory 62.

[0131] The processor 61 may be a central processing unit (CPU) or other form of processing unit with data processing and / or information execution capabilities, and may control other components in the electronic device 60 to perform desired functions.

[0132] The memory 61 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program information may be stored on the computer-readable storage medium, and the processor 61 may run the program information to implement the climbing robot's movement control method or other desired functions as described in the various embodiments of the present invention.

[0133] In one example, the electronic device 60 may also include an input device 63 and an output device 64, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0134] The input device 63 may include, for example, a keyboard, a mouse, etc.

[0135] The output device 64 can output various information to the outside. The output device 64 may include, for example, a display, a communication network, and remote output devices connected thereto.

[0136] Of course, for the sake of simplicity, Figure 12 Only some of the components of the electronic device 60 relevant to the present invention are shown, omitting components such as buses, input / output interfaces, etc. In addition, the electronic device 60 may include any other suitable components depending on the specific application.

[0137] In addition to the methods and devices described above, embodiments of the present invention may also be computer program products, which include computer program information that, when run by a processor, causes the processor to perform the steps in the movement control methods for climbing robots according to various embodiments of the present invention as described in this specification.

[0138] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of the present invention. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0139] Furthermore, embodiments of the present invention may also be computer-readable storage media storing computer program information thereon, which, when run by a processor, causes the processor to execute the steps in the climbing robot movement control method of various embodiments of the present specification.

[0140] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0141] The basic principles of the present invention have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in the present invention are merely examples and not limitations, and should not be considered as essential features of each embodiment of the present invention. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the present invention to the necessity of employing the aforementioned specific details.

[0142] The block diagrams of devices, apparatuses, devices, and systems involved in this invention are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0143] It should also be noted that in the apparatus, device, and method of the present invention, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of the present invention.

[0144] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the invention. Therefore, the invention is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features of the invention herein.

[0145] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications or equivalent substitutions made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A climbing robot, characterized in that the climbing robot is used to climb angle steel, the angle steel having a first straight steel plate and a second straight steel plate; wherein, The climbing robot includes: The robot body, which can travel along the length of the angle steel; and The four feet located under the robot body are the first forefoot, the second forefoot, the first hindfoot, and the second hindfoot. The foot includes a locking structure for locking or releasing the first flat steel plate and the second flat steel plate, so that the foot locks or releases the first flat steel plate and the second flat steel plate. The locking structure includes a first electromagnetic structure, a first rotating structure, and a second electromagnetic structure. The second electromagnetic structure is rotatably connected to one end of the first electromagnetic structure through the first rotating structure. The first electromagnetic structure can rotate relative to the second electromagnetic structure at an angle greater than 90°. When the first electromagnetic structure and the second electromagnetic structure are subjected to opposite currents, the first electromagnetic structure and the second electromagnetic structure attract each other, and the second electromagnetic structure rotates relative to the first electromagnetic structure to lock the first flat steel plate and the second flat steel plate.

2. The climbing robot according to claim 1, characterized in that, The climbing robot also includes four robotic legs located below the robot body. The four robotic legs include a first front robotic leg, a second robotic leg, a first rear robotic leg, and a second rear robotic leg. The first front robotic leg, the second robotic leg, the first rear robotic leg, and the second rear robotic leg are respectively connected to the first forefoot, the second forefoot, the first rearfoot, and the second rearfoot. The locking structure further includes: The second rotating structure is used to rotatably connect the first electromagnetic structure to the machine leg. The climbing robot also includes: The third rotating structure has one end rotatably connected to the robot body and the other end rotatably connected to the robot leg.

3. The climbing robot according to claim 1, characterized in that, Also includes: A power supply device, which is electrically connected to the first electromagnetic structure and the second electromagnetic structure respectively; The power supply device provides current to the first electromagnetic structure and the second electromagnetic structure.

4. A method for controlling the movement of a climbing robot, characterized in that, include: Acquire travel control signals; According to the travel control signal, the locking structure in the first hind foot releases the first flat steel plate and the locking structure in the second hind foot releases the second flat steel plate, generating a first disengagement signal; according to the first disengagement signal, the first hind foot and the second hind foot are controlled to travel a first preset distance towards the first forefoot and the second forefoot; the locking structure in the first hind foot locks the first flat steel plate and the locking structure in the second hind foot locks the second flat steel plate, generating a first locking signal; according to the first locking signal, the locking structure in the first forefoot releases the first flat steel plate and the locking structure in the second forefoot releases the second flat steel plate, generating a second disengagement signal; according to the second disengagement signal, the first forefoot and the second forefoot are controlled to travel the first preset distance away from the first hind foot and the second hind foot. The locking structure includes: a first electromagnetic structure; a first rotating structure; and a second electromagnetic structure, wherein the second electromagnetic structure is rotatably connected to one end of the first electromagnetic structure via the first rotating structure. Specifically, based on the travel control signal, the locking structure in the first hind foot releases the first flat steel plate, and the locking structure in the second hind foot releases the second flat steel plate, respectively, and a first disengagement signal is generated, including: According to the travel control signal, current in the same direction is supplied to the first electromagnetic structure and the second electromagnetic structure in the first hind foot to control the force between the first electromagnetic structure and the second electromagnetic structure to be zero. Control the rotation of the first rotating structure in the first hind foot so that the first electromagnetic structure rotates relative to the second electromagnetic structure by a first preset angle, the first preset angle being greater than 90°, so that the first hind foot detaches from the first flat steel plate. A current in the same direction is passed to the first electromagnetic structure and the second electromagnetic structure in the second hind foot to control the force between the first electromagnetic structure and the second electromagnetic structure to be zero. Controlling the rotation of the first rotating structure in the second hind foot to cause the first electromagnetic structure to rotate relative to the second electromagnetic structure by a second preset angle, the second preset angle being greater than 90°, so that the second hind foot disengages from the second flat steel plate; and Generate the first separation signal; Specifically, controlling the locking structure in the first hindfoot to lock the first flat steel plate and the locking structure in the second hindfoot to lock the second flat steel plate, and generating a first locking signal, includes: Currents in opposite directions are supplied to the first electromagnetic structure and the second electromagnetic structure in the first hind foot to control the force between the first electromagnetic structure and the second electromagnetic structure. The force drives the first rotating structure to rotate so that the first electromagnetic structure and the second electromagnetic structure lock the first flat steel plate. Currents in opposite directions are supplied to the first and second electromagnetic structures in the second hind foot to control the interaction between them. This interaction causes the first rotating structure to rotate, thereby locking the first and second electromagnetic structures together with the second flat steel plate. Generate the first locking signal.

5. The method for controlling the movement of a climbing robot according to claim 4, characterized in that, The climbing robot also includes four robotic legs disposed below the robot body. The four robotic legs include a first front robotic leg, a second robotic leg, a first rear robotic leg, and a second rear robotic leg. The first front robotic leg, the second robotic leg, the first rear robotic leg, and the second rear robotic leg are respectively connected to the first forefoot, the second forefoot, the first rear foot, and the second rear foot. The locking structure further includes a second rotating structure, through which the first electromagnetic structure is rotatably connected to the robotic legs. The climbing robot also includes a third rotating structure, one end of which is rotatably connected to the robot body, and the other end of which is rotatably connected to the robotic legs. According to the travel control signal, the locking structure in the first hind foot releases the first flat steel plate and the locking structure in the second hind foot releases the second flat steel plate, respectively, and a first disengagement signal is generated, further comprising: Control the rotation of the second rotating structure in the first hind foot to make the first electromagnetic structure rotate relative to the first hind robotic leg, so that the first electromagnetic structure disengages from the first flat steel plate. Control the rotation of the third rotating structure corresponding to the first rear robotic leg, so that the first rear robotic leg rotates relative to the robot body, so that the first hind foot moves away from the first flat steel plate; control the rotation of the second rotating structure in the second hind foot, so that the first electromagnetic structure rotates relative to the second rear robotic leg, so that the first electromagnetic structure disengages from the second flat steel plate. Control the rotation of the third rotating structure corresponding to the second rear robotic leg so that the second rear robotic leg rotates relative to the robot body so that the second hind foot moves away from the second flat steel plate.

6. The method for controlling the movement of a climbing robot according to claim 5, characterized in that, Before acquiring the travel control signal, the travel control method further includes: Obtain an image of the angle iron in the direction of travel of the climbing robot; Determine whether there are any obstacles on the angle steel in the direction of the climbing robot's movement based on the image of the angle steel. When there is an obstacle on the angle iron in the direction of the climbing robot's movement, obstacle information is generated; Acquiring the travel control signal includes: The travel control signal is generated based on the obstacle information.

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