Crawling robot special for underwater gate groove space and control method thereof

Abstract

The invention discloses a special crawling robot for underwater gate groove space and a control method of the special crawling robot, and relates to the technical field of robots. The gate slot crawling adding layer is connected with the robot host; the stainless steel frame is arranged on the door groove crawling adding layer, bottom crawling wheels are arranged at the bottom of the stainless steel frame, and side crawling wheels are arranged on the two sides of the stainless steel frame; the side crawling wheel telescopic mechanism is arranged in the stainless steel frame; the motor is arranged in the motor fixing base, one side of the motor is connected with the robot host, and the other side of the motor is connected with the side crawling wheel telescopic mechanism. The motor is controlled to rotate through a control algorithm, and arch-shaped advancing of the robot in the gate groove space is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a crawling robot dedicated to underwater gate slot space and a control method thereof. Background Art

[0002] In the operation and maintenance of hydropower stations, the clearance of underwater gate slots is particularly critical and challenging. The difficulty of this task is mainly reflected in the particularity and complexity of the underwater environment. The underwater gate slot is often a narrow, dark and turbulent environment, which places extremely high demands on the clearance work.

[0003] Traditional obstacle removal methods often expose many limitations and shortcomings when faced with such an environment. For example, mechanical obstacle removal methods, although direct and powerful, are limited by the range of motion and grasping ability of the robotic arm. In the complex and ever-changing space environment of the gate slot, the robotic arm may not be able to reach all the corners that need to be cleaned, or it may not be able to effectively grasp and remove obstacles of various shapes and sizes. Another traditional method is to use a high-pressure water gun for flushing, which does have a certain effect on fine sediments and loose obstacles. However, when faced with larger and more solid objects, the impact force of the high-pressure water gun may seem inadequate and unable to effectively remove these obstacles. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a crawling robot dedicated to underwater gate slot space and a control method thereof, and the rotation of the motor is controlled by a control algorithm to realize the bow-shaped advancement of the robot in the gate slot space.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: A crawling robot dedicated to underwater gate slot space, comprising: Robot host; A door slot crawling installation layer connected to the robot host; A stainless steel frame is arranged on the door slot crawling installation layer, the bottom of the stainless steel frame is provided with bottom crawling wheels, and side crawling wheels are provided on both sides; The side crawling wheel telescopic mechanism is arranged inside the stainless steel frame; The motor is arranged in the motor fixing seat, one side of which is connected to the robot main body, and the other side of which is connected to the side crawling wheel telescopic mechanism.

[0006] Preferably, the underwater gate slot space dedicated crawling robot also includes: The side crawling wheel telescopic mechanism is fixedly arranged inside the stainless steel frame and is connected to the side crawling wheel through a compression spring.

[0007] Preferably, the side crawling wheel telescopic mechanism comprises: A fixed bottom plate connected to the motor fixing seat; A limit seat connected to the fixed bottom plate; The screw rod fixes the bearing seat and is connected to the limit seat; The support shaft is arranged inside the limit seat; A coupling, connected to the motor; The ball screw is arranged inside the limit seat, one side of which is connected to the coupling and the other side is connected to the support shaft.

[0008] Preferably, the ball screw is threadedly connected to the screw nut, the screw nut is fixed to the support shaft, and the ball screw drives the support shaft to move.

[0009] Preferably, the ball screw passes through a screw fixing bearing seat, and the contact surface between the ball screw and the screw fixing bearing seat is a smooth surface.

[0010] A control method for a crawling robot dedicated to an underwater gate slot space comprises the following steps: Complete the initialization settings by setting the initial parameters of the robot and recording the initial time; According to the initialization settings, the location is updated to obtain an updated location; By calculating the error between the updated position and the target position, the target position coordinate information is obtained; According to the updated position and target position coordinate information, the arcuate path is planned to obtain the generated arcuate path points; According to the positional relationship of adjacent path points of the bow, the target angle and the number of rotations of the lead screw are calculated to realize the control association between the motor and the lead screw.

[0011] Preferably, performing a location update according to the initialization setting to obtain an updated location includes: According to the initialization settings, through the formula: and ; to get the updated location; n is the number of revolutions of the screw, Is displacement is the current location is the initial position, is the lead of the screw, is the thread pitch, It is the angle.

[0012] Preferably, the target position coordinate information is obtained by calculating the error between the updated position and the target position, including: pass , to obtain the target position coordinate information, where , is the target location of error.

[0013] Preferably, planning an arcuate path according to the updated position and target position coordinate information to generate arcuate path points includes: Based on the updated position and target position coordinate information, the center of the path is calculated , to get the center of the path, where is the center of the path; Based on the center of the path, Adjust path radius Adjust the angle pass , to generate arcuate path points, where is the path radius The random factor introduced , The value is is the starting angle, is the angular step length, is the arc path point .

[0014] Preferably, according to the positional relationship between the adjacent path points of the bow, the target angle and the number of rotations of the lead screw are calculated to realize the control association between the motor and the lead screw, including: According to the position relationship of adjacent path points in the arch path, To get the target angle. and are the position coordinates of adjacent path points, is the target angle; According to the comparison target angle With current angle The difference determines the rotation direction and speed of the motor; According to the position relationship of adjacent path points in the arch path, and , to realize the control association between the motor and the screw, where: is the distance between the path points. is the number of revolutions of the screw, is the lead of the screw, is the thread pitch.

[0015] The present invention can achieve the following beneficial effects: The robot provided by the present invention is equipped with four retractable supporting legs with rollers, which can stably operate in gate slot spaces of different widths and depths and adapt to various complex underwater environments. The retractable function of the supporting legs and the independent displacement sensor enable the robot to flexibly adjust its posture and position to cope with various obstacles and terrain changes in the gate slot space; the rotation of the motor is accurately controlled by the control algorithm to achieve the arched advance of the robot in the gate slot space; the control algorithm achieves high-precision displacement control by accurately calculating the relationship between the number of screw rotations and the displacement, as well as detailed path planning, and the introduction of random factors enables the path shape and angle to be flexibly adjusted, adapting to different work scenes and complex environmental requirements, and improving the robot's operating efficiency and adaptability; the motor control is closely integrated with the path planning, which reduces the response time, improves the system's working efficiency, enables the robot to complete the obstacle removal operation faster, and shortens the downtime of the hydropower station; the closed-loop control mechanism can monitor and correct the displacement error in real time, ensures the stability and reliability of the system operation, and can continue to work stably even in harsh underwater environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a schematic diagram of the overall structure of the special crawling robot for underwater gate slot space of the present invention.

[0017] Figure 2 It is a schematic diagram of the gate slot crawling installation layer of the local structure of the underwater gate slot space special crawling robot of the present invention.

[0018] Figure 3 It is a front view of the side crawling wheel telescopic mechanism of the crawling robot specially used for underwater gate slot space of the present invention.

[0019] Figure 4 It is a front view and a stereoscopic view of a side crawling wheel telescopic mechanism of a crawling robot dedicated to underwater gate slot space of the present invention.

[0020] Figure 5 It is a schematic diagram of the side crawling wheel retracted state of the underwater gate slot space special crawling robot of the present invention.

[0021] Figure 6 It is a schematic diagram of the extended state of the side crawling wheels of the underwater gate slot space-specific crawling robot of the present invention.

[0022] Figure 7 It is a flow chart of a control method of a crawling robot dedicated to underwater gate slot space according to the present invention.

[0023] In the figure: 1. Robot host; 2. Door slot crawling installation layer; 3. Stainless steel frame; 4. Crawling bottom wheel; 5. Side crawling wheel; 6. Compression spring; 7. Side crawling wheel telescopic mechanism; 71. Fixed bottom plate; 72. Screw fixed bearing seat; 73. Ball screw; 74. Coupling; 75. Support shaft; 76. Limit seat; 8. Motor; 9. Motor fixing seat. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0025] The following embodiment of the present application takes the structure and control method of a crawling robot dedicated to an underwater gate slot space as an example to explain the solution of the present application in detail, but this embodiment cannot limit the scope of protection of the present application.

[0026] like Figures 1 to 6 As shown, the present invention provides a crawling robot dedicated to underwater gate slot space, comprising: Robot host 1; The door slot crawling installation layer 2 is connected to the robot host 1; A stainless steel frame 3 is arranged on the door slot crawling installation layer 2, and a bottom crawling wheel 4 is arranged at the bottom of the stainless steel frame 3, and side crawling wheels 5 are arranged on both sides; The side crawling wheel telescopic mechanism 7 is arranged inside the stainless steel frame 3; The motor 8 is arranged in the motor fixing seat 9, one side of which is connected to the robot main body 1, and the other side of which is connected to the side crawling wheel telescopic mechanism 7.

[0027] In the embodiment of the present invention, the arrangement of the bottom crawling wheels and the side crawling wheels enables the robot to move flexibly in the gate slot space, and both straight-line forward movement and lateral adjustment become easy and convenient, which significantly improves the efficiency of obstacle removal operations. The use of a stainless steel frame provides a solid support structure for the robot, ensuring its stability and durability during operation; the design of the side crawling wheel telescopic mechanism enables the side crawling wheels to be flexibly retracted and retracted according to actual needs, further enhancing the robot's ability to operate in narrow spaces and improving the thoroughness and accuracy of obstacle removal; the setting of the motor provides strong power support for the robot's crawling and operation, ensuring that it has sufficient power to clear various obstacles, thereby improving the operating effect.

[0028] In the specific implementation process of the present invention, the robot host 1 is connected to the door slot crawling installation layer 2, and a control system is provided inside the robot host 1. On the groove crawling installation layer 2, a bottom crawling wheel 4 is provided at the bottom of the stainless steel frame 3, the stainless steel frame 3 is provided with a side crawling wheel 5, and a side crawling wheel telescopic mechanism 7 is provided inside the stainless steel frame 3. The side crawling wheel telescopic mechanism 7 is connected to the motor 8. The motor 8 is controlled to work through the control system inside the robot host 1, and the robot host 1 controls the side crawling wheel telescopic mechanism 7 through the motor 8 to perform the task.

[0029] like Figures 1 to 6 As shown, in a preferred embodiment of the present invention, a crawling robot dedicated to underwater gate slot space also includes: The side crawling wheel telescopic mechanism 7 is fixedly arranged inside the stainless steel frame 3 and is connected to the side crawling wheel 5 through the compression spring 6.

[0030] In the embodiment of the present invention, this design enables the side crawling wheels to automatically adjust their positions when encountering gate slots of different widths, thereby enhancing the robot's adaptability to different working environments. The compression spring provides a certain preload force for the side crawling wheels, so that they can fit more stably on the side walls of the gate slots during crawling, thereby improving the crawling stability of the robot. The side crawling wheel telescopic mechanism is fixed inside the stainless steel frame and connected to the side crawling wheels through compression springs, thereby reducing manufacturing costs and maintenance difficulties. When the robot encounters an obstacle, the side crawling wheels can automatically adjust their positions under the action of the compression springs to better overcome the obstacle, thereby improving the robot's obstacle-crossing ability. The setting of the compression springs can also play a buffering role when the side crawling wheels encounter excessive pressure, thereby protecting the crawling wheels from damage. like Figures 1 to 6 As shown, in a preferred embodiment of the present invention, the side crawling wheel telescopic mechanism 7 includes: A fixed bottom plate 71 connected to the motor fixing base 9; The limiting seat 76 is connected to the fixed bottom plate 71; The screw rod fixes the bearing seat 72 and is connected to the limit seat 76; The support shaft 75 is arranged inside the limiting seat 76; A coupling 74 connected to the motor 8; The ball screw 73 is disposed inside the limit seat 76, with one side connected to the coupling 74 and the other side connected to the support shaft 75.

[0031] In the embodiment of the present invention, the connection between the fixed base plate and the motor fixing seat provides a stable base for the entire side crawling wheel telescopic mechanism. The connection between the limit seat and the fixed base plate, and the connection between the screw fixed bearing seat and the limit seat together constitute a precise limit on the movement of the ball screw, which is helpful to control the telescopic range of the side crawling wheel and improve the movement accuracy and stability of the robot. The motor is connected to the ball screw through a coupling to achieve efficient power transmission; the ball screw, as a precision transmission element, can convert the rotational motion of the motor into linear motion, thereby driving the telescopic movement of the side crawling wheel; the support shaft is arranged inside the limit seat and connected to the other side of the ball screw, thereby enhancing the load-bearing capacity of the entire telescopic mechanism, so that the side crawling wheel can more stably support the weight of the robot during the telescopic process; by driving the rotation of the ball screw driven by the motor, the telescopic position of the side crawling wheel can be flexibly controlled, thereby improving the adaptability and movement flexibility of the robot in different working environments.

[0032] like Figures 1 to 6 As shown, in a preferred embodiment of the present invention, the ball screw 73 is threadedly connected to the screw nut, the screw nut is fixed to the support shaft 75, and the ball screw 73 drives the support shaft 75 to move.

[0033] In the embodiment of the present invention, the threaded connection between the ball screw and the screw nut ensures that the rotational motion can be efficiently converted into linear motion. The design of the ball reduces friction, makes the transmission smoother, and improves the efficiency of energy transfer; due to the characteristics of the threaded connection, the ball screw can accurately control the moving distance of the support shaft when rotating, and the fixed connection between the screw nut and the support shaft provides a stable support for the entire telescopic mechanism.

[0034] like Figures 1 to 6 As shown, in a preferred embodiment of the present invention, the ball screw 73 passes through the screw fixing bearing seat 72, and the contact surface between the ball screw 73 and the screw fixing bearing seat 72 is a smooth surface.

[0035] In the embodiment of the present invention, the design of the smooth surface significantly reduces the friction between the ball screw and the screw fixing bearing seat. This helps to reduce energy consumption, reduce wear, and extend the service life of the components. The ball screw can transmit power more efficiently when rotating, thereby improving the transmission efficiency of the entire telescopic mechanism. The contact design of the smooth surface makes the ball screw more stable when moving, reduces vibration and noise, and improves the movement performance of the robot; the design of the smooth surface simplifies the maintenance process; the reduced friction and smooth movement characteristics help to improve the positioning accuracy and repeatability of the telescopic mechanism.

[0036] like Figure 7 As shown, a control method for a crawling robot dedicated to an underwater gate slot space, the method comprising the following steps: Step 11, complete the initialization setting by setting the initial parameters of the robot and recording the initial time; Step 12, performing a location update according to the initialization settings to obtain an updated location; Step 13, obtaining target position coordinate information by calculating the error between the updated position and the target position; Step 14, planning an arcuate path according to the updated position and target position coordinate information to obtain generated arcuate path points; Step 15, according to the positional relationship between the adjacent path points of the bow, the target angle and the number of rotations of the lead screw are calculated to realize the control association between the motor and the lead screw.

[0037] In an embodiment of the present invention, by calculating the error between the updated position and the target position, the robot can accurately determine the coordinate information of the target position, which helps to improve the navigation and positioning accuracy of the robot; planning the arched path enables the robot to move to the target position in a more efficient and smoother manner, avoiding unnecessary turns and pauses, thereby improving the robot's movement efficiency; by calculating the target angle and the number of rotations of the screw rod, a precise control relationship between the motor and the screw rod is achieved, which helps to ensure the accurate movement of the robot's side crawling wheel telescopic mechanism, thereby improving the robot's overall movement accuracy and stability; the robot can adapt to different working environments and target positions, thereby improving the robot's flexibility and adaptability.

[0038] like Figure 7 As shown, in a preferred embodiment of the present invention, the initialization setting is completed by setting the initial parameters of the robot and recording the initial time, including: Set the initial position, resolution, lead of the screw, pitch, motor speed parameters, and record the initial time to complete the initialization settings.

[0039] In an embodiment of the present invention, by setting the initial position and resolution, the robot can accurately determine its starting point and move with the required accuracy. The parameter setting can ensure the stability and efficiency of the screw during movement, thereby improving the overall mechanical properties of the robot. The setting of the motor speed parameters enables the robot to move at the required speed, which helps to ensure the adaptability and flexibility of the robot in different application scenarios.

[0040] like Figure 7 As shown, in a preferred embodiment of the present invention, according to the initialization setting, the location is updated to obtain an updated location, including: According to the initialization settings, through the formula: and ; To get the updated location; n is the number of revolutions of the screw, Is displacement is the current location is the initial position, is the lead of the screw, is the thread pitch, It is the angle.

[0041] In an embodiment of the present invention, through formula calculation, the number of revolutions that the screw needs to rotate and the resulting displacement can be accurately planned, thereby ensuring that the robot or related mechanism can accurately move to the target position. Taking into account the lead and pitch of the screw, the calculation process can optimize mechanical efficiency, reduce unnecessary energy loss, and ensure the smoothness of movement. The introduction of the angular displacement as a calculation parameter can enhance the control accuracy of the movement direction of the robot or mechanism, and enable precise operations in complex environments. Using formulas for calculations can simplify programming logic, making the robot control program easier to write and maintain, and reducing development costs and time. This calculation method can adapt to different working environments and task requirements, and different motion planning and control strategies can be achieved by simply adjusting the parameters in the initialization settings.

[0042] like Figure 7 As shown, in a preferred embodiment of the present invention, the target position coordinate information is obtained by calculating the error between the updated position and the target position, including: pass , to obtain the target position coordinate information, where , is the target location of error.

[0043] In an embodiment of the present invention, by calculating the Euclidean distance between the current position and the target position, the robot or system can accurately determine the coordinate information of the target position, thereby improving the accuracy of navigation and positioning; the ϵ value provides real-time feedback of the target position error, so that the robot or system can adjust its motion trajectory in time to reach the target position more accurately. Knowing the precise coordinates and error information of the target position, the robot or system can optimize its path planning algorithm and select a more efficient and direct path to reach the target position; the precise target position coordinates and error information make the control strategy of the robot or system more precise and effective, and can achieve better performance under different environments and task requirements.

[0044] like Figure 7 As shown, in a preferred embodiment of the present invention, the arcuate path is planned according to the updated position and target position coordinate information to generate the arcuate path points, including: Based on the updated position and target position coordinate information, the center of the path is calculated , to get the center of the path, where is the center of the path; Based on the center of the path, Adjust path radius Adjust the angle pass , to generate arcuate path points, where is the path radius The random factor introduced , The value is is the starting angle, is the angular step length, is the arc path point .

[0045] In an embodiment of the present invention, by calculating the center of the path and adjusting the path radius and angle according to the center, the robot can flexibly plan an arched path that adapts to different environments and task requirements, and introduce random factors and angle adjustment amounts so that the generated arched path has a certain degree of randomness and variability, thereby enhancing the robot's adaptability to different scenarios; by accurately calculating the center, radius and angle of the path, the robot can accurately control its motion trajectory to ensure accurate movement along the planned arched path. The planning of the arched path helps the robot to use space more efficiently and avoid unnecessary turns and pauses, thereby improving movement efficiency; mathematical formulas and geometric relationships are used for calculations to simplify the algorithm implementation of path planning and control.

[0046] like Figure 7 As shown, in a preferred embodiment of the present invention, the target angle and the number of rotations of the lead screw are calculated according to the positional relationship between the adjacent path points of the bow, so as to realize the control association between the motor and the lead screw, including: According to the position relationship of adjacent path points in the arch path, To get the target angle. and are the position coordinates of adjacent path points, is the target angle; According to the comparison target angle With current angle The difference determines the rotation direction and speed of the motor; According to the position relationship of adjacent path points in the arch path, and , to realize the control association between the motor and the screw, where: is the distance between the path points. is the number of revolutions of the screw, is the lead of the screw, is the thread pitch.

[0047] In an embodiment of the present invention, by calculating the target angle between adjacent path points, the robot can accurately determine its direction of movement, thereby achieving more accurate path tracking and positioning; by comparing the difference between the target angle and the current angle, the rotation direction and speed of the motor can be determined, thereby optimizing the control strategy of the motor and improving the movement efficiency and response speed of the robot; by calculating the distance between adjacent path points, and combining the lead and pitch of the screw rod, the number of rotations of the screw rod can be accurately controlled, thereby achieving more accurate path tracking; this method reduces the requirements for the complexity of the mechanical structure through precise calculation and control, and simplifies the design and manufacturing process of the robot; precise angle and distance control helps to improve the stability of the entire system, reduce mechanical vibration and wear caused by control errors, and extend the service life of the robot.

[0048] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A crawling robot specifically designed for underwater gate slots, characterized in that: It includes a robot host (1) and a door slot crawling installation layer (2); A door slot crawling installation layer (2) connected to the robot host (1); A stainless steel frame (3) is arranged on the door slot crawling installation layer (2), wherein the bottom of the stainless steel frame (3) is provided with a bottom crawling wheel (4) and two sides thereof are provided with side crawling wheels (5); A side crawling wheel telescopic mechanism (7) is arranged inside the stainless steel frame (3); The motor (8) is arranged in a motor fixing seat (9), one side of which is connected to the robot main body (1) and the other side of which is connected to the side crawling wheel telescopic mechanism (7).

2. The underwater gate slot space-specific crawling robot according to claim 1, further comprising: The side crawling wheel telescopic mechanism (7) is fixedly arranged inside the stainless steel frame (3) and is connected to the side crawling wheel (5) via a compression spring (6).

3. The underwater gate slot space-specific crawling robot according to claim 2 is characterized in that: The side crawling wheel telescopic mechanism (7) comprises: A fixed base plate (71) connected to the motor fixing base (9); A limit seat (76) connected to the fixed base plate (71); The screw rod fixed bearing seat (72) is connected to the limit seat (76); The support shaft (75) is arranged inside the limit seat (76); A coupling (74) connected to the motor (8); The ball screw (73) is arranged inside the limit seat (76), one side of which is connected to the coupling (74) and the other side of which is connected to the support shaft (75).

4. The underwater gate slot space-specific crawling robot according to claim 3 is characterized in that: The ball screw (73) is threadedly connected to the screw nut, the screw nut is fixed to the support shaft (75), and the ball screw (73) drives the support shaft (75) to move.

5. The underwater gate slot space-specific crawling robot according to claim 4 is characterized in that: The ball screw (73) passes through the screw fixing bearing seat (72), and the contact surface between the ball screw (73) and the screw fixing bearing seat (72) is a smooth surface.

6. A control method for a crawling robot dedicated to an underwater gate slot space as claimed in any one of claims 1 to 5, characterized in that: include: Complete the initialization settings by setting the initial parameters of the robot and recording the initial time; According to the initialization settings, the location is updated to obtain an updated location; By calculating the error between the updated position and the target position, the target position coordinate information is obtained; According to the updated position and target position coordinate information, the arcuate path is planned to obtain the generated arcuate path points; According to the positional relationship of adjacent path points of the bow, the target angle and the number of rotations of the lead screw are calculated to realize the control association between the motor and the lead screw.

7. The control method of the underwater gate slot space dedicated crawling robot according to claim 6 is characterized in that: According to the initialization settings, the location is updated to obtain the updated location, including: According to the initialization settings, through the formula: and ; To get the updated location; n is the number of revolutions of the screw, Is displacement is the current location is the initial position, is the lead of the screw, is the thread pitch, It is the angle.

8. The control method of the underwater gate slot space dedicated crawling robot according to claim 7 is characterized in that: By calculating the error between the updated position and the target position, the target position coordinate information is obtained, including: pass , to obtain the target position coordinate information, where , is the target location of error.

9. The control method of the underwater gate slot space dedicated crawling robot according to claim 8 is characterized in that: According to the updated position and target position coordinate information, the arcuate path is planned to generate the arcuate path points, including: Based on the updated position and target position coordinate information, the center of the path is calculated , to get the center of the path, where is the center of the path; Based on the center of the path, Adjust the path radius and adjust the angle by , to generate arcuate path points, where is the path radius The random factor introduced , The value is is the starting angle, is the angular step length, is the arc path point .

10. The control method of the underwater gate slot space dedicated crawling robot according to claim 9, characterized in that: According to the positional relationship between the adjacent path points of the bow, the target angle and the number of rotations of the lead screw are calculated to realize the control association between the motor and the lead screw, including: According to the position relationship of adjacent path points in the arch path, To get the target angle, where and are the position coordinates of adjacent path points, is the target angle; According to the comparison target angle With current angle The difference determines the rotation direction and speed of the motor; According to the position relationship of adjacent path points in the arch path, and , to realize the control association between the motor and the screw, where: is the distance between the path points. is the number of revolutions of the screw, is the lead of the screw, is the thread pitch.

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