Balance control method for outer wall operation robot

Abstract

According to the balance control method of the outer wall operation robot, when the robot body is in a supporting state on the outer wall surface, the two sets of supporting feet positively support the outer wall surface correspondingly, the two sets of rotor wing mechanisms provide constant positive pressure for the outer wall surface, and position balance and posture balance of the robot body are guaranteed; when the robot body crawl, the supporting feet on one side are controlled to be lifted to leave the outer wall surface, and the positive pressure of the rotor wing mechanisms on the same side to the outer wall surface is reduced; the supporting feet on the other side are controlled to support the outer wall face, the supporting force of the supporting feet for supporting the outer wall face to the outer wall face is increased, and the positive pressure of the rotor wing mechanisms on the other side to the outer wall face is increased; the attitude angle of the robot body is controlled, and the positive pressure of the rotor mechanisms on the two sides is adjusted, so that the course angle of the robot body on the side where the supporting feet are lifted is controlled. According to the invention, the balance and stability of the outer wall operation robot during crawling and / or supporting can be improved, and the high-altitude operation quality of the outer wall operation robot is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and more specifically, to a balance control method for an exterior wall operation robot. Background Art

[0002] An exterior wall operation robot is a device for realizing high-altitude operations. Judging from the current research situation, such robots are mainly divided into two types. One is a robot that uses the method of vacuum adsorption on the exterior wall for high-altitude operations. This kind of robot relies on a vacuum suction cup or a negative pressure chamber to adsorb to the outer wall surface, and usually has a strong adsorption force. However, this kind of robot can only work on a flat high-altitude wall surface, so its application range is greatly limited.

[0003] The other is a robot that uses a combination of wind pressure, support, and rope suspension for high-altitude operations. When performing high-altitude exterior wall operations, it is fixed on the roof by rope suspension, moves along the outer wall surface through support feet, and provides exterior wall pressure through the method of wind pressure to complete the work. This kind of robot is not affected by the exterior wall material and is widely used in high-altitude operations.

[0004] However, during the high-altitude exterior wall operation process, when this kind of robot walks on the exterior wall surface, it will cross obstacles such as uneven window sills or decorative frames. When one support foot is lifted and suspended, due to uneven force in the course angle direction, the robot is prone to rotation, and the longer the support foot is suspended, the more serious the problem of the rotation angle of the robot becoming larger will be, which will greatly affect the high-altitude operations such as robot cleaning, wall painting, and water scraping. Therefore, how to ensure the balance and stability of the robot during crawling and support in high-altitude operations is one of the important topics that need to be studied today. Summary of the Invention

[0005] The purpose of the present invention is to overcome the disadvantages and deficiencies in the prior art, and provide a balance control method for an exterior wall operation robot. This balance control method can improve the balance and stability of the exterior wall operation robot during crawling and / or support, so that the exterior wall operation robot always maintains a stable state, thereby ensuring the quality of the high-altitude operation of the exterior wall operation robot.

[0006] To achieve the above purpose, the present invention is realized through the following technical solutions: A balance control method for an exterior wall operation robot, characterized in that: it includes a robot body, two groups of support feet, and two groups of rotor mechanisms; the two groups of support feet are respectively arranged on both sides of the robot body, and the two groups of rotor mechanisms are respectively arranged on both sides of the robot body;

[0007] When the robot body is in a supported state on the exterior wall surface, the two groups of support feet respectively support the exterior wall surface in the forward direction, and the two groups of rotor mechanisms provide a constant positive pressure to the exterior wall surface to ensure the position balance and attitude balance of the robot body;

[0008] When the robot body crawls, it adopts the method of alternately advancing with the two side support feet; when moving unidirectionally, control one side of the support foot to lift off the outer wall surface, and reduce the positive pressure of the same-side rotor mechanism on the outer wall surface; control the other side of the support foot to support the outer wall surface, increase the supporting force of the support foot supporting the outer wall surface on the outer wall surface, and increase the positive pressure of the other side of the rotor mechanism on the outer wall surface; the two side support feet alternately execute unidirectional operation to complete crawling.

[0009] During the crawling process of the robot body, by correcting the attitude angle of the robot body and adjusting the positive pressure of the two side rotor mechanisms, the heading angle of the robot body on the side where the support foot is lifted is controlled, and the balance of the robot body is controlled.

[0010] In the above solution, the balance control method of the present invention can improve the balance and stability of the exterior wall operation robot when crawling and / or supporting. When the robot body is in a supported state on the outer wall surface, ensure the position balance and attitude balance of the robot body to control the balance of the robot body when supporting. When the robot body crawls, control the supporting force of the two side support feet on the outer wall surface and the positive pressure of the rotor mechanism on the outer wall surface to control the balance of the robot body, and adopt the method of alternately advancing with the two side support feet to crawl. In addition, during the crawling process of the robot body, the heading angle of the robot body on the side where the support foot is lifted is also controlled to ensure the balance and stability of the robot body during the crawling process. This balance control method can make the exterior wall operation robot always maintain a stable state, thus ensuring the quality of the high-altitude operation of the exterior wall operation robot.

[0011] When the robot body is in a supported state on the outer wall surface, if the positive pressure thrust provided by the rotor mechanism and the reaction force supported by the support foot satisfy the following formula, the position balance of the robot body can be ensured:

[0012]

[0013] where r is the label of the two groups of rotor mechanisms, i is the label of the support foot, n is the number of support feet, F r is the positive pressure thrust provided by the two groups of rotor mechanisms, and F i is the reaction force supported by the support foot.

[0014] When the robot body is in a supported state on the outer wall surface, if the positive pressure thrust provided by the rotor mechanism and the reaction force supported by the support foot satisfy the following formula, the attitude balance of the robot body can be ensured:

[0015]

[0016] where r is the label of the two groups of rotor mechanisms, i is the label of the support foot, n is the number of support feet, Fr The positive pressure thrust provided for the two groups of rotor mechanisms, F i The reaction force supported by the support feet Taking the center of the robot body as the origin, the position vector from the thrust action point of the rotor mechanism to the centroid Taking the center of the robot body as the origin, the position vector from the reaction force action point of the support feet to the centroid

[0017] In the present invention, the position balance of the robot body means that the relative distance between the robot body and the outer wall remains consistent. The attitude balance of the robot body means that the robot body and the outer wall are in a parallel state.

[0018] When the robot body crawls, set one side as the K side. During the process of controlling the support feet on one side to lift off the outer wall surface, the change amount ΔF of the reaction force of the support feet on the K side is calculated using a smoothing processing method i,k :

[0019]

[0020] Among them, F i,k Is the reaction force supported by the support feet on the K side.

[0021] The reduction of the positive pressure of the rotor mechanism on the same side towards the outer wall surface means: calculating the change amount ΔF of the positive pressure of the K-side rotor mechanism on the same side as the K-side support feet towards the outer wall surface r,k , through the change amount ΔF r,k Control to reduce the positive pressure of the rotor mechanism on the K side towards the outer wall surface;

[0022] ΔF r,k = ΔF i,k ;

[0023] Among them, ΔF i,k Is the change amount of the reaction force of the support feet on the K side.

[0024] When the robot body crawls, set the other side as the L side; the increase of the positive pressure of the rotor mechanism on the other side towards the outer wall surface means: calculating the change amount ΔF of the positive pressure of the L-side rotor mechanism on the same side as the L-side support feet towards the outer wall surface according to the following formula r,l , through the change amount ΔF r,l Control to increase the positive pressure of the rotor mechanism on the L side towards the outer wall surface;

[0025]

[0026] Among them, ΔF i,l Is the change amount of the reaction force of the support feet on the L side, ΔF i,l = F i,l - F i,lo F i,lois the reaction force supported by the L-side support foot before the K-side support foot is lifted; F i,l is the reaction force of the L-side support foot detected in real time;

[0027] ΔF r,k is the change in the positive pressure of the K-side rotor mechanism on the outer wall;

[0028] is the position vector from the thrust action point of the L-side rotor mechanism to the centroid with the center of the robot body as the origin;

[0029] is the position vector from the thrust action point of the K-side rotor mechanism to the centroid with the center of the robot body as the origin;

[0030] is the position vector from the reaction force action point of the L-side support foot to the centroid with the center of the robot body as the origin;

[0031] is the torque when the robot body crawls, which is calculated by detecting the angular velocity of the robot body and the dynamic model.

[0032] The correction of the attitude angle of the robot body mentioned above means: calculating the attitude control amount Δω of the robot body through a PID controller to achieve the correction of the attitude angle of the robot body;

[0033]

[0034] where θ is the deviation between the target attitude angle of the robot body and the current attitude angle of the robot body; K P is the proportional parameter, K i is the integral parameter, K d is the differential parameter.

[0035] Distribute the attitude control amount Δω of the robot body to the positive pressure of the rotor mechanisms on both sides on the outer wall to obtain the adjustment amount of the positive pressure of the rotor mechanisms on both sides on the outer wall.

[0036] Calculate the adjustment amount ΔF′ of the positive pressure of the K-side rotor mechanism on the outer wall according to the following formula r,k and the adjustment amount ΔF′ of the positive pressure of the L-side rotor mechanism on the outer wall r,l :

[0037]

[0038] where, is the position vector from the thrust action point of the L-side rotor mechanism to the centroid with the center of the robot body as the origin; is the position vector from the thrust action point of the K-side rotor mechanism to the centroid with the center of the robot body as the origin.

[0039] When the robot body crawls, the adjustment amount ΔF′ of the positive pressure of the K-side rotor mechanism on the outer wall surface r,k is added to the change amount ΔF of the positive pressure of the K-side rotor mechanism on the outer wall surface r,k to control and reduce the positive pressure of the rotor mechanism on the K side on the outer wall surface;

[0040] The adjustment amount ΔF′ of the positive pressure of the L-side rotor mechanism on the outer wall surface r,l is added to the change amount ΔF of the positive pressure of the L-side rotor mechanism on the outer wall surface r,l to control and increase the positive pressure of the rotor mechanism on the L side on the outer wall surface.

[0041] The present invention can convert the change amount of the supporting force of the lifted supporting foot of the robot body into the change amount of the positive pressure of the rotor mechanisms on both sides on the outer wall surface, and by distributing the attitude control amount Δω of the robot body to the positive pressure of the rotor mechanisms on both sides on the outer wall surface, the positive pressure of the rotor mechanisms on both sides on the outer wall surface is adjusted, so as to control the heading angle of the robot body on the side where the supporting foot is lifted, and achieve the control of the balance and stability of the robot body during the crawling process. In the above solution, when the L-side supporting foot is lifted, the supporting force of the L-side supporting foot can be controlled to become smaller, the thrust of the L-side rotor becomes smaller, the supporting force of the K-side supporting foot becomes larger, and the thrust of the K-side rotor becomes larger according to the above control method.

[0042] Compared with the prior art, the present invention has the following advantages and beneficial effects: The balance control method of the exterior wall operation robot of the present invention can improve the balance and stability of the exterior wall operation robot during crawling and / or supporting, so that the exterior wall operation robot always maintains a stable state, thereby ensuring the quality of the high-altitude operation of the exterior wall operation robot. Brief Description of the Drawings

[0043] Figure 1 is a schematic diagram of one side supporting foot of the exterior wall operation robot of the present invention being lifted;

[0044] Figure 2 is a schematic diagram of the robot adopted by the balance control method of the exterior wall operation robot of the present invention;

[0045] Among them, 1 is the robot body, 2 is the K-side supporting foot, 3 is the L-side supporting foot, 4 is the K-side rotor mechanism, 5 is the L-side rotor mechanism, and 6 is the outer wall surface. Detailed Embodiments

[0046] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0047] Embodiment

[0048] As Figure 1 and Figure 2As shown in the figure, the balance control method of this exterior wall operation robot includes a robot body 1, two groups of support feet, and two groups of rotor mechanisms. Among them, the two groups of support feet in this embodiment are respectively arranged on both sides of the robot body 1, namely the K-side support foot 2 located on the K side of the robot body 1 and the L-side support foot 3 located on the L side of the robot body 1. The K-side support foot 2 and the L-side support foot 3 each include two support feet. And the two groups of rotor mechanisms are respectively arranged on both sides of the robot body 1, namely the K-side rotor mechanism 4 and the L-side rotor mechanism 5.

[0049] When the robot body 1 is in a supported state on the exterior wall 6, the support feet on both sides respectively support the exterior wall 6 in the positive direction, and the rotor mechanisms on both sides provide a constant positive pressure to the exterior wall 6 to ensure the position balance and attitude balance of the robot body 1;

[0050] When the robot body 1 crawls, it adopts the method of alternating forward movement of the support feet on both sides; during unilateral movement, control one side of the support foot to lift off the exterior wall 6 and reduce the positive pressure of the rotor mechanism on the same side to the exterior wall 6; control the support foot on the other side to support the exterior wall 6, increase the supporting force of the support foot supporting the exterior wall 6 to the exterior wall 6, and increase the positive pressure of the rotor mechanism on the other side to the exterior wall 6; the support feet on both sides alternately execute unilateral operation to complete crawling;

[0051] During the crawling process of the robot body, by correcting the attitude angle of the robot body 1 and adjusting the positive pressure of the rotor mechanisms on both sides, the heading angle control of the robot body 1 on the side where the support foot is lifted is realized, and the balance of the robot body 1 is controlled.

[0052] Specifically, when the robot body is in a supported state on the exterior wall, if the positive pressure thrust provided by the rotor mechanism and the reaction force supported by the support foot satisfy the following formula, the position balance of the robot body is ensured:

[0053]

[0054] Among them, r is the label of the two groups of rotor mechanisms, i is the label of the support foot, n is the number of support feet, n takes 4 in this embodiment, F r is the positive pressure thrust provided by the two groups of rotor mechanisms, F i is the reaction force supported by the support foot.

[0055] If the positive pressure thrust provided by the rotor mechanism and the reaction force supported by the support foot satisfy the following formula, the attitude balance of the robot body is ensured:

[0056]

[0057] Among them, r is the label of the two groups of rotor mechanisms, i is the label of the support foot, n is the number of support feet, n takes 4 in this embodiment, Fr The positive pressure thrust provided for the two groups of rotor mechanisms, F i The reaction force supported by the support feet Taking the center of the robot body as the origin, the position vector from the action point of the rotor mechanism thrust to the centroid Taking the center of the robot body as the origin, the position vector from the action point of the support foot reaction force to the centroid

[0058] When the robot body crawls, during the process of controlling the K-side support foot 2 to lift off the outer wall surface 6, the change amount ΔF of the reaction force of the K-side support foot 2 is calculated by using a smoothing processing method i,k :

[0059]

[0060] Among them, F i,k Is the reaction force supported by the K-side support foot 2

[0061] Reducing the positive pressure of the rotor mechanism on the same side to the outer wall surface 6 means: calculating the change amount ΔF of the positive pressure of the K-side rotor mechanism 4 on the same side as the K-side support foot 2 to the outer wall surface 6 r,k , through the change amount ΔF r,k Controlling to reduce the positive pressure of the K-side rotor mechanism 4 to the outer wall surface 6

[0062] ΔF r,k =ΔF i,k ;

[0063] Among them, ΔF i,k Is the change amount of the reaction force of the K-side support foot 2

[0064] When the robot body 1 crawls, increasing the positive pressure of the rotor mechanism on the other side to the outer wall surface means: calculating the change amount ΔF of the positive pressure of the L-side rotor mechanism 5 on the same side as the L-side support foot 3 to the outer wall surface 6 according to the following formula r,l , through the change amount ΔF r,l Controlling to increase the positive pressure of the L-side rotor mechanism 5 to the outer wall surface 6

[0065]

[0066] Among them, ΔF i,l Is the change amount of the reaction force of the L-side support foot 3, ΔF i,l =F i,l -F i,lo F i,lo Is the reaction force supported by the L-side support foot 3 before the K-side support foot 2 is lifted; F i,l Is the reaction force of the L-side support foot 3 detected in real time

[0067] ΔF r,kis the change in the positive pressure of the K-side rotor mechanism 4 on the outer wall surface 6;

[0068] is the position vector from the center of the robot body 1 as the origin to the centroid of the thrust action point of the L-side rotor mechanism 5;

[0069] is the position vector from the center of the robot body 1 as the origin to the centroid of the thrust action point of the K-side rotor mechanism 4;

[0070] is the position vector from the center of the robot body 1 as the origin to the centroid of the reaction force action point of the L-side support foot 3;

[0071] is the torque when the robot body 1 crawls, which is calculated by detecting the angular velocity of the robot body 1 and the dynamic model.

[0072] In addition, the balance control method of the present invention corrects the attitude angle of the robot body 1 by: calculating the attitude control amount Δω of the robot body 1 through a PID controller to realize the correction of the attitude angle of the robot body 1;

[0073]

[0074] where θ is the deviation between the target attitude angle of the robot body 1 and the current attitude angle of the robot body 1; K P is the proportional parameter, K i is the integral parameter, K d is the differential parameter.

[0075] The present invention can distribute the attitude control amount Δω of the robot body 1 to the positive pressure of the outer wall surface 6 of the rotor mechanisms on both sides to obtain the adjustment amount of the positive pressure of the rotor mechanisms on both sides on the outer wall surface 6, so as to adjust the positive pressure of the rotor mechanisms on both sides on the outer wall surface 6, so as to control the heading angle of the robot body 1 on the side where the support foot is lifted and turned, and realize the control of the balance and stability of the robot body 1 during the crawling process. Specifically, the adjustment amount ΔF′ of the positive pressure of the K-side rotor mechanism 4 on the outer wall surface 6 is calculated according to the following formula r,k and the adjustment amount ΔF′ of the positive pressure of the L-side rotor mechanism 5 on the outer wall surface 6 r,l :

[0076]

[0077]

[0078] where is the position vector from the center of the robot body 1 as the origin to the centroid of the thrust action point of the L-side rotor mechanism 5; is the position vector from the origin at the center of the robot body 1 to the acting point of the thrust of the K-side rotor mechanism 4 with respect to the centroid.

[0079] When the robot body 1 crawls, the present invention combines the adjustment amount ΔF′ of the normal pressure of the K-side rotor mechanism 4 on the outer wall surface 6 r,k with the change amount ΔF of the normal pressure of the K-side rotor mechanism 4 on the outer wall surface 6 r,k to control and reduce the normal pressure of the K-side rotor mechanism 4 on the outer wall surface 6; combines the adjustment amount ΔF′ of the normal pressure of the L-side rotor mechanism 5 on the outer wall surface 6 r,l with the change amount ΔF of the normal pressure of the L-side rotor mechanism 5 on the outer wall surface 6 r,l to control and increase the normal pressure of the L-side rotor mechanism 5 on the outer wall surface 6.

[0080] When the L-side support foot 3 is lifted, the support force of the L-side support foot 3 can be controlled to become smaller, the thrust of the L-side rotor mechanism 5 becomes smaller, the support force of the K-side support foot 2 becomes larger, and the thrust of the K-side rotor mechanism 4 becomes larger according to the above control method. And during the crawling process of the robot body 1, by correcting the attitude angle of the robot body 1 and adjusting the normal pressure of the rotor mechanisms on both sides, the heading angle of the robot body 1 on the side where the support foot is lifted is controlled, and the balance of the robot body 1 is achieved.

[0081] The balance control method of the present invention can improve the balance and stability of the exterior wall operation robot during crawling and / or supporting. When the robot body is supporting or crawling, the robot rope suspension mechanism is used as a supplementary power system for the lifting and lowering of the robot body 1 during facade operation, providing the load capacity for the stable ascent or descent of the robot body 1.

[0082] When the robot body 1 is in a supported state on the outer wall surface, the position balance and attitude balance of the robot body 1 are ensured to control the balance of the robot body 1 during support. When the robot body 1 crawls, the support forces of the two support feet on the outer wall surface 6 and the normal pressures of the rotor mechanisms on the outer wall surface 6 are controlled to control the balance of the robot body 1, and the two support feet alternate to move forward for crawling. In addition, during the crawling process of the robot body, the heading angle of the robot body 1 on the side where the support foot is lifted is also controlled to ensure the balance and stability of the robot body 1 during the crawling process. This balance control method can keep the exterior wall operation robot in a stable state all the time, thus ensuring the quality of the high-altitude operation of the exterior wall operation robot.

[0083] The above embodiments are the preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A balance control method for an exterior wall working robot, characterized in that: It comprises a robot body, two sets of support feet and two sets of rotor mechanisms; the two sets of support feet are respectively arranged on both sides of the robot body, and the two sets of rotor mechanisms are respectively arranged on both sides of the robot body; When the robot body is in a supporting state on the outer wall, the two sets of supporting feet respectively support the outer wall in a positive direction, and the two sets of rotor mechanisms provide a constant positive pressure to the outer wall to ensure the position balance and posture balance of the robot body; When the robot body crawls, the supporting feet on both sides move forward alternately; when moving on one side, the supporting foot on one side is controlled to lift up and leave the outer wall, and the positive pressure of the rotor mechanism on the same side on the outer wall is reduced; the supporting foot on the other side is controlled to support the outer wall, the supporting force of the supporting foot supporting the outer wall on the outer wall is increased, and the positive pressure of the rotor mechanism on the other side on the outer wall is increased; the supporting feet on both sides perform unilateral operation alternately to complete the crawling; During the crawling process of the robot body, the attitude angle of the robot body is corrected and the positive pressure of the rotor mechanisms on both sides is adjusted to control the heading angle of the robot body on the side of the raised supporting foot, thereby controlling the balance of the robot body.

2. The balance control method of the exterior wall working robot according to claim 1, characterized in that: When the robot body is in a supported state on the outer wall, the positive pressure thrust provided by the control rotor mechanism and the reaction force of the support foot satisfy the following formula to ensure the position balance of the robot body: Where r is the number of the two rotor mechanisms, i is the number of the support feet, n is the number of the support feet, and F r The positive pressure thrust provided by the two sets of rotor mechanisms, F i The reaction force of the supporting foot.

3. The balance control method of the exterior wall working robot according to claim 1, characterized in that: When the robot body is in a supported state on the outer wall, the positive pressure thrust provided by the control rotor mechanism and the reaction force of the support foot satisfy the following formula to ensure the posture balance of the robot body: Where r is the number of the two rotor mechanisms, i is the number of the support feet, n is the number of the support feet, and F r The positive pressure thrust provided by the two sets of rotor mechanisms, F i To support the reaction force of the foot support, The position vector from the thrust point of the rotor mechanism to the center of mass is taken as the origin. is the position vector from the point where the reaction force of the supporting foot acts to the center of mass, with the center of the robot body as the origin.

4. The balance control method of the exterior wall working robot according to claim 1, characterized in that: When the robot body is crawling, one side is set as the K side. When the supporting foot on one side is lifted up and leaves the outer wall, the change in the reaction force ΔF of the supporting foot on the K side is calculated by smoothing. i,k : Among them, F i,k is the reaction force of the K-side support foot.

5. The balance control method of the exterior wall working robot according to claim 4, characterized in that: The method of reducing the positive pressure of the rotor mechanism on the same side on the outer wall surface is to calculate the change ΔF of the positive pressure of the rotor mechanism on the K side on the same side as the K side support foot on the outer wall surface. r,k , through the change ΔF r,k Control to reduce the positive pressure of the rotor mechanism on the K side to the outer wall; ΔF r,k =ΔF i,k ; Where, ΔF i,k is the change in the reaction force of the supporting foot on the K side.

6. The balance control method of the exterior wall working robot according to claim 5, characterized in that: When the robot body is crawling, the other side is set as the L side; the said increasing the positive pressure of the rotor mechanism on the other side to the outer wall means: the change ΔF of the positive pressure of the rotor mechanism on the L side on the same side as the L side support foot to the outer wall is calculated according to the following formula r,l , through the change ΔF r,l Control and increase the positive pressure of the rotor mechanism on the L side to the outer wall; Where, ΔF i,l is the change in the reaction force of the support foot on the L side, ΔF i,l =F i,l -F i,lo , F i,lo is the reaction force of the L-side supporting foot before the K-side supporting foot is lifted; F i,l is the reaction force of the L-side supporting foot detected in real time; ΔF r,k is the change in the positive pressure of the rotor mechanism on the outer wall at side K; The position vector from the thrust action point of the L-side rotor mechanism to the center of mass, with the center of the robot body as the origin; It is the position vector from the center of the robot body to the center of mass from the thrust action point of the rotor mechanism on the K side; It is the position vector from the center of the robot body to the center of mass from the point of action of the reaction force of the L-side support foot; It is the torque of the robot body when crawling, which is calculated by detecting the angular velocity of the robot body and the dynamic model.

7. The balance control method of the exterior wall working robot according to claim 6, characterized in that: The correction of the posture angle of the robot body refers to: calculating the posture control amount Δω of the robot body through a PID controller to correct the posture angle of the robot body; Where θ is the deviation between the target posture angle of the robot body and the current posture angle of the robot body; K P is the scale parameter, K i is the integration parameter, K d is the differential parameter.

8. The balance control method of the exterior wall working robot according to claim 7, characterized in that: The attitude control amount Δω of the robot body is distributed to the positive pressure of the rotor mechanisms on both sides on the outer wall surface, so as to obtain the adjustment amount of the positive pressure of the rotor mechanisms on both sides on the outer wall surface.

9. The balance control method of the exterior wall working robot according to claim 8, characterized in that: The adjustment amount ΔF′ of the positive pressure of the rotor mechanism on the outer wall on the K side is calculated according to the following formula: r,k And the adjustment amount ΔF′ of the positive pressure of the L-side rotor mechanism on the outer wall r,l : in, The position vector from the thrust action point of the L-side rotor mechanism to the center of mass, with the center of the robot body as the origin; It is the position vector from the thrust action point of the K-side rotor mechanism to the center of mass, with the center of the robot body as the origin.

10. The balance control method of the exterior wall working robot according to claim 9, characterized in that: When the robot body crawls, adjust the positive pressure of the K-side rotor mechanism to the outer wall by ΔF′ r,k The change in the positive pressure of the rotor mechanism on the outer wall on the K side ΔF r,k Combined together, the positive pressure of the rotor mechanism on the K side to the outer wall is controlled and reduced; Adjust the positive pressure of the L-side rotor mechanism to the outer wall by ΔF′ r,l The change in the positive pressure of the L-side rotor mechanism on the outer wall ΔF r,l By adding and combining them, the positive pressure of the rotor mechanism on the L side to the outer wall can be controlled and increased.

Images