Control method and device of wall-climbing robot, electronic equipment and storage medium

Abstract

The invention provides a control method and device of a wall-climbing robot, electronic equipment and a storage medium, and relates to the technical field of robots, the wall-climbing robot comprises a robot body, a front wheel and a rear wheel; the control method of the wall-climbing robot comprises the steps that the wall surface position where the wall-climbing robot is located is judged according to the first sensor measurement distance and the second sensor measurement distance; when the wall-climbing robot is located on the outer right-angle wall surface, the wall-climbing robot is controlled through a first control strategy, so that the wall-climbing robot transits from the first horizontal wall surface to the first vertical wall surface or transits from the first vertical wall surface to the first horizontal wall surface; and when the wall-climbing robot is located on the inner right-angle wall surface, the wall-climbing robot is controlled through a second control strategy, so that the wall-climbing robot transits from the second vertical wall surface to the second horizontal wall surface or transits from the second horizontal wall surface to the second vertical wall surface. According to the invention, the transition control of the right-angle wall surface in the wall-climbing robot is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to a control method, device, electronic device, and storage medium for a wall-climbing robot. Background Art

[0002] A wall-climbing robot is an electromechanical system that can move with multiple degrees of freedom on the surface of an object and complete operations. It can be used in many fields that require high-altitude operations, including petrochemical, steel structure bridges, metal tanks, etc. It is mainly responsible for tasks such as wall thickness and weld inspection, wall surface grinding and cleaning, bridge crack detection and maintenance, ship rust removal, etc. However, for buildings or equipment with internal and external right-angle wall structures in complex operation scenarios, due to the lack of control over the transition of internal and external right-angle walls, the wall-climbing robot is prone to problems such as stopping and tipping over. Summary of the Invention

[0003] The present invention aims to solve at least one of the above problems.

[0004] To solve the above problems, the present invention provides a control method, device, electronic device, and storage medium for a wall-climbing robot.

[0005] In a first aspect, the present invention provides a control method for a wall-climbing robot. Based on the wall-climbing robot, the wall-climbing robot includes a robot body, a front wheel, and a rear wheel. The robot body is respectively connected to the front wheel and the rear wheel. The front wheel and the rear wheel are triangular crawler wheels. A first distance sensor and a second distance sensor are fixedly connected to the robot body. The first distance sensor is located directly below the robot body, and the second distance sensor is located on one side of the front wheel. When both the front wheel and the rear wheel are on a horizontal ground, the laser irradiation direction of the first distance sensor is parallel to the vertical direction and faces the ground, and the laser irradiation direction of the second distance sensor is parallel to the horizontal direction and faces away from the rear wheel. The control method for the wall-climbing robot includes:

[0006] Using the first distance sensor and the second distance sensor to respectively obtain a first sensor measurement distance and a second sensor measurement distance;

[0007] Judging the wall position where the wall-climbing robot is located according to the first sensor measurement distance and the second sensor measurement distance. Among them, the wall position includes an external right-angle wall and an internal right-angle wall. The external right-angle wall includes a protruding right-angle structure composed of a first horizontal wall and a first vertical wall. The internal right-angle wall includes a concave right-angle structure composed of a second horizontal wall and a second vertical wall;

[0008] When the wall - climbing robot is located on the outer right - angled wall surface, control the wall - climbing robot through the first control strategy to make the wall - climbing robot transition from the first horizontal wall surface to the first vertical wall surface or from the first vertical wall surface to the first horizontal wall surface;

[0009] When the wall - climbing robot is located on the inner right - angled wall surface, control the wall - climbing robot through the second control strategy to make the wall - climbing robot transition from the second vertical wall surface to the second horizontal wall surface or from the second horizontal wall surface to the second vertical wall surface.

[0010] Optionally, a first proximity switch and a second proximity switch are fixedly connected to the robot body. The first proximity switch is located at the axis of the front wheel and the second proximity switch is located at the edge of the front wheel. When both the front wheel and the rear wheel are on the horizontal ground, the detection directions of the first proximity switch and the second proximity switch are both clockwise offset from the vertical direction by a first preset angle, pointing to the rear wheel. A trigger iron sheet is fixedly arranged at the center of each side of the front wheel; when the wall - climbing robot is located on the outer right - angled wall surface, controlling the wall - climbing robot through the first control strategy includes:

[0011] When the distance measured by the first sensor is greater than the first distance threshold, it is determined that the wall - climbing robot is located on the outer right - angled wall surface;

[0012] Control the rear wheel to trigger braking, rotate the entire front wheel by the first preset angle. When receiving the signal returned by the first proximity switch sensing the trigger iron sheet, control the front wheel to trigger braking and release the rear - wheel braking;

[0013] Control the rotation of the axis of the rear wheel to drive the rotation of the robot body and the front wheel by a second preset angle until the second proximity switch detects a trigger signal, and release the front - wheel braking;

[0014] Based on the first speed model, control the front wheel and the rear wheel to move forward until the distance measured by the first sensor is equal to the first distance threshold;

[0015] Wherein, the first speed model is:

[0016] Δv = 6.4t - 100.44,

[0017] Wherein, Δv is the speed ratio of the front wheel to the rear wheel, and t is time.

[0018] Optionally, a third proximity switch is fixedly connected to the robot body, and the third proximity switch is located at the axis center of the rear wheel. When both the front wheel and the rear wheel are on a horizontal ground, the detection direction of the third proximity switch is parallel to the vertical direction and faces the ground, and a trigger iron sheet is fixedly arranged at the center of each side of the rear wheel; after controlling the front wheel and the rear wheel to move forward based on the first speed model until the distance measured by the first sensor is equal to the first distance threshold, the following steps are further included:

[0019] Control the front wheel to trigger braking, rotate the whole rear wheel to a third preset angle, and release the front wheel braking when receiving the signal returned by the third proximity switch sensing the trigger iron sheet;

[0020] Control the front wheel and the rear wheel to move forward along the moving direction of the wall-climbing robot.

[0021] Optionally, a fourth proximity switch is fixedly connected to the robot body, and the fourth proximity switch is located at the edge of the front wheel away from the second proximity switch. When both the front wheel and the rear wheel are on a horizontal ground, the detection direction of the fourth proximity switch is offset counterclockwise by a set angle relative to the vertical direction and faces away from the rear wheel; when the wall-climbing robot is on the inner right-angle wall surface, controlling the wall-climbing robot through a second control strategy includes:

[0022] When the distance measured by the second sensor is less than or equal to the second distance threshold, it is determined that the wall-climbing robot is on the inner right-angle wall surface;

[0023] Rotate the whole front wheel by a fourth preset angle, and control the rear wheel to move forward a first preset distance until the fourth proximity switch detects a trigger signal;

[0024] Based on the second speed model, control the front wheel and the rear wheel to move forward until the distance measured by the first sensor is equal to the set value of the first sensor;

[0025] Wherein, the second speed model is:

[0026] Δv=-2.6212t 3 +41.082t 2 -211t+343.13,

[0027] Wherein, Δv is the speed ratio of the front wheel to the rear wheel, and t is time.

[0028] Optionally, a third distance measuring sensor is fixedly connected to the robot body. The third distance measuring sensor is located on one side of the rear wheel and is used to detect the distance from the ground. After controlling the front wheel and the rear wheel to move forward based on the second speed model until the distance measured by the first sensor is equal to the set value of the first sensor, the following steps are further included:

[0029] Rotate the entire rear wheel by a fifth preset angle until the distance measured by the third sensor obtained by the third sensor is equal to the third distance threshold.

[0030] Optionally, the wall-climbing robot further includes a rocker mechanism, which is rotatably connected to the robot body. After rotating the entire rear wheel by a fifth preset angle until the distance measured by the third sensor obtained by the third sensor is equal to the third distance threshold, the following steps are further included:

[0031] When the front wheel and the rear wheel move forward a second preset distance, control the rocker mechanism to rotate and reset. The initial position of the rocker mechanism is on the side of the rear wheel away from the front wheel.

[0032] Optionally, the robot body is provided with an inclination sensor. The control of the rocker mechanism to rotate and reset includes:

[0033] Obtain angle change information through the inclination sensor;

[0034] Use the angle change information to control the rocker mechanism to rotate and reset.

[0035] In a second aspect, the present invention provides a control device for a wall-climbing robot. Based on the wall-climbing robot, the wall-climbing robot includes a robot body, a front wheel, and a rear wheel. The robot body is respectively connected to the front wheel and the rear wheel. The front wheel and the rear wheel are triangular crawler wheels. A first distance measuring sensor and a second distance measuring sensor are fixedly connected to the robot body. The first distance measuring sensor is located directly below the robot body, and the second distance measuring sensor is located on one side of the front wheel. When the front wheel and the rear wheel are both on a horizontal ground, the laser irradiation direction of the first distance measuring sensor is parallel to the vertical direction and faces the ground, and the laser irradiation direction of the second distance measuring sensor is parallel to the horizontal direction and faces away from the rear wheel. The control device of the wall-climbing robot includes:

[0036] A sensor distance measurement acquisition module for respectively obtaining a first sensor measurement distance and a second sensor measurement distance by using the first distance measuring sensor and the second distance measuring sensor;

[0037] A wall position determination module, configured to determine the wall position where the wall-climbing robot is located according to the distance measured by the first sensor and the distance measured by the second sensor, where the wall position includes an external right-angle wall surface and an internal right-angle wall surface, the external right-angle wall surface includes a protruding right-angle structure composed of a first horizontal wall surface and a first vertical wall surface, and the internal right-angle wall surface includes a sunken right-angle structure composed of a second horizontal wall surface and a second vertical wall surface;

[0038] A first control strategy module, configured to control the wall-climbing robot by a first control strategy when the wall-climbing robot is located on the external right-angle wall surface, so as to make the wall-climbing robot transition from the first horizontal wall surface to the first vertical wall surface or from the first vertical wall surface to the first horizontal wall surface;

[0039] A second control strategy module, configured to control the wall-climbing robot by a second control strategy when the wall-climbing robot is located on the internal right-angle wall surface, so as to make the wall-climbing robot transition from the second vertical wall surface to the second horizontal wall surface or from the second horizontal wall surface to the second vertical wall surface.

[0040] In a third aspect, the present invention provides an electronic device, including a memory and a processor;

[0041] The memory is configured to store a computer program;

[0042] The processor is configured to implement the control method of the wall-climbing robot as described in the first aspect when executing the computer program.

[0043] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the control method of the wall-climbing robot as described in the first aspect is implemented.

[0044] The beneficial effects of the control method, device, electronic device, and storage medium of the wall - climbing robot of the present invention are as follows: By means of the first distance - measuring sensor and the second distance - measuring sensor provided on the robot body, the distances in the vertical direction and the parallel direction of the wall - climbing robot are respectively detected, which can accurately identify the wall position of the wall - climbing robot and provide a basis for subsequent control. Obtain the measured distances of the first sensor and the second sensor, and judge whether the wall - climbing robot is located on an inner right - angle wall surface or an outer right - angle wall surface based on the measured distance data of the sensors, and automatically switch the control strategy according to different wall structures, improving the intelligent level of the wall - climbing robot. When the wall - climbing robot is located on the outer right - angle wall surface, through the first control strategy, it can effectively control the wall - climbing robot to transition from the first horizontal wall surface to the vertical wall surface, or from the vertical wall surface to the first horizontal wall surface, ensuring that the robot can smoothly transition when facing a protruding right - angle structure and avoiding out - of - control or falling caused by sudden structural changes. When the wall - climbing robot is located on the inner right - angle wall surface, through the second control strategy, it can ensure that the wall - climbing robot transitions from the vertical wall surface to the second horizontal wall surface or from the second horizontal wall surface to the vertical wall surface, which is applicable to a recessed right - angle structure, ensuring that the robot can flexibly respond in a complex environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic flowchart of a control method for a wall - climbing robot according to an embodiment of the present invention;

[0046] Figure 2 It is a schematic diagram of a device of a wall - climbing robot according to an embodiment of the present invention;

[0047] Figure 3 It is a first schematic diagram of a wall - climbing robot transitioning from the first horizontal wall surface to the first vertical wall surface according to an embodiment of the present invention;

[0048] Figure 4 It is a second schematic diagram of a wall - climbing robot transitioning from the first horizontal wall surface to the first vertical wall surface according to an embodiment of the present invention;

[0049] Figure 5 It is a third schematic diagram of a wall - climbing robot transitioning from the first horizontal wall surface to the first vertical wall surface according to an embodiment of the present invention;

[0050] Figure 6 It is a fourth schematic diagram of a wall - climbing robot transitioning from the first horizontal wall surface to the first vertical wall surface according to an embodiment of the present invention;

[0051] Figure 7 It is a fifth schematic diagram of a wall - climbing robot transitioning from the first horizontal wall surface to the first vertical wall surface according to an embodiment of the present invention;

[0052] Figure 8 It is a schematic diagram of the front - and - rear wheel movement trajectories of a wall - climbing robot transitioning from the first horizontal wall surface to the first vertical wall surface according to an embodiment of the present invention;

[0053] Figure 9 Schematic diagram of the front and rear wheel travel distances of the wall-climbing robot according to an embodiment of the present invention when transitioning from the first horizontal wall surface to the first vertical wall surface;

[0054] Figure 10 Sixth schematic diagram of the wall-climbing robot according to an embodiment of the present invention when transitioning from the first horizontal wall surface to the first vertical wall surface;

[0055] Figure 11 Seventh schematic diagram of the wall-climbing robot according to an embodiment of the present invention when transitioning from the first horizontal wall surface to the first vertical wall surface;

[0056] Figure 12 Eighth schematic diagram of the wall-climbing robot according to an embodiment of the present invention when transitioning from the first horizontal wall surface to the first vertical wall surface;

[0057] Figure 13 First schematic diagram of the wall-climbing robot according to an embodiment of the present invention when transitioning from the second vertical wall surface to the second horizontal wall surface;

[0058] Figure 14 Second schematic diagram of the wall-climbing robot according to an embodiment of the present invention when transitioning from the second vertical wall surface to the second horizontal wall surface;

[0059] Figure 15 Third schematic diagram of the wall-climbing robot according to an embodiment of the present invention when transitioning from the second vertical wall surface to the second horizontal wall surface;

[0060] Figure 16 Schematic diagram of the front and rear wheel movement trajectories of the wall-climbing robot according to an embodiment of the present invention when transitioning from the second vertical wall surface to the second horizontal wall surface;

[0061] Figure 17 Fourth schematic diagram of the wall-climbing robot according to an embodiment of the present invention when transitioning from the second vertical wall surface to the second horizontal wall surface;

[0062] Figure 18 Schematic diagram of the front and rear wheel travel distances of the wall-climbing robot according to an embodiment of the present invention when transitioning from the second vertical wall surface to the second horizontal wall surface;

[0063] Figure 19 Fifth schematic diagram of the wall-climbing robot according to an embodiment of the present invention when transitioning from the second vertical wall surface to the second horizontal wall surface;

[0064] Figure 20 First schematic diagram of the reset of the rocker mechanism of the wall-climbing robot according to an embodiment of the present invention;

[0065] Figure 21 Second schematic diagram of the reset of the rocker mechanism of the wall-climbing robot according to an embodiment of the present invention;

[0066] Figure 22 The third schematic diagram of the reset of the rocker mechanism of the wall-climbing robot according to the embodiment of the present invention;

[0067] Figure 23 The first internal structure schematic diagram of the wall-climbing robot according to the embodiment of the present invention;

[0068] Figure 24 The second internal structure schematic diagram of the wall-climbing robot according to the embodiment of the present invention;

[0069] Figure 25 The structure schematic diagram of the control device of a wall-climbing robot according to the embodiment of the present invention;

[0070] Figure 26 The structure schematic diagram of an electronic device according to the embodiment of the present invention. Specific embodiments

[0071] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the specific embodiments of the present invention in detail with reference to the drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments described herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not used to limit the protection scope of the present invention.

[0072] It should be understood that the various steps recorded in the method embodiments of the present invention can be executed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this regard.

[0073] The term "including" and its variations used herein are open-ended, that is, "including but not limited to"; the term "based on" is "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules, or units, and are not used to limit the order of the functions executed by these devices, modules, or units or their interdependent relationships.

[0074] It should be noted that the modifications of "one" and "plural" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0075] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are for illustrative purposes only and are not used to limit the scope of these messages or information.

[0076] In view of the problems existing in the above related technologies, this embodiment provides a control method, device, electronic device and storage medium for a wall-climbing robot.

[0077] As Figure 1 shown, a control method for a wall-climbing robot provided by an embodiment of the present invention is based on a wall-climbing robot. The wall-climbing robot includes a robot body, a front wheel and a rear wheel. The robot body is respectively connected to the front wheel and the rear wheel. The front wheel and the rear wheel are triangular crawler wheels. A first distance sensor and a second distance sensor are fixedly connected to the robot body. The first distance sensor is located directly below the robot body. The second distance sensor is located on one side of the front wheel. When both the front wheel and the rear wheel are on a horizontal ground, the laser irradiation direction of the first distance sensor is parallel to the vertical direction and faces the ground. The laser irradiation direction of the second distance sensor is parallel to the horizontal direction and faces away from the rear wheel. The control method of the wall-climbing robot includes:

[0078] Step 110, respectively obtain a first sensor measurement distance and a second sensor measurement distance by using the first distance sensor and the second distance sensor.

[0079] Specifically, a laser distance sensor is a device that uses laser technology to accurately measure distances. Its working principle is usually based on the Time of Flight (ToF) principle, that is, the time difference between the laser beam emitted from the sensor to the target object and then reflected back to the sensor is used to calculate the distance. Since the speed of light is known, by measuring this round-trip time, the distance between the sensor and the target can be calculated very accurately.

[0080] Step 120, determine the wall position where the wall-climbing robot is located according to the first sensor measurement distance and the second sensor measurement distance. Among them, the wall position includes an external right-angle wall surface and an internal right-angle wall surface. The external right-angle wall surface includes a protruding right-angle structure composed of a first horizontal wall surface and a first vertical wall surface. The internal right-angle wall surface includes a sunken right-angle structure composed of a second horizontal wall surface and a second vertical wall surface.

[0081] Specifically, an external right-angle wall surface refers to a structure formed by connecting two planes in a convex right-angle form (protruding outward), that is, the two wall surfaces form a 90° angle externally. For example: the corners of the outer wall of a building (such as the outer edge of the building body), the right-angle connection at the outside of a pipeline, etc. An internal right-angle wall surface refers to a structure formed by connecting two planes in a concave right-angle form (concave inward), for example: the support structure inside a bridge, etc.

[0082] Step 131, when the wall-climbing robot is located on the external right-angle wall surface, control the wall-climbing robot through the first control strategy to make the wall-climbing robot transition from the first horizontal wall surface to the first vertical wall surface or from the first vertical wall surface to the first horizontal wall surface.

[0083] Specifically, when it is determined that the wall-climbing robot is located on the external right-angle wall surface, by controlling the angles, moving speeds, etc. of the front wheels, rear wheels and the robot body of the wall-climbing robot, the wall-climbing robot is made to transition from the first horizontal wall surface to the vertical wall surface or from the vertical wall surface to the first horizontal wall surface. The triangular crawler wheel is a special design of a moving device, which combines the advantages of a traditional crawler and a wheeled chassis, and can provide better terrain adaptability and stability than a simple wheeled chassis. In the present invention, the rotation of the front wheels and rear wheels generally refers to the corresponding triangular crawler wheel as a whole rotating by a corresponding angle, and the control of the front wheels and rear wheels moving forward generally refers to controlling the crawlers of the corresponding triangular crawler wheels to drive the wall-climbing robot forward. The working area of the wall-climbing robot is a vertical wall surface, and the illustration is considered from a top view perspective.

[0084] Step 132, when the wall-climbing robot is located on the internal right-angle wall surface, control the wall-climbing robot through the second control strategy to make the wall-climbing robot transition from the second vertical wall surface to the second horizontal wall surface or from the second horizontal wall surface to the second vertical wall surface.

[0085] Specifically, during normal driving, the wall-climbing robot moves forward through the crawlers. When located on the external right-angle wall surface, the front wheels and rear wheels are flipped forward and backward by a preset angle. Among them, when one wheel rotates, the other wheel is in a braking state and adsorbs on the current wall surface. The front wheel is the end close to the moving direction of the wall-climbing robot, and the rear wheel is the end far from the moving direction of the wall-climbing robot. A vacuum pump and a seal (such as a rubber pad on the crawler) can be arranged on the crawler to generate a negative pressure environment to make the robot closely adhere to the surface to maintain the low-pressure area between it and the wall surface. Or use the attraction generated between a powerful magnet or electromagnet and an iron-containing material to fix the robot to make the wall-climbing robot adsorb on the current wall surface.

[0086] In some more specific embodiments, such as Figure 2As shown, the wall - climbing robot includes a robot body, a front wheel, and a rear wheel. The robot body is respectively connected to the front wheel and the rear wheel. The front wheel and the rear wheel are triangular crawler wheels. The total horizontal length of the wall - climbing robot is 870.12 mm, the length of the robot body is 277.84 mm, the outer diameter of each triangular crawler wheel is 328.56 mm, and the distance between the centers of the two triangular crawler wheels is 511.79 mm.

[0087] In this embodiment, through the first distance - measuring sensor and the second distance - measuring sensor arranged on the robot body, the distances in the vertical direction and the parallel direction of the wall - climbing robot are respectively detected, which can accurately identify the wall position of the wall - climbing robot and provide a basis for subsequent control. By obtaining the measured distances of the first sensor and the second sensor, and judging whether the wall - climbing robot is located on an inner right - angle wall surface or an outer right - angle wall surface based on the distance data measured by the sensors, and automatically switching the control strategy according to different wall structures, the intelligent level of the wall - climbing robot is improved. When the wall - climbing robot is located on the outer right - angle wall surface, through the first control strategy, the wall - climbing robot can be effectively controlled to transition from the first horizontal wall surface to the vertical wall surface, or from the vertical wall surface to the first horizontal wall surface, ensuring that the robot can smoothly transition when facing the protruding right - angle structure and avoiding out - of - control or falling caused by sudden structural changes. When the wall - climbing robot is located on the inner right - angle wall surface, through the second control strategy, the wall - climbing robot can be ensured to transition from the vertical wall surface to the second horizontal wall surface or from the second horizontal wall surface to the vertical wall surface, which is applicable to the sunken right - angle structure and ensures that the robot can flexibly respond in a complex environment.

[0088] Optionally, a first proximity switch and a second proximity switch are fixedly connected to the robot body. The first proximity switch is located at the axis of the front wheel and the second proximity switch is located at the edge of the front wheel. When both the front wheel and the rear wheel are on the horizontal ground, the detection directions of the first proximity switch and the second proximity switch are both clockwise offset from the vertical direction by a first preset angle and point to the rear wheel. A trigger iron sheet is fixedly arranged at the center of each side of the front wheel; when the wall - climbing robot is located on the outer right - angle wall surface, controlling the wall - climbing robot through the first control strategy includes:

[0089] When the measured distance of the first sensor is greater than the first distance threshold, it is determined that the wall - climbing robot is located on the outer right - angle wall surface;

[0090] Control the rear wheel to trigger braking, rotate the entire front wheel by the first preset angle. When receiving the signal returned by the first proximity switch sensing the trigger iron sheet, control the front wheel to trigger braking and release the rear - wheel braking;

[0091] Control the rotation of the axis of the rear wheels to drive the robot body and the front wheels to rotate by a second preset angle until the second proximity switch detects a trigger signal and releases the front-wheel brake;

[0092] Based on the first speed model, control the front wheels and the rear wheels to move forward until the distance measured by the first sensor is equal to the first distance threshold;

[0093] Wherein, the first speed model is:

[0094] Δv = 6.4t - 100.44,

[0095] Wherein, Δv is the speed ratio of the front wheels to the rear wheels, and t is the time.

[0096] Specifically, as shown in Figures 1 - 7 A first distance measuring sensor is installed on the lower side of the robot platform, such as the first distance measuring sensor A shown in Figure 2 . At this time, the front wheels and the rear wheels move forward simultaneously, and the arrow direction is the movement direction of the robot. The origin of the axis position of the wall-climbing robot is used to establish the X-axis and the Y-axis. A first proximity switch D1 is installed near the rotation axis center position of the front wheels. At the same time, within a range of a radius of 110 mm with the front-wheel axis center as the center, 3 iron sheets for triggering the proximity switch are evenly distributed. The proximity switch is fixedly installed relative to the robot body, and the iron sheets rotate synchronously with the flipping of the front wheels. After the wall-climbing robot receives the PLC servo position control instruction, the front wheels flip clockwise by a first preset angle, such as 45°. When the proximity switch senses the iron sheet, the rear wheels are triggered to brake and remain stationary. A second proximity switch E1 is installed at the front wheels of the wall-climbing robot, and the sensing distance of the proximity switch is 6 mm. When the front-wheel brake is triggered, control the rotation of the axis of the rear wheels to drive the robot body and the front wheels to rotate by a second preset angle, such as 45°. When the switching signal of the second proximity switch E1 is triggered, the flipping action of the rear wheels ends.

[0097] As shown in combination with Figure 8 and Figure 9 shown, Figure 8 are the movement trajectories of the rear wheels and the front wheels. Among them, 364.15 mm is the distance from the starting point to the ending point of the running trajectory of the rear-wheel central axis when the robot is at the transition outer fold angle, 512.11 mm is the distance from the ending point of the running trajectory of the front-wheel central axis to the ending point of the running trajectory of the rear wheels when the robot is at the transition outer fold angle, and 50 is the set speed for the rear wheels to move forward at 50 mm per unit time to facilitate the calculation of the speed difference between the front and rear wheels. Figure 9Used to represent the running trajectories of the front and rear wheels and the distance change of the first distance measuring sensor A. The vertical axis is the walking distance, and the horizontal axis is the time. The front and rear wheels of the wall-climbing robot adopt a speed control mode, moving forward simultaneously and canceling the braking limit, obtaining the speed ratio curve of the front and rear wheels and the curve of the distance change measured by the sensor. The distance measured by the first distance measuring sensor A shows a trend of first decreasing and then gradually increasing to the maximum value during the whole process, and stops when the front and rear wheels advance to the first distance threshold of the first distance measuring sensor A. In some more specific embodiments, the first distance threshold L0 = 285 mm, and stops when the first distance measuring sensor A detects that the measured distance of the first distance measuring sensor is L1 = 285 mm and L1 = L0. The rear wheel moves at a constant speed. Considering the calculation accuracy and the difficulty of data fitting, the rear wheel is taken to displace 50 mm per unit time, that is, S (Δt) = 50, and the premise condition is that the running interval time of the front and rear wheels is the same.

[0098] The front wheel is fitted into a uniformly variable motion (quadratic polynomial fitting). The displacement function of the front wheel after curve fitting is: s1 = -3.2024t2 + 50.44t + 313, and the speed function (derived with respect to time): v1 = ds / dt = -6.4t + 50.44. From the conditions, the speed function of the rear wheel is: v2 = -50. Among them, the first speed model is:

[0099] Δv = v2 - v1 = -50 - (-6.4t + 50.44) = 6.4t - 100.44,

[0100] Among them, Δv is the speed ratio of the front wheel to the rear wheel, and t is the time.

[0101] In this optional embodiment, by using the first proximity switch, the second proximity switch, and the trigger iron sheet that rotates synchronously with the front wheel, precise control of the rotation angle of the front wheel can be achieved. This enables the wall-climbing robot to accurately adjust its posture to adapt to different terrain changes. Controlling the wall-climbing robot to move forward based on the first speed model and adjusting the movement direction and speed of the robot according to the distance measured by the first sensor ensures that the robot can move forward smoothly while maintaining an appropriate height.

[0102] Optionally, a third proximity switch is fixedly connected to the robot body, and the third proximity switch is located at the axis center of the rear wheel. When the front and rear wheels are both on the horizontal ground, the detection direction of the third proximity switch is parallel to the vertical direction and faces the ground. A trigger iron sheet is fixedly arranged at the center of each side of the rear wheel; after controlling the front and rear wheels to move forward based on the first speed model until the distance measured by the first sensor is equal to the first distance threshold, it further includes:

[0103] Control the front wheels to trigger braking, rotate the rear wheels as a whole to a third preset angle, and release the front wheel braking when receiving the signal returned by the third proximity switch sensing the triggering iron sheet;

[0104] Control the front wheels and the rear wheels to move forward along the moving direction of the wall-climbing robot.

[0105] Specifically, in combination with Figures 10 - 12 As shown, a third proximity switch D2 is installed near the position of the rotation axis of the rear wheels of the wall-climbing robot. At the same time, with the rear wheel axis as the center of the circle, 3 iron sheets for triggering the proximity switch are evenly distributed within a radius range of 110 mm. The proximity switch is fixedly installed relative to the robot body, and the iron sheets rotate synchronously with the rear wheel flipping. After the wall-climbing robot receives the PLC servo position control instruction, the front wheel braking is triggered and remains stationary, the rear wheels rotate clockwise by a third preset angle, such as 90°, the front wheel braking is released, and the front wheels and the rear wheels are controlled to move forward along the moving direction of the wall-climbing robot. The third proximity switch D2 is in a stationary state when not triggered and is triggered when the iron sheet is detected again.

[0106] In some more specific embodiments, when the wall-climbing robot is moving on a vertical wall surface, within the first N steps of moving forward along the moving direction of the wall-climbing robot, such as 5 steps, the front and rear wheels maintain the forward movement, and the rear wheels maintain the braking state. When reaching the Nth step, the rear wheel braking is cancelled, and the front and rear wheels continue to move forward along the moving direction until a stop signal is received.

[0107] In this alternative embodiment, the stability and safety of the robot are ensured by controlling the front and rear wheel braking. This mechanism helps prevent the robot from slipping or losing balance when performing complex actions.

[0108] Optionally, a fourth proximity switch is fixedly connected to the robot body. The fourth proximity switch is located at the edge of the front wheel away from the second proximity switch. When the front wheels and the rear wheels are both on the horizontal ground, the detection direction of the fourth proximity switch is offset counterclockwise from the vertical direction by a set angle and faces away from the rear wheels; when the wall-climbing robot is located at the inner right-angle wall surface, the wall-climbing robot is controlled by a second control strategy, including:

[0109] When the distance measured by the second sensor is less than or equal to the second distance threshold, it is determined that the wall-climbing robot is located at the inner right-angle wall surface;

[0110] Rotate the front wheels as a whole by a fourth preset angle, and control the rear wheels to move forward by a first preset distance until the fourth proximity switch detects a trigger signal;

[0111] Based on the second speed model, control the front wheels and the rear wheels to move forward until the distance measured by the first sensor is equal to the set value of the first sensor;

[0112] Among them, the second speed model is as follows:

[0113] Δv = -2.6212t 3 +41.082t 2 -211t + 343.13,

[0114] where Δv is the speed ratio of the front wheel to the rear wheel, and t is time.

[0115] Optionally, a third distance measuring sensor is fixedly connected to the robot body. The third distance measuring sensor is located on one side of the rear wheel and is used to detect the distance to the ground. After controlling the front wheel and the rear wheel to move forward based on the second speed model until the distance measured by the first sensor is equal to the set value of the first sensor, the following steps are further included:

[0116] Rotate the entire rear wheel by a fifth preset angle until the distance measured by the third sensor obtained by the third sensor is equal to the third distance threshold.

[0117] Specifically, as shown in Figures 13 - 15 , a second distance measuring sensor, namely the second sensor B, is installed at the front wheel of the wall-climbing robot. The laser irradiation direction of the second distance measuring sensor B is parallel to the running direction of the vehicle body and perpendicular to the wall surface. When it is detected that the laser distance from the wall surface reaches the ranging range of the second distance measuring sensor B. There is a fourth proximity switch E2 at the front wheel of the wall-climbing robot, and the sensing distance of the fourth proximity switch E2 is 6 mm. As shown in the figure. At this time, the front wheel flips by a fourth preset angle, such as 30°, and the rear wheel moves forward a first preset distance, such as 53 mm, and ends when the switch quantity of the fourth proximity switch E2 at the front wheel is triggered. Set the third distance threshold L0 of the third sensor C to 100 mm. In the second half of the forward movement of the robot's rear wheel, the distance measured by the third sensor is L1 = ∞, exceeding the threshold range. At this time, it is determined that the robot is moving forward normally. When the rear wheel of the robot touches the wall, the detected value of the third distance measuring sensor C is L1 = 100 mm, which is less than or equal to L0 = 100 mm. At this time, it is determined that the robot has advanced to the specified working position.

[0118] In some more specific embodiments, the third distance measuring sensor is used to detect the distance to the ground. When the wall-climbing robot is located on the second horizontal wall surface, the third distance measuring sensor is used to detect the distance from the sensor to the second horizontal wall surface; when the wall-climbing robot is located on the second vertical wall surface, the third distance measuring sensor is used to detect the distance from the sensor to the second vertical wall surface.

[0119] As shown in Figures 16 - 19As shown, the front wheels and rear wheels of the wall - climbing robot adopt a speed - control mode and move forward simultaneously, canceling the braking limit. The running trajectories of the front and rear wheels are as Figure 19 shown. The vertical axis is the walking distance, and the horizontal axis is the time. According to the discrete points, the distance curves and speed curves of the front and rear wheels are plotted. The trend of the distance measured by the third sensor during the whole process is first to become smaller and then gradually to become larger until the set value. When the rear wheel advances to the set value of the first sensor, it ends. The rear wheel of the wall - climbing robot flips by a fifth preset angle, such as 30°. When it is detected that the distance measured by the third sensor of the third distance - measuring sensor C is equal to the third distance threshold, the third distance threshold is, for example, 55 mm, and the flipping of the rear wheel ends. 458.45 mm is the distance from the starting point to the end point of the running trajectory of the rear - wheel central axis when the robot is at the transition inner fold angle, 426.15 mm is the distance from the starting point to the end point of the running trajectory of the front - wheel central axis when the robot is at the transition inner fold angle, and 50 is set for the rear wheel to advance at a speed of 50 mm per unit time to facilitate the calculation of the speed difference between the front and rear wheels.

[0120] Combined with Figure 14 shown, the detection direction of the fourth proximity switch E2 is offset counterclockwise from the vertical direction by a set angle. The set angle is used to make the detection direction of the fourth proximity switch E2 parallel to the vertical direction and facing the ground when the wall - climbing robot is on a vertical wall surface and the front wheel flips by 30°. The front wheel is fitted into a variable - speed motion (quartic - polynomial fitting). The displacement function of the front wheel after curve fitting is: s1 = 0.6553t 4 - 13.694t 3 + 105.5t 2 - 393.13t + 725.64, and the speed function (derived with respect to time): v1 = ds / dt = 2.6212t 3 - 41.082t 2 + 211t - 393.13. From the conditions, it can be known that the speed function of the rear wheel is: v2 = - 50. Then the speed relationship between the front and rear wheels can be expressed in vector form as Δv = v2 - v1 = - 50-(2.6212t 3 - 41.082t 2 + 211t - 393.13)= - 2.6212t 3 + 41.082t 2 - 211t + 343.13.

[0121] In some more specific embodiments, combined with Figure 3 、 Figure 4 、 Figure 13 shown, when it is detected that the first distance - measuring sensor A exceeds the measurement range, it stops moving forward, indicating that the robot has reached the designated working station. The first distance threshold L0 of the first distance - measuring sensor A is set in advance to be 285 mm. When the wall - climbing robot is at Figure 3When in a certain position, the first sensor measures a distance of L1 = 285 mm, and at this time, it is determined that the robot is moving forward normally. When the robot is in Figure 4 a certain position, the first sensor measures a distance of L1 = ∞, which is beyond the threshold range, and L1 is greater than L0. At this time, it is determined that the robot has advanced to the designated work station. A second laser distance measurement sensor B is installed at the front wheel of the wall-climbing robot. The laser irradiation direction of the second distance measurement sensor B is parallel to the running direction of the vehicle body and perpendicular to the wall surface. When it is detected that the laser distance from the wall reaches the distance measurement range of the second distance measurement sensor B, the robot stops moving forward. The second distance threshold of the second distance measurement sensor B is set to L0 = 100 mm. When the second sensor measures a distance of L1 = ∞, which is beyond the threshold range, at this time, it is determined that the robot is moving forward normally. When the second sensor measures a distance of L1 = 100 mm, which is equal to L0 = 100 mm, at this time, it is determined that the robot has advanced to the designated work station.

[0122] In this optional embodiment, the front and rear wheels of the wall-climbing robot adopt a speed control mode. The distance curve and speed curve of the front and rear wheels are drawn according to discrete points, and the speed ratio of the front wheel to the rear wheel approximately satisfies a polynomial. Thus, the speed relationship between the front and rear wheels can be dynamically adjusted according to the actual environment and task requirements. The wall-climbing robot can better adapt to different working scenarios, and is easy to implement and calculate, and can be executed more efficiently.

[0123] Optionally, the wall-climbing robot further includes a rocker mechanism, and the rocker mechanism is rotatably connected to the robot body; after rotating the whole rear wheel by a fifth preset angle until the third sensor measurement distance obtained by the third sensor is equal to the third distance threshold, it further includes:

[0124] When the front wheel and the rear wheel advance a second preset distance, control the rocker mechanism to rotate and reset. The initial position of the rocker mechanism is on the side where the rear wheel is far from the front wheel.

[0125] Specifically, the rocker mechanism can be connected to a construction device and other corresponding construction operations can be carried out. For example, a welding device or a cleaning device is installed at the rocker mechanism, and welding or cleaning operations can be realized through the movement of the wall-climbing robot.

[0126] Optionally, the robot body is provided with an inclination sensor; the controlling the rocker mechanism to rotate and reset includes:

[0127] Obtain angle change information through the inclination sensor;

[0128] Use the angle change information to control the rocker mechanism to rotate and reset.

[0129] Specifically, in combination with Figures 20 - 22As shown in the figure, an inclination sensor is installed on the body of the wall-climbing robot. The running direction of the robot is judged by the change of the angle, so as to control the rotation direction of the rocker. At the same time, a second distance measuring sensor B is installed at the front wheel of the wall-climbing robot. The laser irradiation direction of the second distance measuring sensor B is parallel to the running direction of the vehicle body and perpendicular to the wall surface. When it is detected that the laser distance from the wall reaches the ranging range of the second distance measuring sensor B, the robot stops moving forward, and the rocker rotates 90° clockwise or counterclockwise and then remains in the braking state. When the ranging distance of the third distance measuring sensor C is detected to be 55 mm, the rear wheel flipping ends. When the front wheel and the rear wheel of the wall-climbing robot advance a second preset distance, such as 340 mm, the rocker mechanism rotates 90° to reset.

[0130] In some more specific embodiments, in combination with Figure 23 、 Figure 24 As shown in the figure, the function of the first proximity switch D1 is to detect whether the front wheel flipping action reaches the specified position. There are only two position limiting factors for the first proximity switch D1 and the induction iron sheet, mainly the 50 mm induction distance and the 45° installation angle. The proximity switch can be an inductive proximity switch, which is suitable for the detection of metal objects. It consists of an oscillation circuit. When a metal object approaches the induction surface, it will change the characteristics of the oscillator, resulting in a change in the output state. This type of proximity switch is commonly used in fields such as metal processing and packaging machinery.

[0131] As Figure 25 As shown in the figure, a control device for a wall-climbing robot provided by an embodiment of the present invention is based on a wall-climbing robot. The wall-climbing robot includes a robot body, a front wheel and a rear wheel. The robot body is respectively connected to the front wheel and the rear wheel. The front wheel and the rear wheel are triangular crawler wheels. A first distance measuring sensor and a second distance measuring sensor are fixedly connected to the robot body. The first distance measuring sensor is located directly below the robot body. The second distance measuring sensor is located on one side of the front wheel. When the front wheel and the rear wheel are both on the horizontal ground, the laser irradiation direction of the first distance measuring sensor is parallel to the vertical direction and faces the ground. The laser irradiation direction of the second distance measuring sensor is parallel to the horizontal direction and faces away from the rear wheel; the control device of the wall-climbing robot includes:

[0132] A sensor distance measurement acquisition module, configured to respectively acquire a first sensor distance measurement and a second sensor distance measurement by using the first distance measuring sensor and the second distance measuring sensor;

[0133] A wall position judgment module, configured to judge the wall position where the wall-climbing robot is located according to the distance measured by the first sensor and the distance measured by the second sensor, wherein the wall position includes an outer right-angle wall surface and an inner right-angle wall surface, the outer right-angle wall surface includes a protruding right-angle structure composed of a first horizontal wall surface and a first vertical wall surface, and the inner right-angle wall includes a sunken right-angle structure composed of a second horizontal wall surface and a second vertical wall surface;

[0134] A first control strategy module, configured to control the wall-climbing robot by a first control strategy when the wall-climbing robot is located on the outer right-angle wall surface, so as to make the wall-climbing robot transition from the first horizontal wall surface to the first vertical wall surface or from the first vertical wall surface to the first horizontal wall surface;

[0135] A second control strategy module, configured to control the wall-climbing robot by a second control strategy when the wall-climbing robot is located on the inner right-angle wall surface, so as to make the wall-climbing robot transition from the second vertical wall surface to the second horizontal wall surface or from the second horizontal wall surface to the second vertical wall surface.

[0136] The control device of the wall-climbing robot in this embodiment is used to implement the control method of the wall-climbing robot as described above. Its advantages compared with the prior art are the same as those of the control method of the wall-climbing robot compared with the prior art, and will not be elaborated here.

[0137] As Figure 26 shown, an electronic device provided by an embodiment of the present invention includes a memory and a processor; the memory is used to store a computer program; the processor is used to implement the control method of the wall-climbing robot as described above when executing the computer program.

[0138] Or, an electronic device includes a memory and a processor coupled to the memory; the memory is configured to store a computer program; the processor is configured to perform the following operations when executing the computer program:

[0139] Respectively obtain the distance measured by the first sensor and the distance measured by the second sensor by using the first distance measurement sensor and the second distance measurement sensor;

[0140] Judge the wall position where the wall-climbing robot is located according to the distance measured by the first sensor and the distance measured by the second sensor, wherein the wall position includes an outer right-angle wall surface and an inner right-angle wall surface, the outer right-angle wall surface includes a protruding right-angle structure composed of a first horizontal wall surface and a first vertical wall surface, and the inner right-angle wall includes a sunken right-angle structure composed of a second horizontal wall surface and a second vertical wall surface;

[0141] When the wall-climbing robot is located on the outer right-angle wall surface, the wall-climbing robot is controlled by a first control strategy to make the wall-climbing robot transition from the first horizontal wall surface to the first vertical wall surface or from the first vertical wall surface to the first horizontal wall surface;

[0142] When the wall-climbing robot is located on the inner right-angle wall surface, the wall-climbing robot is controlled by a second control strategy to make the wall-climbing robot transition from the second vertical wall surface to the second horizontal wall surface or from the second horizontal wall surface to the second vertical wall surface.

[0143] A computer-readable storage medium provided by an embodiment of the present invention, on which a computer program is stored. When the computer program is executed by a processor, the control method of the wall-climbing robot as described above is implemented.

[0144] Or, a non-volatile computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor performs the following operations:

[0145] Use the first distance measurement sensor and the second distance measurement sensor to respectively obtain a first sensor measurement distance and a second sensor measurement distance;

[0146] Judge the wall surface position where the wall-climbing robot is located according to the first sensor measurement distance and the second sensor measurement distance. Among them, the wall surface position includes an outer right-angle wall surface and an inner right-angle wall surface. The outer right-angle wall surface includes a protruding right-angle structure composed of a first horizontal wall surface and a first vertical wall surface, and the inner right-angle wall includes a sunken right-angle structure composed of a second horizontal wall surface and a second vertical wall surface;

[0147] When the wall-climbing robot is located on the outer right-angle wall surface, the wall-climbing robot is controlled by a first control strategy to make the wall-climbing robot transition from the first horizontal wall surface to the first vertical wall surface or from the first vertical wall surface to the first horizontal wall surface;

[0148] When the wall-climbing robot is located on the inner right-angle wall surface, the wall-climbing robot is controlled by a second control strategy to make the wall-climbing robot transition from the second vertical wall surface to the second horizontal wall surface or from the second horizontal wall surface to the second vertical wall surface.

[0149] An electronic device that can be used as a server or a client of the present invention will now be described. It is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0150] The electronic device includes a computing unit that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0151] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc. In addition, in various embodiments of the present invention, each functional unit can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0152] Although the present invention is disclosed as above, the scope of protection of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the scope of protection of the present invention.

Claims

1. A control method for a wall-climbing robot, characterized in that, Based on a wall-climbing robot, the wall-climbing robot includes a robot body, a front wheel and a rear wheel. The robot body is respectively connected to the front wheel and the rear wheel. The front wheel and the rear wheel are triangular crawler wheels. A first distance sensor and a second distance sensor are fixedly connected to the robot body. The first distance sensor is located directly below the robot body, and the second distance sensor is located on one side of the front wheel. When the front wheel and the rear wheel are both on a horizontal ground, the laser irradiation direction of the first distance sensor is parallel to the vertical direction and faces the ground, and the laser irradiation direction of the second distance sensor is parallel to the horizontal direction and faces away from the rear wheel; The control method of the wall-climbing robot includes: Using the first distance sensor and the second distance sensor to respectively obtain a first sensor measurement distance and a second sensor measurement distance; Judging the wall surface position where the wall-climbing robot is located according to the first sensor measurement distance and the second sensor measurement distance. Among them, the wall surface position includes an outer right-angle wall surface and an inner right-angle wall surface. The outer right-angle wall surface includes a protruding right-angle structure composed of a first horizontal wall surface and a first vertical wall surface, and the inner right-angle wall includes a concave right-angle structure composed of a second horizontal wall surface and a second vertical wall surface; When the wall-climbing robot is located on the outer right-angle wall surface, controlling the wall-climbing robot through a first control strategy to make the wall-climbing robot transition from the first horizontal wall surface to the first vertical wall surface or from the first vertical wall surface to the first horizontal wall surface; When the wall-climbing robot is located on the inner right-angle wall surface, controlling the wall-climbing robot through a second control strategy to make the wall-climbing robot transition from the second vertical wall surface to the second horizontal wall surface or from the second horizontal wall surface to the second vertical wall surface.

2. The control method of the wall-climbing robot according to claim 1, characterized in that, A first proximity switch and a second proximity switch are fixedly connected to the robot body. The first proximity switch is located at the axis of the front wheel and the second proximity switch is located at the edge of the front wheel. When the front wheel and the rear wheel are both on a horizontal ground, the detection directions of the first proximity switch and the second proximity switch are both clockwise offset from the vertical direction by a first preset angle and point to the rear wheel. A trigger iron sheet is fixedly arranged at the center of each side of the front wheel; When the wall-climbing robot is located on the outer right-angle wall surface, controlling the wall-climbing robot through a first control strategy includes: When the first sensor measurement distance is greater than a first distance threshold, it is determined that the wall-climbing robot is located on the outer right-angle wall surface; Controlling the rear wheel to trigger braking, rotating the entire front wheel by the first preset angle, and when receiving the signal returned by the first proximity switch sensing the trigger iron sheet, controlling the front wheel to trigger braking and releasing the rear wheel braking; Controlling the rotation of the axis of the rear wheel to drive the robot body and the front wheel to rotate by a second preset angle until the second proximity switch detects a trigger signal, and releasing the front wheel braking; Based on the first speed model, control the front wheels and the rear wheels to move forward until the distance measured by the first sensor is equal to the first distance threshold; Wherein, the first speed model is: Δv = 6.4t - 100.44, Wherein, Δv is the speed ratio of the front wheels to the rear wheels, and t is the time.

3. The control method of the wall-climbing robot according to claim 2, wherein A third proximity switch is fixedly connected to the robot body, and the third proximity switch is located at the axis center of the rear wheels. When both the front wheels and the rear wheels are on a horizontal ground, the detection direction of the third proximity switch is parallel to the vertical direction and faces the ground. Trigger iron sheets are fixedly arranged at the center of each side of the rear wheels; After controlling the front wheels and the rear wheels to move forward based on the first speed model until the distance measured by the first sensor is equal to the first distance threshold, it further includes: Control the front wheels to trigger braking, rotate the whole rear wheels to a third preset angle, and release the braking of the front wheels when receiving the signal returned by the third proximity switch sensing the trigger iron sheet; Control the front wheels and the rear wheels to move forward along the moving direction of the wall-climbing robot.

4. The control method of the wall-climbing robot according to claim 2, wherein A fourth proximity switch is fixedly connected to the robot body, and the fourth proximity switch is located at the edge of the front wheels away from the second proximity switch. When both the front wheels and the rear wheels are on a horizontal ground, the detection direction of the fourth proximity switch is offset counterclockwise by a set angle relative to the vertical direction and faces away from the rear wheels; When the wall-climbing robot is on the inner right-angle wall surface, controlling the wall-climbing robot through a second control strategy includes: When the distance measured by the second sensor is less than or equal to the second distance threshold, determine that the wall-climbing robot is on the inner right-angle wall surface; Rotate the whole front wheels by a fourth preset angle, and control the rear wheels to move forward a first preset distance until the fourth proximity switch detects a trigger signal; Based on the second speed model, control the front wheels and the rear wheels to move forward until the distance measured by the first sensor is equal to the first sensor set value; Wherein, the second speed model is: Δv = -2.6212t 3 + 41.082t 2 - 211t + 343.13, Wherein, Δv is the speed ratio of the front wheels to the rear wheels, and t is the time.

5. The control method of the wall-climbing robot according to claim 4, characterized in that A third distance measuring sensor is fixedly connected to the robot body, and the third distance measuring sensor is located on one side of the rear wheels. The third distance measuring sensor is used to detect the distance to the ground; After controlling the front wheels and the rear wheels to move forward based on the second speed model until the distance measured by the first sensor is equal to the first sensor set value, it further includes: Rotate the whole rear wheels by a fifth preset angle until the distance measured by the third sensor obtained by the third sensor is equal to the third distance threshold.

6. The control method of the wall-climbing robot according to claim 5, wherein, The wall-climbing robot further includes a rocker mechanism, and the rocker mechanism is rotatably connected to the robot body; After rotating the whole rear wheels by a fifth preset angle until the distance measured by the third sensor obtained by the third sensor is equal to the third distance threshold, it further includes: When the front wheels and the rear wheels move forward a second preset distance, control the rocker mechanism to rotate and reset. The initial position of the rocker mechanism is on the side of the rear wheels away from the front wheels.

7. The control method of the wall-climbing robot according to claim 6, characterized in that, The robot body is provided with an inclination sensor; controlling the rocker mechanism to rotate and reset includes: Obtaining angle change information through the inclination sensor; Controlling the rocker mechanism to rotate and reset by using the angle change information.

8. A control device for a wall-climbing robot, characterized in that, Based on a wall-climbing robot, the wall-climbing robot includes a robot body, a front wheel, and a rear wheel. The robot body is respectively connected to the front wheel and the rear wheel. The front wheel and the rear wheel are triangular crawler wheels. A first distance measuring sensor and a second distance measuring sensor are fixedly connected to the robot body. The first distance measuring sensor is located directly below the robot body, and the second distance measuring sensor is located on one side of the front wheel. When the front wheel and the rear wheel are both on a horizontal ground, the laser irradiation direction of the first distance measuring sensor is parallel to the vertical direction and faces the ground, and the laser irradiation direction of the second distance measuring sensor is parallel to the horizontal direction and faces away from the rear wheel; the control method of the wall-climbing robot includes: A sensor measurement distance acquisition module, configured to respectively obtain a first sensor measurement distance and a second sensor measurement distance by using the first distance measuring sensor and the second distance measuring sensor; A wall surface position judgment module, configured to judge the wall surface position where the wall-climbing robot is located according to the first sensor measurement distance and the second sensor measurement distance. Among them, the wall surface position includes an outer right-angle wall surface and an inner right-angle wall surface. The outer right-angle wall surface includes a protruding right-angle structure composed of a first horizontal wall surface and a first vertical wall surface. The inner right-angle wall includes a concave right-angle structure composed of a second horizontal wall surface and a second vertical wall surface; A first control strategy module, configured to, when the wall-climbing robot is located on the outer right-angle wall surface, control the wall-climbing robot through a first control strategy to make the wall-climbing robot transition from the first horizontal wall surface to the first vertical wall surface or from the first vertical wall surface to the first horizontal wall surface; A second control strategy module, configured to, when the wall-climbing robot is located on the inner right-angle wall surface, control the wall-climbing robot through a second control strategy to make the wall-climbing robot transition from the second vertical wall surface to the second horizontal wall surface or from the second horizontal wall surface to the second vertical wall surface.

9. An electronic device, characterized in that, Including a memory and a processor; The memory is used to store a computer program; The processor is configured to, when executing the computer program, implement the control method of the wall-climbing robot according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the storage medium. When the computer program is executed by the processor, the control method of the wall-climbing robot according to any one of claims 1 to 7 is implemented.

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