Automatic rising and landing method of wall-climbing robot, wall-climbing robot and storage medium

Abstract

The invention provides an automatic rising and landing method of a wall-climbing robot, the wall-climbing robot and a storage medium, and belongs to the technical field of wall-climbing robots. The wall-climbing robot is provided with a first distance sensor and a second distance sensor, the first distance sensor is used for carrying out distance detection on the lower portion of the wall-climbing robot, and the second distance sensor is used for carrying out distance detection on the upper portion of the wall-climbing robot. According to a first distance obtained through periodic detection of the first distance sensor, whether the distance between the wall-climbing robot and the target wall surface meets a preset first sensing distance threshold condition or not is judged; and when it is determined that the first sensing distance threshold condition is met, the flight parameters of the wall-climbing robot are adjusted according to the second distance periodically detected by the second distance sensor until the wall-climbing robot reaches the target wall surface. According to the embodiment of the invention, automatic take-off and landing control of the wall-climbing robot can be realized, the take-off time is shorter, and the wall-climbing robot is safer.

Description

Technical Field

[0001] The present application relates to the technical field of wall-climbing robots, and in particular to a method for automatic take-off and landing of a wall-climbing robot, a wall-climbing robot, and a storage medium. Background Art

[0002] Wall-climbing robots are usually used for inspection of building structures with curved arches, such as tunnels, to detect quality or foreign objects inside the building structure. In related technologies, the wall-climbing robot is usually controlled by remote control to take off to the top of the arch, then stick to the arch and enter the wall-climbing mode to start the inspection. However, the use of remote control is prone to damage to the wall-climbing robot due to human misoperation. In addition, during manual operation, in order to ensure safety during take-off, the take-off time is often longer. Although automatic take-off can also be used, how to control the automatic take-off and landing of the wall-climbing robot while ensuring flight efficiency and safety is a technical problem that needs to be solved urgently. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a method for automatic take-off and landing of a wall-climbing robot, a wall-climbing robot and a storage medium, which can control the automatic take-off and landing of the wall-climbing robot while ensuring flight efficiency and safety.

[0004] In a first aspect, an embodiment of the present application provides a method for automatic take-off and landing of a wall-climbing robot, wherein the wall-climbing robot is provided with a first distance sensor and a second distance sensor, wherein the first distance sensor is used to detect the distance below the wall-climbing robot, and the second distance sensor is used to detect the distance above the wall-climbing robot, and the method comprises: During the ascent of the wall-climbing robot, judging whether the distance between the wall-climbing robot and the target wall surface meets a preset first sensing distance threshold condition according to the first distance periodically detected by the first distance sensor; When it is determined that the first sensing distance threshold condition is met, the flight parameters of the wall-climbing robot are adjusted according to the second distance periodically detected by the second distance sensor until the target wall is reached.

[0005] In some optional embodiments, the flight parameter includes a flight speed; and adjusting the flight parameter of the wall-climbing robot according to the second distance periodically detected by the second distance sensor until reaching the target wall surface includes: Periodically acquiring a second distance reported by the second distance sensor; When the second distance is less than or equal to the first buffer distance, the flight speed of the wall-climbing robot is controlled to be reduced to zero and kept suspended within the buffer distance according to the second distance obtained periodically, wherein the buffer distance is the distance difference between the first buffer distance and the preset second buffer distance; When the state parameters of the wall-climbing robot meet the preset landing state conditions, the wall-climbing robot is controlled to fly toward the target wall again until it reaches the target wall.

[0006] In some optional embodiments, controlling the wall-climbing robot to fly toward the target wall again until reaching the target wall includes: Controlling the flight speed of the wall-climbing robot to increase linearly from zero until it reaches a preset first speed value and flies at a constant speed at the first speed value; When the second distance obtained periodically indicates that the wall-climbing robot has not risen and the tire pressure of the wall-climbing robot meets a preset pressure threshold, it is determined that the target wall surface has been reached and the crawling mode has been entered.

[0007] In some optional embodiments, before judging whether the distance between the wall-climbing robot and the target wall surface meets a preset first sensing distance threshold condition according to the first distance periodically detected by the first distance sensor, the method further includes: After starting the take-off process, the flight speed of the wall-climbing robot is controlled to linearly accelerate from zero to a second speed value and fly at a constant speed at the second speed value, wherein the second speed value is greater than the first speed value.

[0008] In some optional embodiments, when the state parameter of the wall-climbing robot meets a preset landing state condition, controlling the wall-climbing robot to fly toward the target wall again until reaching the target wall includes: Sending a normal signal indication to a ground control terminal, and receiving a wall sticking instruction fed back by the ground control terminal according to the normal signal indication; According to the wall-sticking instruction, the wall-climbing robot is controlled to fly toward the target wall again until it reaches the target wall.

[0009] In some optional embodiments, controlling the flight speed of the wall-climbing robot to increase linearly from zero until reaching a preset first speed value comprises: Within a preset first flight distance, controlling the flight speed of the wall-climbing robot to linearly accelerate from zero to a first speed value; The step of controlling the flight speed of the wall-climbing robot to linearly accelerate from zero to a second speed value comprises: Within a preset second flight distance, controlling the flight speed of the wall-climbing robot to linearly accelerate from zero to a second speed value; Wherein, the first flight distance is less than or equal to the second flight distance.

[0010] In some optional embodiments, the method further includes: During the descent of the wall-climbing robot, judging whether the distance between the wall-climbing robot and the target wall surface meets a preset second sensing distance threshold condition according to the second distance periodically detected by the second distance sensor; When it is determined that the second sensing distance threshold condition is met, the flight parameters of the wall-climbing robot are adjusted according to the first distance periodically detected by the first distance sensor until the robot reaches the ground.

[0011] In some optional embodiments, at least two ultra-wideband technology tags are deployed on the wall-climbing robot; and the method further includes: Obtaining the coordinate position corresponding to each of the ultra-wideband technology tags; Determining the initial posture of the wall-climbing robot according to each of the coordinate positions; When the initial posture does not satisfy a preset take-off posture, the posture of the wall-climbing robot is adjusted until the take-off posture is satisfied.

[0012] In a second aspect, an embodiment of the present application provides a wall-climbing robot, which executes the method for automatic take-off and landing of the wall-climbing robot of the first aspect.

[0013] In a third aspect, an embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the method for automatic take-off and landing of a wall-climbing robot as described in the first aspect above.

[0014] A method for automatic take-off and landing of a wall-climbing robot according to an embodiment of the present application has at least the following beneficial effects: by setting a first distance sensor and a second distance sensor, the height from the ground and the height from the target wall can be collected in real time. In addition, the use of the first distance sensor in the initial take-off stage can accelerate the take-off rate, and the use of the second distance sensor for distance detection after the first sensing distance threshold condition is met can enable the wall-climbing robot to more accurately determine the distance from the target wall. At this time, the flight parameters set based on the second distance sensor can further ensure the safety of the process of fitting with the target wall. Therefore, based on the embodiment of the present application, the automatic take-off and landing control of the wall-climbing robot can be achieved, and the take-off time can be shorter and safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1A schematic structural diagram of an embodiment of a wall-climbing robot to which the automatic take-off and landing method of the wall-climbing robot provided in the present application is applied; Figure 2 A schematic diagram of a flow chart of an embodiment of a method for automatic take-off and landing of a wall-climbing robot provided in the present application; Figure 3 A schematic diagram of a rate control strategy in a take-off process in an embodiment of a method for automatic take-off and landing of a wall-climbing robot provided in the present application; Figure 4 A schematic diagram of a control strategy for a landing process in an embodiment of a method for automatic take-off and landing of a wall-climbing robot provided in the present application; Figure 5 A schematic diagram of a take-off process in an embodiment of a method for automatic take-off and landing of a wall-climbing robot provided in the present application; Figure 6 A landing process in one embodiment of a method for automatic take-off and landing of a wall-climbing robot provided in the present application; Figure 7 A schematic block diagram of the structure of a wall-climbing robot provided in this application. DETAILED DESCRIPTION

[0016] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0017] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0018] In the description of this application, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0019] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0020] In order to make the description of the following embodiments clear and concise, a brief introduction to the related technology is first given: Wall-climbing robots are usually used for inspection of building structures with curved arch walls, such as tunnels, to detect quality or foreign objects inside the building structure. In the related art, the wall-climbing robot is usually controlled by remote control to take off to the top of the arch wall, then close to the arch wall and enter the wall climbing mode to start the inspection. However, the use of remote control is prone to damage to the wall-climbing robot due to human misoperation. In addition, during the manual operation, the controller needs to control the height based on the feedback of the wall-climbing robot, and the control of the wall-climbing robot needs to move slowly, especially when approaching the target wall surface, and the position needs to be adjusted repeatedly to ensure safety when arriving. Therefore, in actual applications, in order to ensure safety during take-off, the take-off time of the wall-climbing robot is often longer. Although the automatic take-off method can also be used, how to control the automatic take-off and landing of the wall-climbing robot while ensuring flight efficiency and safety is a technical problem that needs to be solved urgently. Therefore, the embodiment of the present application provides a method for automatic take-off and landing of a wall-climbing robot, a wall-climbing robot and a storage medium.

[0021] It should be noted that the automatic take-off and landing method of the embodiment of the present application is applied to a wall-climbing robot. Figure 1 As shown, the wall-climbing robot includes a robot body 100, a plurality of flying parts 300 and moving wheels 200. The moving wheels 200 are located above the robot body 100, and the flying parts 300 are arranged circumferentially along the robot body 100. The wall-climbing robot also includes a first distance sensor, a second distance sensor and a plurality of detection sensors. The detection sensors are used to determine flight control parameters such as the posture and heading angle of the wall-climbing robot during flight and operation. The wall-climbing robot is provided with a first distance sensor and a second distance sensor. The first distance sensor is used to detect the distance below the wall-climbing robot, and the second distance sensor is used to detect the distance above the wall-climbing robot. Figure 1 As shown, the first distance sensor is located on the lower surface of the robot body 100, and the second distance sensor is located on the upper surface of the robot body 100, wherein the upper surface of the robot body 100 is the side facing the working surface (that is, when working normally, the moving wheel 200 is set toward the working surface).

[0022] It should be noted that Figure 1The wall-climbing robot shown is only an example of the method applied in the embodiment of the present application. The present application does not limit the type and number of detection sensors set in the wall-climbing robot, the number of flying parts, the number and form of moving wheels, the specific positions of the first distance sensor and the second distance sensor on the surface of the robot body, and the number of first distance sensors and the number of second distance sensors. Those skilled in the art can selectively set according to actual needs.

[0023] Reference Figure 2 As shown, according to an embodiment of the present application, a method for automatic take-off and landing of a wall-climbing robot is provided, the method comprising: Step S100: during the ascent of the wall-climbing robot, judging whether the distance between the wall-climbing robot and the target wall surface meets a preset first sensing distance threshold condition according to a first distance periodically detected by a first distance sensor; Step S200: When it is determined that the first sensing distance threshold condition is met, the flight parameters of the wall-climbing robot are adjusted according to the second distance periodically detected by the second distance sensor until the target wall is reached.

[0024] Therefore, by setting the first distance sensor and the second distance sensor, the height from the ground and the height from the target wall can be collected in real time. And the use of the first distance sensor in the initial take-off stage can accelerate the take-off rate, and the use of the second distance sensor for distance detection after the first sensing distance threshold condition is met can enable the wall-climbing robot to more accurately judge the distance from the target wall. At this time, the flight parameters set based on the second distance sensor can further ensure the safety of the process of fitting with the target wall. Therefore, based on the embodiment of the present application, the automatic take-off and landing control of the wall-climbing robot can be realized, and the take-off time can be shorter and safer.

[0025] It should be noted that satisfying the first sensing distance threshold condition means that the distance accuracy detected by the second distance sensor is higher than the distance accuracy detected by the first distance sensor. During the ascent of the wall-climbing robot, as the flight altitude of the wall-climbing robot becomes higher and higher, the response time of the first distance sensor to obtain the distance is also getting longer and longer. Therefore, the distance accuracy detected by the corresponding first distance sensor is getting lower and lower, and the distance accuracy detected by the second distance sensor is getting higher and higher. Therefore, by setting the first sensing distance threshold condition, the wall-climbing robot can always use a distance sensor with higher distance accuracy for flight control when taking off, which is safer. It should be noted that in some embodiments, the first sensor distance threshold condition can be set to a first distance greater than or equal to a first distance threshold, and the first distance threshold is set to a height from the ground greater than half of the vertical height on the flight trajectory; the first distance threshold can also be selectively set according to the detection cycle of the first distance sensor and the second distance sensor, and the vertical height from the ground to the target wall. In this regard, the embodiments of the present application do not impose too many constraints.

[0026] It should be noted that the target wall surface is the landing area on the working surface. Taking a tunnel as an example, the target wall surface can be set to a certain position on the tunnel arch wall, such as the arch top.

[0027] It should be noted that after taking off, the wall-climbing robot can rise in a fixed direction, such as vertically rising, or rise along a specific trajectory. In this regard, the embodiments of the present application do not limit the rising trajectory; among them, the following embodiments are all exemplified by vertical rising in the take-off process and vertical landing in the landing process.

[0028] It should be noted that the first distance sensor is used to detect the distance below the wall-climbing robot, such as the height from the ground. The second distance sensor is used to detect the distance above the wall-climbing robot, that is, the distance from the wall-climbing robot to the target wall.

[0029] It should be noted that, in some embodiments, the flight parameter can be adjusted according to the second distance periodically detected by the second sensor to adjust the flight rate to a smaller fixed rate and uniform flight until reaching the arch wall. At this time, if the detection frequency of the second distance sensor is high enough, the safety requirements of the wall-climbing robot can also be met. Or it can also be set to divide the flight rate into multiple stages and adjust the segmented rate until reaching the target wall. The wall-climbing robot also has an ascending flight rate to maintain the height, so as to further shorten the take-off time while meeting the safety requirements. In this regard, the embodiments of the present application can be selectively set according to actual needs.

[0030] The first distance sensor and the second distance sensor can be respectively set to one of an ultrasonic sensor, a laser sensor and a millimeter wave radar sensor, or a sensor that meets the accuracy detection requirements can be selected according to actual needs.

[0031] It is understandable that the flight parameters include the flight speed; adjusting the flight parameters of the wall-climbing robot according to the second distance periodically detected by the second distance sensor until reaching the target wall surface includes: Periodically obtaining a second distance reported by a second distance sensor; When the second distance is less than or equal to the first buffer distance, the flight speed of the wall-climbing robot is controlled to slow down to zero and remain suspended within the buffer distance according to the second distance obtained periodically, wherein the buffer distance is the distance difference between the first buffer distance and the preset second buffer distance; When the state parameters of the wall-climbing robot meet the preset landing state conditions, the wall-climbing robot is controlled to fly toward the target wall again until it reaches the target wall.

[0032] It should be noted that the flight rate refers to the flight rate of flying toward the target wall. If the target wall is set as a dome, the flight rate is the rate in the vertical direction. The distance difference between the first buffer distance and the second buffer distance is used to reduce the flight rate to 0, and the state parameters of the wall-climbing robot are determined after the flight rate is reduced to 0, which can ensure that the state parameters obtained by real-time detection can better reflect the state of the current wall-climbing robot, and land again when the state parameters meet the preset landing state conditions. In some embodiments, the flight rate can be reduced to 0 at the second buffer distance position; in other embodiments, the flight rate can also be reduced to 0 at a position between the first buffer distance and the second buffer distance, and the embodiments of the present application are not limited to this. At this time, by setting the first buffer distance and the second buffer distance, the safety of the take-off process can be ensured while shortening the flight time as much as possible.

[0033] It should be noted that the preset landing state conditions include judgments on attitude, heading angle, etc., to ensure that when the wall-climbing robot maintains the current state parameters and continues to fly, there will be no collision between the wall-climbing machine and the target wall (such as collision between the flying part and the target wall), thereby further improving the safety of the wall-climbing robot's take-off process.

[0034] It can be understood that controlling the wall-climbing robot to fly toward the target wall again until reaching the target wall includes: Control the flight speed of the wall-climbing robot to increase linearly from zero until it reaches a preset first speed value and flies at a constant speed at the first speed value; When the periodically acquired second distance indicates that the wall-climbing robot has not risen and the tire pressure of the wall-climbing robot meets the preset pressure threshold, it is determined that the target wall surface has been reached and the crawling mode has been entered.

[0035] It should be noted that the control of the wall-climbing robot can be simplified by linear acceleration, and the wall-climbing robot has a higher efficiency in rate response.

[0036] It should be noted that the first rate value can be selectively set according to actual needs. The first rate value is dynamically set based on the takeoff altitude, the first buffer distance, and the second buffer distance between the target wall and the ground. The speed control strategy can also be verified for a plurality of different takeoff altitudes, different first buffer distances, and second buffer distances, and a relationship mapping table between different takeoff altitudes, first buffer distances, and second buffer distances and the first rate can be obtained based on the verification results, so as to dynamically set the first rate value based on the relationship mapping table.

[0037] It should be noted that, for example, Figure 3 As shown, the first rate value is V2, the first buffer distance is d2, and the second buffer distance is d3.

[0038] It should be noted that in the crawling mode, the speed of some flying parts of the wall-climbing robot, such as the rotor, remains unchanged to ensure that the wall-climbing robot is always in close contact with the working surface.

[0039] It is understandable that, before judging whether the distance between the wall-climbing robot and the target wall surface meets the preset first sensing distance threshold condition according to the first distance periodically detected by the first distance sensor, the method further includes: After starting the take-off process, the flight speed of the wall-climbing robot is controlled to linearly accelerate from zero to a second speed value and fly at a constant speed at the second speed value, wherein the second speed value is greater than the first speed value.

[0040] By flying at a higher second rate at a constant speed during the initial stage of takeoff, the takeoff time can be shortened.

[0041] For example, Figure 3 As shown, the wall-climbing robot starts to linearly accelerate from a flight speed of 0 to a second speed value V1, and then flies at a constant speed. When the first distance sensor detects that the first distance is greater than the first sensing distance threshold d1, the second distance sensor is used to perform a second distance detection. When the second distance sensor detects that the distance to the target wall is d2, that is, the first buffer distance is reached, the wall-climbing robot is controlled to start decelerating, and ensures that the flight speed of the wall-climbing robot is 0 when the distance to the target wall is greater than or equal to d3. When it is determined that the preset landing state condition is met, it starts to linearly accelerate from zero to the first speed V2.

[0042] It is understandable that, when the state parameters of the wall-climbing robot meet the preset landing state conditions, controlling the wall-climbing robot to fly toward the target wall again until reaching the target wall includes: Sending a normal signal indication to the ground control end, and receiving a wall-sticking instruction fed back by the ground control end according to the normal signal indication; According to the wall-sticking instruction, the wall-climbing robot is controlled to fly toward the target wall again until it reaches the target wall.

[0043] It should be noted that issuing wall-sticking instructions through manual control can further ensure the safety of the take-off process.

[0044] It is understandable that controlling the flight speed of the wall-climbing robot to increase linearly from zero until reaching a preset first speed value includes: Within a preset first flight distance, controlling the flight speed of the wall-climbing robot to linearly accelerate from zero to a first speed value; Controlling the flight speed of the wall-climbing robot to linearly accelerate from zero to a second speed value, including: Within a second flight distance, the flight speed of the wall-climbing robot is controlled to linearly accelerate from zero to a second speed value, and the first flight distance is less than or equal to the second flight distance.

[0045] For example, Figure 3 As shown, the first flight distance is Figure 3 The second flight distance is Figure 3 Belongs to d4. Among them, Figure 3 Where h represents the height from the ground to the target wall.

[0046] It should be noted that the flight distance can be selectively set according to actual needs.

[0047] It is understood that the method further comprises: During the descent of the wall-climbing robot, judging whether the distance between the wall-climbing robot and the target wall surface meets a preset second sensing distance threshold condition according to the second distance periodically detected by the second distance sensor; When it is determined that the second sensing distance threshold condition is met, the flight parameters of the wall-climbing robot are adjusted according to the first distance periodically detected by the first distance sensor until the robot reaches the ground.

[0048] It should be noted that the control strategy of the flight speed during the descent of the wall-climbing robot can refer to the ascent process of the wall-climbing robot. Figure 4 As shown, the wall-climbing robot increases the flight speed linearly to the third speed threshold V3 within the third flight distance d5 and then flies at a constant speed. When the second distance sensor detects that the second distance is greater than or equal to the second sensing distance threshold d6, that is, the second sensing distance threshold condition is met, the first distance sensor is used to detect the distance. When the first sensor detects that the first distance from the ground is the third buffer distance d7, the robot starts to decelerate from d7 and reduces the flight speed to 0 within the buffer distance formed by the third buffer distance d7 and the fourth buffer distance d8 (in some embodiments, the flight speed can be reduced to 0 as shown in FIG. 1 ). Figure 4As shown, the speed is reduced to 0 at d8. In other embodiments, the speed can also be reduced to 0 at a position between d7 and d8). Then, based on the detection sensors of the wall-climbing robot, it is determined whether the preset landing condition is met. If it is met, it is accelerated to the fourth speed value V4 within the fourth buffer distance. Among them, V2 can be set the same as V4, V3 can be set the same as V1, d5 can be set the same as d4, d1 can be set the same as d6, d2 can be set the same as d7, and d3 can be set the same as d8. It can also be selectively set according to actual needs. Among them, Figure 4 Where h represents the height from the ground to the target wall.

[0049] It is understandable that at least two ultra-wideband technology tags are deployed on the wall-climbing robot; the method also includes: Obtain the coordinate position corresponding to each ultra-wideband technology tag; Determine the initial posture of the wall-climbing robot according to each coordinate position; When the initial posture does not meet the preset take-off posture, the posture of the wall-climbing robot is adjusted until the take-off posture is met.

[0050] It should be noted that the more ultra-wideband technology tags, i.e., UWB tags, are set, the more accurate the positioning of the wall-climbing robot will be. And GPS signals cannot be obtained in tunnels and other places, so the positioning of the wall-climbing robot can be achieved through UWB tags with higher positioning accuracy.

[0051] It should be noted that, in some embodiments, the determination of the heading angle and the like is also included.

[0052] For example, when the distance between the wall-climbing robot and the target wall is the second buffer distance, the flight speed is 0, and when the distance between the wall-climbing robot and the ground is the fourth buffer distance, the flight speed is 0. Figures 5 and 6 Describe the automatic take-off and landing method of the wall-climbing robot in the embodiment of the present application: like Figure 5 As shown, the takeoff process steps are as follows: S1. Determine whether the wall-climbing robot meets the take-off conditions, including take-off posture judgment, heading angle judgment, etc. If not, adjust the take-off state parameters. The take-off posture judgment is as follows: obtain the coordinate position corresponding to each ultra-wideband technology tag; determine the initial posture of the wall-climbing robot according to each coordinate position; when the initial posture does not meet the preset take-off posture, adjust the posture of the wall-climbing robot until it meets the take-off posture.

[0053] S2, start the take-off process, and increase the flight speed of the wall-climbing robot linearly from zero to 0.5m / s within 0.5m, and then fly at a constant speed. Figure 3 The d4 setting shown is 0.5 m and V1 setting is 0.5 m / s.

[0054] S3. During the ascent of the wall-climbing robot, judging whether the first distance is greater than or equal to the first sensing distance threshold d1 according to the first distance periodically detected by the first distance sensor.

[0055] S4, when the first distance is greater than or equal to the first distance sensor threshold, adjust the flight parameters of the wall-climbing robot according to the second distance periodically detected by the second distance sensor until it reaches the target wall surface, specifically, when the second distance periodically detected by the second distance sensor is 2 m from the target wall surface (i.e. Figure 3 In the example, d2=2m, the wall-climbing robot is controlled to slow down and move at a distance of 0.5m from the target wall (i.e. Figure 3 The robot decelerates to 0 when d3=0.5m). It sends a normal signal indication to the ground control end, and receives the wall-sticking instruction fed back by the ground control end according to the normal signal indication. According to the wall-sticking instruction, the wall-climbing robot is controlled to accelerate linearly from 0 to 0.1m / s (that is, Figure 3 After V2=0.1m / s) is set, the robot will fly at a constant speed. After the IMU (i.e., attitude sensor) of the wall-climbing robot detects vibration, the throttle is increased and then recovered. At this time, the second sensor detects that the second distance has not changed, and the pressure sensor of the wall-climbing robot vertically displays that the tire pressure has reached the preset pressure threshold, indicating that the target wall has been reached.

[0056] Reference Figure 6 As shown, the landing process steps are as follows: S5. Control the wall-climbing robot to move to the target wall.

[0057] S6. Check whether the wall-climbing robot meets the landing conditions, such as whether the posture, heading angle, etc. are the same as the preset ones.

[0058] S7, start the landing process, and increase the flight speed of the wall-climbing robot linearly from zero to 0.5m / s within 0.5m, and then fly at a constant speed. Figure 4 The d5 setting shown is 0.5m and V3 setting is 0.5m / s.

[0059] S8. During the descent of the wall-climbing robot, judging whether the second distance is greater than or equal to a second sensing threshold according to a second distance periodically detected by the second distance sensor; S9. When it is determined that the second distance is greater than the second sensor threshold, adjust the flight parameters of the wall-climbing robot according to the first distance periodically detected by the first distance sensor until the robot reaches the ground. Specifically, when the first distance sensor detects that the robot is 2 m (i.e. Figure 4 After d7=2m), it starts to decelerate and stops at 0.5m above the ground (i.e. Figure 4When d8=0.5m), the flight speed is made 0, and then the landing state condition of the wall-climbing robot is judged. When the state parameters of the wall-climbing robot meet the landing state condition, the flight speed is accelerated from 0 to 0.1ms / s (that is, V4=0.1ms / s) until it reaches the ground.

[0060] Understandably, referring to Figure 7 As shown, an embodiment of the present application further provides a wall-climbing robot, comprising: at least one processor 601; At least one memory 602 is used to store at least one program, and when the at least one program is executed by at least one processor 601, the method for automatic take-off and landing of the wall-climbing robot is implemented.

[0061] The memory 602 is a non-transient network system that can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory 602 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 602 may optionally include a memory 602 remotely arranged relative to the processor 601, and these remote memories 602 may be connected to the processor 601 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0062] The memory 602 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 602 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 602, and the processor 601 is called to execute the method of the embodiment of this application.

[0063] The processor 601 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solution provided in the embodiment of the present application.

[0064] In some embodiments, the wall-climbing robot further comprises: Input / output interface, used to realize information input and output; Communication interface, used to realize communication interaction between this device and other devices. Communication can be realized through wired methods (such as USB, network cable, etc.) or wireless methods (such as mobile network, WIFI, Bluetooth, etc.); A bus that transmits information between various components of the device (e.g., processor 601, memory 602, input / output interfaces, and communication interfaces); The processor 601 , the memory 602 , the input / output interface and the communication interface can be connected to each other in communication within the device via a bus.

[0065] It is understandable that an embodiment of the present application also provides a computer-readable storage medium storing computer-executable instructions, which are used to execute the above-mentioned method of automatic take-off and landing of the wall-climbing robot.

[0066] It is understandable that an embodiment of the present application also provides a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. The processor of the wall-climbing robot reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the above-mentioned method of automatic take-off and landing of the wall-climbing robot.

[0067] The system architecture and application scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of the system architecture and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are equally applicable to similar technical problems.

[0068] It will be appreciated by those skilled in the art that all or some of the steps and systems in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0069] The above describes some embodiments of the present application with reference to the accompanying drawings, but does not limit the scope of the present invention. Any modification, equivalent substitution and improvement made by those skilled in the art without departing from the scope and essence of the present invention shall be within the scope of the present application.

Claims

1. A method for automatic take-off and landing of a wall-climbing robot, characterized in that: The wall-climbing robot is provided with a first distance sensor and a second distance sensor, the first distance sensor is used to detect the distance below the wall-climbing robot, and the second distance sensor is used to detect the distance above the wall-climbing robot, and the method includes: During the ascent of the wall-climbing robot, judging whether the distance between the wall-climbing robot and the target wall surface meets a preset first sensing distance threshold condition according to the first distance periodically detected by the first distance sensor; When it is determined that the first sensing distance threshold condition is met, the flight parameters of the wall-climbing robot are adjusted according to the second distance periodically detected by the second distance sensor until the target wall is reached.

2. The automatic take-off and landing method of a wall-climbing robot according to claim 1, characterized in that: The flight parameter includes a flight speed; and adjusting the flight parameter of the wall-climbing robot according to the second distance periodically detected by the second distance sensor until reaching the target wall surface includes: Periodically acquiring a second distance reported by the second distance sensor; When the second distance is less than or equal to the first buffer distance, the flight speed of the wall-climbing robot is controlled to be reduced to zero and kept suspended within the buffer distance according to the second distance obtained periodically, wherein the buffer distance is the distance difference between the first buffer distance and the preset second buffer distance; When the state parameters of the wall-climbing robot meet the preset landing state conditions, the wall-climbing robot is controlled to fly toward the target wall again until it reaches the target wall.

3. The automatic take-off and landing method of a wall-climbing robot according to claim 2, characterized in that: The controlling the wall-climbing robot to fly toward the target wall again until reaching the target wall includes: Controlling the flight speed of the wall-climbing robot to increase linearly from zero until it reaches a preset first speed value and flies at a constant speed at the first speed value; When the second distance obtained periodically indicates that the wall-climbing robot has not risen and the tire pressure of the wall-climbing robot meets a preset pressure threshold, it is determined that the target wall surface has been reached and the crawling mode has been entered.

4. The automatic take-off and landing method of a wall-climbing robot according to claim 3, characterized in that: Before determining whether the distance between the wall-climbing robot and the target wall surface meets a preset first sensing distance threshold condition according to the first distance periodically detected by the first distance sensor, the method further includes: After starting the take-off process, the flight speed of the wall-climbing robot is controlled to linearly accelerate from zero to a second speed value and fly at a constant speed at the second speed value, wherein the second speed value is greater than the first speed value.

5. The automatic take-off and landing method of a wall-climbing robot according to claim 2, characterized in that: When the state parameter of the wall-climbing robot meets the preset landing state condition, controlling the wall-climbing robot to fly toward the target wall again until reaching the target wall, comprises: Sending a normal signal indication to a ground control terminal, and receiving a wall sticking instruction fed back by the ground control terminal according to the normal signal indication; According to the wall-sticking instruction, the wall-climbing robot is controlled to fly toward the target wall again until it reaches the target wall.

6. The automatic take-off and landing method of a wall-climbing robot according to claim 4, characterized in that: The method of controlling the flight speed of the wall-climbing robot to increase linearly from zero until reaching a preset first speed value comprises: Within a preset first flight distance, controlling the flight speed of the wall-climbing robot to linearly accelerate from zero to a first speed value; The step of controlling the flight speed of the wall-climbing robot to linearly accelerate from zero to a second speed value comprises: Within the second flight distance, controlling the flight speed of the wall-climbing robot to linearly accelerate from zero to a second speed value; Wherein, the first flight distance is less than or equal to the second flight distance.

7. The automatic take-off and landing method of a wall-climbing robot according to claim 1, characterized in that: The method further comprises: During the descent of the wall-climbing robot, judging whether the distance between the wall-climbing robot and the target wall surface meets a preset second sensing distance threshold condition according to the second distance periodically detected by the second distance sensor; When it is determined that the second sensing distance threshold condition is met, the flight parameters of the wall-climbing robot are adjusted according to the first distance periodically detected by the first distance sensor until the robot reaches the ground.

8. The automatic take-off and landing method of a wall-climbing robot according to claim 1, characterized in that: At least two ultra-wideband technology tags are deployed on the wall-climbing robot; the method further includes: Obtaining the coordinate position corresponding to each of the ultra-wideband technology tags; Determining the initial posture of the wall-climbing robot according to each of the coordinate positions; When the initial posture does not satisfy a preset take-off posture, the posture of the wall-climbing robot is adjusted until the take-off posture is satisfied.

9. A wall-climbing robot, characterized in that: The wall-climbing robot executes the method for automatic take-off and landing of a wall-climbing robot as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions for causing a computer to execute the steps of the method for automatic take-off and landing of a wall-climbing robot according to any one of claims 1 to 8.

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