Wall-climbing robot and control method thereof

Abstract

The invention relates to a wall-climbing robot and a control method thereof. The wall-climbing robot comprises a vehicle body; the first wheel is arranged on the first side of the vehicle body; the second wheel is arranged on the second side of the vehicle body, the second side deviates from the first side, the first wheel and the second wheel rotate independently, and the first wheel and the second wheel rotate to drive the vehicle body to move; the controller is configured to determine a first target vehicle body angular velocity and a first target vehicle body linear velocity of the vehicle body when the vehicle body steers; determining a first target linear speed of the vehicle body at the first wheel and a second target linear speed of the vehicle body at the second wheel according to the first target vehicle body linear speed and the first target vehicle body angular speed; and when it is judged that the first target linear speed or the second target linear speed is within the preset range, the second target vehicle body angular speed and the second target vehicle body linear speed of the vehicle body are determined so as to control the rotating speed of the first wheel and the rotating speed of the second wheel, the first wheel and the second wheel can normally steer, and therefore the wall-climbing robot can be conveniently controlled to steer and run.

Description

Technical Field

[0001] The present application relates to the technical field of wall-climbing robots, and in particular to a wall-climbing robot and a control method thereof. Background Art

[0002] Ground-based mobile robots rely on the ground for support, with gravity providing the positive pressure that generates friction. Wall-climbing robots, on the other hand, require additional positive pressure against the wall when moving on it, typically through vacuum or magnetic adsorption.

[0003] When the first wheel of the wall-climbing robot becomes the instantaneous rotation center, it is equivalent to that the body of the wall-climbing robot needs to rotate around the first wheel. At this time, the magnetic attraction force of the wall-climbing robot at the first wheel is relatively large, making it impossible for the body to overcome the magnetic attraction and move, and thus the movement of the wall-climbing robot cannot be effectively controlled. Summary of the Invention

[0004] In order to overcome the above-mentioned shortcomings of the prior art, the present application aims to provide a wall-climbing robot and a control method thereof.

[0005] According to the present application, a wall-climbing robot is provided, comprising:

[0006] body;

[0007] a first wheel, disposed on a first side of the vehicle body;

[0008] a second wheel, disposed on a second side of the vehicle body, the second side being away from the first side, the first wheel and the second wheel rotating independently, and the first wheel and the second wheel rotating to drive the vehicle body to move;

[0009] The controller is configured to: determine a first target vehicle body angular velocity and a first target vehicle body linear velocity of the vehicle body when the vehicle body turns; determine a first target linear velocity of the vehicle body at the first wheel and a second target linear velocity of the vehicle body at the second wheel based on the first target vehicle body linear velocity and the first target vehicle body angular velocity; and determine the second target vehicle body angular velocity and the second target vehicle body linear velocity of the vehicle body when it is determined that the first target linear velocity or the second target linear velocity is within a preset range, so as to control the rotation speed of the first wheel and the second wheel.

[0010] In some embodiments of the present application, further comprising:

[0011] A magnetic attraction device provides a magnetic attraction force for the vehicle body to be adsorbed on a wall, wherein the magnetic attraction force is negatively correlated with the rotation speed of the first wheel and the second wheel.

[0012] According to the application, a control method of the wall-climbing robot is also provided, which is applied to the wall-climbing robot as described above, and the control method comprises the following steps.

[0013] determining a first target vehicle body angular velocity and a first target vehicle body linear velocity of the vehicle body;

[0014] determining a first target linear velocity at the first wheel and a second target linear velocity at the second wheel of the vehicle body according to the first target vehicle body linear velocity and the first target vehicle body angular velocity;

[0015] when the first target linear velocity or the second target linear velocity is within a preset range, determining a second target vehicle body angular velocity and a second target vehicle body linear velocity of the vehicle body to control the rotation speed of the first wheel and the second wheel.

[0016] In some embodiments of the application, the determination of the first target linear velocity at the first wheel and the second target linear velocity at the second wheel of the vehicle body according to the first target vehicle body linear velocity and the first target vehicle body angular velocity comprises:

[0017] when the vehicle body needs to turn to the first side, the first target linear velocity is determined according to the formula V L1 = V1-W1*L / 2, and the second target linear velocity is determined according to the formula V R1 = V1+W1*L / 2;

[0018] wherein V L1 is the first target linear velocity, V R1 is the second target linear velocity, V1 is the first target vehicle body linear velocity, W1 is the first target vehicle body angular velocity, and L is the wheel spacing between the first wheel and the second wheel.

[0019] In some embodiments of the application, the determination of the first target linear velocity at the first wheel and the second target linear velocity at the second wheel of the vehicle body according to the first target vehicle body linear velocity and the first target vehicle body angular velocity further comprises:

[0020] when the vehicle body needs to turn to the second side, the first target linear velocity is determined according to the formula V L1 = V1+W1*L / 2, and the second target linear velocity is determined according to the formula V R1 = V1-W1*L / 2;

[0021] wherein V L1 is the first target linear velocity, V R1is the second target linear velocity, V1 is the first target vehicle body linear velocity, W1 is the first target vehicle body angular velocity, and L is the wheel spacing between the first wheel and the second wheel.

[0022] In some embodiments of the present application, determining the second target vehicle body angular velocity and the second target vehicle body linear velocity to control the rotational speeds of the first wheel and the second wheel includes:

[0023] When the vehicle body needs to turn toward the first side, according to formula V L2 =v-ω*L / 2, to determine the third target linear velocity of the vehicle body at the first wheel; according to the formula V R2 =v+ω*L / 2, to determine a fourth target linear velocity of the vehicle body at the second wheel;

[0024] controlling the rotational speeds of the first wheel and the second wheel so that the linear speed of the vehicle body at the first wheel is the third target linear speed, and the linear speed of the vehicle body at the second wheel is the fourth target linear speed;

[0025] Among them, V L2 is the third target linear velocity, V R2 is the fourth target linear velocity, v is the second target vehicle body linear velocity, ω is the second target vehicle body angular velocity, and L is the wheel spacing between the first wheel and the second wheel.

[0026] In some embodiments of the present application, determining the second target angular velocity and the second target linear velocity of the vehicle body to control the rotational speeds of the first wheel and the second wheel further includes:

[0027] When the vehicle body needs to turn toward the first side, the controller controls the first wheel and the second wheel to rotate in opposite directions, or controls the first wheel and the second wheel to rotate in the same direction, and the fourth target linear speed is greater than the third target linear speed.

[0028] In some embodiments of the present application, determining the second target angular velocity and the second target linear velocity of the vehicle body to control the rotational speeds of the first wheel and the second wheel further includes:

[0029] When the vehicle body needs to turn toward the second side, according to formula V L2 =v+ω*L / 2, to determine the third target linear velocity of the vehicle body at the first wheel; according to the formula V R2 =v-ω*L / 2, to determine a fourth target linear velocity of the vehicle body at the second wheel;

[0030] Among them, V L2V is the third target linear velocity, v is the second target vehicle body linear velocity, ω is the second target vehicle body angular velocity, and L is the wheel spacing between the first wheel and the second wheel. R2 V is the fourth target linear velocity, v is the second target vehicle body linear velocity, ω is the second target vehicle body angular velocity, and L is the wheel spacing between the first wheel and the second wheel.

[0031] In some embodiments of the present application, the determining the second target vehicle body angular velocity and the second target vehicle body linear velocity of the vehicle body to control the rotation speed of the first wheel and the second wheel further comprises:

[0032] When the vehicle body needs to turn to the second side, the controller controls the rotation directions of the first wheel and the second wheel to be opposite, or controls the rotation directions of the first wheel and the second wheel to be the same, and the fourth target linear velocity is less than the third target linear velocity.

[0033] In some embodiments of the present application, before the determining the second target vehicle body angular velocity and the second target vehicle body linear velocity of the vehicle body, the control method further comprises:

[0034] controlling the rotation directions of the first wheel and the second wheel to be opposite, controlling the linear velocity of the vehicle body at the first wheel to be a fifth target linear velocity, and the linear velocity of the vehicle body at the second wheel to be a sixth target linear velocity, the fifth target linear velocity and the sixth target linear velocity are both greater than the upper limit value of the preset range.

[0035] The present application has the advantages that: in the present application, when the first target linear velocity is within the preset range, the first wheel is located at the instantaneous rotation center, at this time, the magnetic attraction force at the first wheel of the wall-climbing robot is larger, so that the vehicle body cannot move to overcome the magnetic attraction force, and the vehicle body cannot turn to travel. By determining the second target vehicle body angular velocity and the second target vehicle body linear velocity, the first wheel is separated from the instantaneous rotation center, the magnetic attraction forces at the first wheel and the second wheel are smaller, so that the first wheel and the second wheel can normally turn, thereby facilitating the control of the turning travel of the wall-climbing robot.

[0036] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or can be learned by practice of the present application, and the purposes and other advantages of the present application can be achieved and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0037] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments that conform to the present disclosure and, together with the description, further serve to explain the principles of the present disclosure. In the drawings, like reference numerals are used to identify like elements in the figures. The accompanying drawings in which like numerals represent like elements are intended as illustrative only and in no way limit the scope of the application. Other embodiments of the application, clearly, can be drawn from the figures, without paying creative effort.

[0038] Fig. 1 is a flow chart of a control method of a wall-climbing robot according to an exemplary embodiment;

[0039] Fig. 2 is a flow chart of a method of determining a second target body angular velocity and a second target body linear velocity of a vehicle body according to an exemplary embodiment;

[0040] Fig. 3 is a schematic diagram of a current coordinate system and a target coordinate system according to an exemplary embodiment. DETAILED DESCRIPTION

[0041] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application. It should be noted that the embodiments in the present application and the feature vectors in the embodiments can be combined with each other in any manner without conflict.

[0042] When the wall-climbing robot moves on the wall, an additional normal force relative to the wall needs to be provided, which is generally provided by vacuum adsorption or magnetic adsorption.

[0043] When the first wheel of the wall-climbing robot becomes the instantaneous rotation center, it is equivalent to that the vehicle body of the wall-climbing robot needs to rotate around the first wheel. At this time, the magnetic adsorption force of the wall-climbing robot at the first wheel is large, so that the vehicle body cannot overcome the magnetic adsorption force to move, thereby the movement of the wall-climbing robot cannot be effectively controlled.

[0044] To solve the above technical problems, the application provides a wall-climbing robot and a control method thereof. The wall-climbing robot comprises a vehicle body, a first wheel, a second wheel and a controller. The first wheel is arranged on a first side of the vehicle body. The second wheel is arranged on a second side of the vehicle body, the second side being opposite to the first side. The first wheel and the second wheel are independently rotatable. The first wheel and the second wheel rotate to drive the vehicle body to move. The controller is configured to: when the vehicle body is turning, determine a first target vehicle body angular velocity and a first target vehicle body linear velocity of the vehicle body; determine a first target linear velocity of the vehicle body at the first wheel and a second target linear velocity of the vehicle body at the second wheel according to the first target vehicle body linear velocity and the first target vehicle body angular velocity; and when the first target linear velocity or the second target linear velocity is within a preset range, determine a second target vehicle body angular velocity and a second target vehicle body linear velocity of the vehicle body to control the rotation speed of the first wheel and the second wheel. The second target vehicle body angular velocity and the second target vehicle body linear velocity of the vehicle body are determined to control the rotation speed of the first wheel and the second wheel, so that the first wheel and the second wheel can rotate, the first wheel or the second wheel is separated from the instantaneous rotation center, and the vehicle body can realize normal turning.

[0045] An example embodiment of the application provides a wall-climbing robot, which comprises a vehicle body, a first wheel, a second wheel and a controller. Figs. 1-3 The vehicle body forms the appearance structure of the wall-climbing robot. The first wheel is arranged on a first side of the vehicle body, and the second wheel is arranged on a second side of the vehicle body, the second side being opposite to the first side. The first wheel and the second wheel are independently rotatable. The first wheel and the second wheel rotate to drive the vehicle body to move. For example, the first wheel is arranged on the left side of the vehicle body, and the second wheel is arranged on the right side of the vehicle body. The first wheel and the second wheel are symmetrically arranged relative to the central axis of the vehicle body.

[0046] The controller is configured to: when the vehicle body is turning, determine a first target vehicle body angular velocity and a first target vehicle body linear velocity of the vehicle body; and determine a first target linear velocity of the vehicle body at the first wheel and a second target linear velocity of the vehicle body at the second wheel according to the first target vehicle body linear velocity and the first target vehicle body angular velocity.

[0047] The first target vehicle body angular velocity of the vehicle body is the angular velocity at the midpoint of the vehicle body, and the first target vehicle body linear velocity is the linear velocity at the midpoint of the vehicle body.

[0048] When the first target linear velocity or the second target linear velocity is within a preset range, the second target vehicle body angular velocity and the second target vehicle body linear velocity of the vehicle body are determined to control the rotation speed of the first wheel and the second wheel.

[0049] For example, the preset range can be greater than -0.012 m / s and less than 0.012 m / s. The positive and negative values of the linear velocity represent the direction of the linear velocity.

[0050] For example, the preset range can be greater than -0.012 m / s and less than 0.012 m / s. The positive and negative values of the linear velocity represent the direction of the linear velocity.

[0051] In the embodiment, when the first target linear velocity is within the preset range, the first wheel is at the instantaneous rotation center, at this time, the magnetic attraction of the wall-climbing robot at the first wheel is larger, so that the vehicle body cannot overcome the magnetic attraction to move, and the vehicle body cannot turn to drive. By determining the second target vehicle body angular velocity and the second target vehicle body linear velocity, the first wheel is separated from the instantaneous rotation center, and the magnetic attraction at the first wheel and the second wheel is smaller, so that the first wheel and the second wheel can normally turn, thereby facilitating the control of the wall-climbing robot to turn to drive.

[0052] When the second target linear velocity is within the preset range, at this time, the second wheel is at the instantaneous rotation center, at this time, the magnetic attraction of the wall-climbing robot at the second wheel is larger, so that the vehicle body cannot overcome the magnetic attraction to move, and the vehicle body cannot turn to drive. By determining the second target vehicle body angular velocity and the second target vehicle body linear velocity, the second wheel is separated from the instantaneous rotation center, and the first wheel and the second wheel can normally turn, thereby facilitating the control of the wall-climbing robot to turn to drive.

[0053] In some embodiments, the wall-climbing robot further comprises a magnetic attraction device, which provides a magnetic attraction force for the vehicle body to be adsorbed to the wall surface, and the magnetic attraction force is in a negative correlation with the rotation speed of the first wheel and the second wheel.

[0054] For example, the faster the rotation speed of the first wheel is, the smaller the magnetic attraction of the vehicle body at the first wheel is, thereby reducing the positive pressure of the magnetic attraction on the vehicle body, and further reducing the moving resistance of the vehicle body. The slower the rotation speed of the first wheel is, the larger the magnetic attraction of the vehicle body at the first wheel is, and when the linear velocity of the vehicle body at the first wheel is reduced to within the preset range, the vehicle body cannot overcome the magnetic attraction to move. By determining the second target vehicle body angular velocity and the second target vehicle body linear velocity, the first wheel is separated from the instantaneous rotation center, and the first wheel and the second wheel can normally turn, thereby facilitating the control of the wall-climbing robot to turn to drive.

[0055] An example embodiment of the present application provides a control method of a wall-climbing robot, which is applied to the wall-climbing robot as described above, and the control method comprises the following steps. Figs. 1-3 The control method comprises the following steps.

[0056] S100, determining a first target vehicle body angular velocity and a first target vehicle body linear velocity of the vehicle body.

[0057] In this step, when the vehicle body needs to turn, the first target vehicle body angular velocity and the first target vehicle body linear velocity are determined by the controller, so that the first target vehicle body angular velocity and the first target vehicle body linear velocity are known parameters.

[0058] S200, determining a first target linear velocity at the first wheel and a second target linear velocity at the second wheel of the vehicle body according to the first target vehicle body linear velocity and the first target vehicle body angular velocity.

[0059] In this step, the first target vehicle body angular velocity and the first target vehicle body linear velocity of the vehicle body are known, the first target linear velocity of the vehicle body at the first wheel and the second target linear velocity of the vehicle body at the second wheel are determined through inverse solution operation, the rotation speed of the first wheel is controlled through the first target linear velocity, and the rotation speed of the second wheel is controlled through the second target linear velocity.

[0060] S300, when the first target linear velocity or the second target linear velocity is in the preset range, determining the second target vehicle body angular velocity and the second target vehicle body linear velocity of the vehicle body to control the rotation speeds of the first wheel and the second wheel.

[0061] In this step, when the first target linear velocity or the second target linear velocity is in the preset range, the magnetic attraction of the wall-climbing robot at the first wheel or the second wheel as the instantaneous rotation center is large, so that the vehicle body cannot move against the magnetic attraction and cannot travel by turning. By determining the second target vehicle body angular velocity and the second target vehicle body linear velocity, the linear velocity of the vehicle body at the first wheel and the linear velocity of the vehicle body at the second wheel are obtained through inverse solution method, the obtained linear velocity at the first wheel and the linear velocity at the second wheel are not in the preset range, the first wheel or the second wheel can be separated from the instantaneous rotation center, so that the first wheel and the second wheel can normally turn, thereby facilitating the control of the turning travel of the wall-climbing robot.

[0062] In some embodiments, in step S200, specifically comprising: when the vehicle body needs to turn to the first side, determining the first target linear velocity according to the formula V L1 = V1-W1*L / 2; and determining the second target linear velocity according to the formula V R1 = V1+W1*L / 2.

[0063] Wherein, V L1 is the first target linear velocity, V R1 is the second target linear velocity, V1 is the first target vehicle body linear velocity, W1 is the first target vehicle body angular velocity, and L is the wheel spacing between the first wheel and the second wheel.

[0064] The wheel spacing between the first wheel and the second wheel is a known parameter, and the first target vehicle body linear velocity and the first target vehicle body angular velocity are also known parameters. The above values are substituted into the formula V L1 = V1-W1*L / 2 and the formula V R1 = V1+W1*L / 2, thereby determining the first target linear velocity and the second target linear velocity, and facilitating the judgment of whether the first target linear velocity and the second target linear velocity are in the preset range.

[0065] In some embodiments, in step S200, further comprising: when the vehicle body needs to turn to the second side, determining the first target linear velocity according to the formula V L1= V1 + W1*L / 2, to determine the first target linear velocity; according to the formula V R1 = V1 - W1*L / 2, to determine the second target linear velocity.

[0066] wherein V L1 is the first target linear velocity, V R1 is the second target linear velocity, V1 is the first target vehicle body linear velocity, W1 is the first target vehicle body angular velocity, and L is the wheel spacing of the first wheel and the second wheel.

[0067] The wheel spacing of the first wheel and the second wheel is a known parameter, and the first target vehicle body linear velocity and the first target vehicle body angular velocity are also known parameters. The above values are substituted into the formula V L1 = V1 + W1*L / 2 and the formula V R1 = V1 - W1*L / 2, to determine the first target linear velocity and the second target linear velocity, and then to determine whether the first target linear velocity and the second target linear velocity are within the preset range.

[0068] In some embodiments, in step S300, specifically comprising: when the vehicle body needs to turn to the first side, according to the formula V L2 = v - ω*L / 2, to determine the third target linear velocity of the vehicle body at the first wheel; and according to the formula V R2 = v + ω*L / 2, to determine the fourth target linear velocity of the vehicle body at the second wheel.

[0069] The rotation speeds of the first wheel and the second wheel are controlled so that the linear velocity of the vehicle body at the first wheel is the third target linear velocity, and the linear velocity of the vehicle body at the second wheel is the fourth target linear velocity.

[0070] wherein V L2 is the third target linear velocity, V R2 is the fourth target linear velocity, v is the second target vehicle body linear velocity, ω is the second target vehicle body angular velocity, and L is the wheel spacing of the first wheel and the second wheel.

[0071] The wheel spacing of the first wheel and the second wheel is a known parameter, and the second target vehicle body linear velocity and the second target vehicle body angular velocity can be calculated according to the controller. The wheel spacing of the first wheel and the second wheel and the second target vehicle body linear velocity and the second target vehicle body angular velocity are substituted into the formula V L2 = v - ω*L / 2 and the formula V R2 = v + ω*L / 2, to determine the third target linear velocity and the fourth target linear velocity. The third target linear velocity and the fourth target linear velocity are both not within the preset range. The rotation speeds of the first wheel and the second wheel are controlled so that the linear velocity of the vehicle body at the first wheel is the third target linear velocity, and the linear velocity of the vehicle body at the second wheel is the fourth target linear velocity, so that the vehicle body can turn to the first side.

[0072] In some embodiments, the step S300 further comprises: when the vehicle body needs to turn to the first side, the controller controls the rotation directions of the first wheel and the second wheel to be opposite.

[0073] In this step, when the vehicle body needs to turn to the first side, if the first wheel becomes the instantaneous rotation center of the vehicle body at this time, by controlling the rotation directions of the first wheel and the second wheel to be opposite, the first wheel is separated from the instantaneous rotation center, and then the magnetic attraction force at the first wheel becomes smaller, the first wheel and the second wheel rotate against the resistance of the magnetic attraction force, and the vehicle body realizes the action of turning a small bend.

[0074] Exemplarily, when the rotation directions of the first wheel and the second wheel are opposite, the linear velocities of the vehicle body at the first wheel and the vehicle body at the second wheel are the same in size and opposite in direction, so that the instantaneous rotation center is located on the center axis of the vehicle body. At this time, the linear velocity of the whole vehicle body is equivalent to 0 m / s, the in-place turning of the vehicle body can be realized, and the turning in a smaller activity area is facilitated.

[0075] In some embodiments, the step S300 further comprises: when the vehicle body needs to turn to the first side, the controller controls the rotation directions of the first wheel and the second wheel to be opposite.

[0076] In this step, when the vehicle body needs to turn to the first side, if the first wheel becomes the instantaneous rotation center of the vehicle body at this time, by controlling the rotation directions of the first wheel and the second wheel to be opposite, the first wheel is separated from the instantaneous rotation center, and then the magnetic attraction force at the first wheel becomes smaller, the first wheel and the second wheel rotate against the resistance of the magnetic attraction force, and the vehicle body realizes the action of turning a small bend.

[0077] In some embodiments, the step S300 further comprises: when the vehicle body needs to turn to the second side, according to the formula V L2 = v + ω * L / 2, the third target linear velocity of the vehicle body at the first wheel is determined. According to the formula V R2 = v - ω * L / 2, the fourth target linear velocity of the vehicle body at the second wheel is determined.

[0078] Wherein, V L2 is the third target linear velocity, V R2 is the fourth target linear velocity, v is the second target vehicle linear velocity, ω is the second target vehicle angular velocity, and L is the wheel spacing of the first wheel and the second wheel.

[0079] The wheel spacing of the first wheel and the second wheel is a known parameter, and the second target vehicle linear velocity and the second target vehicle angular velocity can be calculated by the controller. The wheel spacing of the first wheel and the second wheel and the second target vehicle linear velocity and the second target vehicle angular velocity are substituted into the formula V L2 = v + ω * L / 2 and the formula VR2 = v - ω * L / 2, so as to determine the third target linear velocity and the fourth target linear velocity. The third target linear velocity and the fourth target linear velocity are both not in the preset range. The rotation speeds of the first wheel and the second wheel are controlled so that the linear velocity of the vehicle body at the first wheel is the third target linear velocity and the linear velocity of the vehicle body at the second wheel is the fourth target linear velocity, so that the vehicle body can be steered to the second side.

[0080] In some embodiments, in step S300, when the vehicle body needs to be steered to the second side, the controller controls the rotation directions of the first wheel and the second wheel to be opposite.

[0081] In this step, when the vehicle body needs to be steered to the second side, if the second wheel is the instantaneous rotation center of the vehicle body at this time, by controlling the rotation directions of the first wheel and the second wheel to be opposite, the second wheel is separated from the instantaneous rotation center, and then the magnetic attraction force at the second wheel becomes smaller, the first wheel and the second wheel rotate against the resistance of the magnetic attraction force, so that the vehicle body realizes the action of steering to the second side and turning a small bend.

[0082] For example, when the rotation directions of the first wheel and the second wheel are opposite, the linear velocities of the vehicle body at the first wheel and the vehicle body at the second wheel are the same in size and opposite in direction, so that the instantaneous rotation center is located on the center axis of the vehicle body. At this time, the linear velocity of the vehicle body as a whole is equivalent to 0 m / s, and the in-place steering of the vehicle body can be realized, which is convenient for realizing steering in a smaller activity area.

[0083] In some embodiments, in step S300, when the vehicle body needs to be steered to the second side, the controller controls the rotation directions of the first wheel and the second wheel to be the same, and the fourth target linear velocity is smaller than the third target linear velocity.

[0084] In this step, when the vehicle body needs to be steered to the second side, if the second wheel is the instantaneous rotation center of the vehicle body at this time, by controlling the rotation directions of the first wheel and the second wheel to be the same and the fourth target linear velocity to be smaller than the third target linear velocity, the second wheel is separated from the instantaneous rotation center, and then the magnetic attraction force at the second wheel becomes smaller, the first wheel and the second wheel rotate against the resistance of the magnetic attraction force, and the vehicle body realizes the action of turning a large bend.

[0085] In some embodiments, the third target linear velocity and the fourth target linear velocity are both greater than the upper limit value of the preset range, so that the vehicle body can move against the resistance of the magnetic attraction force, which is convenient for controlling the steering of the vehicle body.

[0086] In some embodiments, before determining the second target vehicle body angular velocity and the second target vehicle body linear velocity of the vehicle body, the control method further comprises:

[0087] The first wheel and the second wheel are controlled to rotate in opposite directions, the linear speed of the vehicle body at the first wheel is controlled to be the fifth target linear speed, and the linear speed of the vehicle body at the second wheel is controlled to be the sixth target linear speed. The fifth target linear speed and the sixth target linear speed are both greater than the upper limit value of the preset range.

[0088] In this embodiment, when the first wheel or the second wheel becomes the instantaneous rotation center when the vehicle body turns, the rotation directions of the first wheel and the second wheel are controlled to be opposite, and the fifth target linear velocity of the vehicle body at the first wheel and the sixth target linear velocity of the vehicle body at the second wheel are both greater than the upper limit value of the preset range. Exemplarily, in this control process, the rotation process of the first wheel and the second wheel can be controlled in 5 milliseconds to 15 milliseconds, so that the vehicle body can overcome the resistance of the magnetic attraction and move, and the first wheel or the second wheel is separated from the instantaneous rotation center. There is no need for the vehicle body to wait in place for the controller to issue a new instruction, and there is no need for the controller to monitor whether the vehicle body has moved in the previous process, which reduces the computing load of the controller, simplifies the control process of the vehicle body steering, and makes it easier to control the steering of the vehicle body.

[0089] In some embodiments, a method for determining a second target body angular velocity and a second target body linear velocity of a wall-climbing robot includes:

[0090] S010: According to the current coordinate system and target coordinate system of the wall-climbing robot, the affine transformation matrix of the wall-climbing robot from the current coordinate system to the target coordinate system is obtained.

[0091] S020: According to the current posture and target posture of the wall-climbing robot, obtain the affine transformation matrix The kinematic equations and geometric relationships between the current pose and the target pose;

[0092] S030: Establish a control law equation according to the kinematic equation and the geometric relationship, and determine a second target vehicle body angular velocity and a second target vehicle body linear velocity according to the control law equation.

[0093] Next, combine Fig. 2 , a method for determining a second target vehicle body angular velocity and a second target vehicle body linear velocity disclosed in this embodiment is described in detail.

[0094] The wall-climbing robot moves from its current position to the target position, and the current coordinate system {R} = O is established based on the current position of the wall-climbing robot. R X R Y R , establish the target coordinate system {T}=O based on the target pose T X T Y T ,like Fig. 3 shown.

[0095] In S010, according to the current coordinate system of the wall-climbing robot and the target coordinate system, an affine transformation matrix of the wall-climbing robot from the current coordinate system to the target coordinate system is obtained Specifically, the method comprises the following steps:

[0096] In S011, the pose of the current coordinate system {R} in the map coordinate system {W} is obtained W R, an affine transformation matrix from {W} to {R} is obtained

[0097] In S012, the pose of the target coordinate system {T} in the map coordinate system {W} is given W T, an affine transformation matrix from {W} to {T} is obtained

[0098] In S013, the pose of the current coordinate system {R} in the map coordinate system {W} is obtained The affine transformation matrix from the current coordinate system {R} to the target coordinate system {T} is solved

[0099] Firstly, the attitude angle and the azimuth angle α of the current pose {R} of the wall-climbing robot relative to the target pose {T} need to be solved .

[0100] Specifically, a two-dimensional Euclidean transformation matrix from the current pose {R} to the target pose {T} needs to be solved Where SO(2) = {R ∈ R 2×2 |R -1 = R T , detR = 1}.

[0101] The specific solving method is that, taking the map as the world coordinate system {W}, according to the pose of the wall-climbing robot coordinate system {R} in the map coordinate system {W} W R, an affine transformation matrix from {W} to {R} is obtained For the pose of the target coordinate system {T} in the map coordinate system {W} W T, an affine transformation matrix from {W} to {T} is obtained According to the cascading relationship The Euclidean transformation matrix from the wall-climbing robot {R} to the target {T} can be solved

[0102] In S020, according to the current pose and the target pose of the wall-climbing robot, a kinematics equation and a geometric relationship between the current pose and the target pose based on the affine transformation matrix are obtained

[0103] Firstly, according to the solved the attitude angle azimuth angle α = tan -1 (r​23 / r 13 ), and the distance between the wall-climbing robot and the target

[0104] Secondly, the rigid body motion is realized The specific method is as follows:

[0105] According to the kinematic equation, we have:

[0106]

[0107] Wherein, v and ω are the second target body linear velocity and the second target body angular velocity of the wall-climbing robot {R}, x and y are the coordinates of the wall-climbing robot {R} in the target coordinate system {T}, and θ is the angular displacement of the wall-climbing robot {R}. The angular displacement θ has been processed by Lie algebra, and the circular wrap-around problem does not need to be considered.

[0108] According to the geometric relationship, we have:

[0109]

[0110] Wherein, ρ is the distance between the wall-climbing robot and the target, i.e. the distance between the origin of {R} and the origin of {T}; α is the included angle between the vector from the origin of {R} to the origin of {T} and the x-axis of {R}, i.e. the azimuth angle of the target in the coordinate system of the wall-climbing robot, and the counterclockwise direction is positive according to the right-hand system; is the attitude angle of {R} relative to {T}, i.e. the rotation angle from {R} to {T}, which is also the two-dimensional rotation matrix corresponding to the Euler angle, and the counterclockwise direction is positive according to the right-hand system.

[0111] Combining the motion equation (1-1) and the geometric relationship (1-2), we have:

[0112]

[0113] and

[0114]

[0115] Taking as the state vector, the dynamic system differential equation can be obtained as:

[0116]

[0117] Taking u(t) = (v, ω) T as the control vector, the input control (control law equation) is set as:

[0118]

[0119] Wherein, k ρ , k α , For the control law parameters:

[0120] 1) k ρ Linearly adjust the linear velocity of the wall-climbing robot based on the distance p from the target, that is, the greater the distance p, the greater the linear velocity v;

[0121] 2) k α Linearly adjust the angular velocity of the wall-climbing robot based on the azimuth angle a from the target, that is, the greater the azimuth angle a, the greater the angular velocity w;

[0122] 3) Linearly adjust the angular velocity of the wall-climbing robot based on the attitude angle q from the target, that is, the greater the attitude angle q, the greater the angular velocity w.

[0123] For the wall-climbing robot of the present embodiment, the constraint example control law parameters are preferably

[0124] The present embodiment can more accurately obtain the second target vehicle body linear velocity and the second target vehicle body angular velocity through the control strategy based on the attitude angle and the azimuth angle, thereby accurately controlling the motion trajectory of the wall-climbing robot and improving the accuracy and reliability of trajectory tracking. The present application has lower requirements for computing resources while ensuring control accuracy, which means that the present application can complete control calculation faster under limited computing resources, reduce the risk of control lag, and improve the real-time performance of the system.

[0125] It should be noted that, in the present text, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms “comprise”, “contain” or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device containing a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the elements defined by the statement “comprise” do not exclude the presence of other identical elements in the process, method, article or device that includes the elements.

[0126] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them, and the present application has been described in detail only with reference to the preferred embodiments, and those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and all should be covered in the scope of the claims of the present application.​

Claims

1. A wall-climbing robot, characterized in that: include: body; a first wheel disposed on a first side of the vehicle body; a second wheel, disposed on a second side of the vehicle body, the second side being away from the first side, the first wheel and the second wheel rotating independently, and the first wheel and the second wheel rotating to drive the vehicle body to move; The controller is configured to: determine a first target vehicle body angular velocity and a first target vehicle body linear velocity of the vehicle body when the vehicle body turns; determine a first target linear velocity of the vehicle body at the first wheel and a second target linear velocity of the vehicle body at the second wheel based on the first target vehicle body linear velocity and the first target vehicle body angular velocity; and determine the second target vehicle body angular velocity and the second target vehicle body linear velocity of the vehicle body when it is determined that the first target linear velocity or the second target linear velocity is within a preset range, so as to control the rotation speed of the first wheel and the second wheel.

2. The wall-climbing robot according to claim 1, characterized in that: Also includes: A magnetic attraction device provides a magnetic attraction force for the vehicle body to be adsorbed on a wall, wherein the magnetic attraction force is negatively correlated with the rotation speed of the first wheel and the second wheel.

3. A control method for a wall-climbing robot, applied to the wall-climbing robot as claimed in claim 1 or 2, characterized in that: The control method includes: determining a first target vehicle body angular velocity and a first target vehicle body linear velocity of the vehicle body; determining a first target linear velocity of the vehicle body at the first wheel and a second target linear velocity of the vehicle body at the second wheel according to the first target vehicle body linear velocity and the first target vehicle body angular velocity; When it is determined that the first target linear velocity or the second target linear velocity is within a preset range, a second target vehicle body angular velocity and a second target vehicle body linear velocity of the vehicle body are determined to control the rotation speeds of the first wheel and the second wheel.

4. The control method according to claim 3, characterized in that: The determining, based on the first target vehicle body linear velocity and the first target vehicle body angular velocity, a first target linear velocity of the vehicle body at the first wheel and a second target linear velocity of the vehicle body at the second wheel includes: When the vehicle body needs to turn toward the first side, according to formula V L1 =V1-W1*L / 2, determine the first target linear velocity; according to the formula V R1 =V1+W1*L / 2, determine the second target linear velocity; Among them, V L1 is the first target linear velocity, V R1 is the second target linear velocity, V1 is the first target vehicle body linear velocity, W1 is the first target vehicle body angular velocity, and L is the wheel spacing between the first wheel and the second wheel.

5. The control method according to claim 3, characterized in that: The determining, based on the first target vehicle body linear velocity and the first target vehicle body angular velocity, a first target linear velocity of the vehicle body at the first wheel and a second target linear velocity of the vehicle body at the second wheel further includes: When the vehicle body needs to turn toward the second side, according to formula V L1 =V1+W1*L / 2, determine the first target linear velocity; according to the formula V R1 =V1-W1*L / 2, determine the second target linear velocity; Among them, V L1 is the first target linear velocity, V R1 is the second target linear velocity, V1 is the first target vehicle body linear velocity, W1 is the first target vehicle body angular velocity, and L is the wheel spacing between the first wheel and the second wheel.

6. The control method according to claim 3, characterized in that: Determining the second target vehicle body angular velocity and the second target vehicle body linear velocity of the vehicle body to control the rotation speeds of the first wheel and the second wheel includes: When the vehicle body needs to turn toward the first side, according to formula V L2 =v-ω*L / 2, to determine the third target linear velocity of the vehicle body at the first wheel; according to the formula V R2 =v+ω*L / 2, to determine a fourth target linear velocity of the vehicle body at the second wheel; controlling the rotational speeds of the first wheel and the second wheel so that the linear speed of the vehicle body at the first wheel is the third target linear speed, and the linear speed of the vehicle body at the second wheel is the fourth target linear speed; Among them, V L2 is the third target linear velocity, V R2 is the fourth target linear velocity, v is the second target vehicle body linear velocity, ω is the second target vehicle body angular velocity, and L is the wheel spacing between the first wheel and the second wheel.

7. The control method according to claim 6, characterized in that: The determining of the second target vehicle body angular velocity and the second target vehicle body linear velocity to control the rotational speeds of the first wheel and the second wheel further includes: When the vehicle body needs to turn toward the first side, the controller controls the first wheel and the second wheel to rotate in opposite directions, or controls the first wheel and the second wheel to rotate in the same direction, and the fourth target linear speed is greater than the third target linear speed.

8. The control method according to claim 3, characterized in that: The determining of the second target vehicle body angular velocity and the second target vehicle body linear velocity to control the rotational speeds of the first wheel and the second wheel further includes: When the vehicle body needs to turn toward the second side, according to formula V L2 =v+ω*L / 2, to determine the third target linear velocity of the vehicle body at the first wheel; according to the formula V R2 =v-ω*L / 2, to determine a fourth target linear velocity of the vehicle body at the second wheel; Among them, V L2 is the third target linear velocity, V R2 is the fourth target linear velocity, v is the second target vehicle body linear velocity, ω is the second target vehicle body angular velocity, and L is the wheel spacing between the first wheel and the second wheel.

9. The control method according to claim 8, characterized in that: The determining of the second target vehicle body angular velocity and the second target vehicle body linear velocity to control the rotational speeds of the first wheel and the second wheel further includes: When the vehicle body needs to turn toward the second side, the controller controls the first wheel and the second wheel to rotate in opposite directions, or controls the first wheel and the second wheel to rotate in the same direction, and the fourth target linear speed is less than the third target linear speed.

10. The control method according to any one of claims 3 to 9, characterized in that: Before determining the second target vehicle body angular velocity and the second target vehicle body linear velocity, the control method further includes: The first wheel and the second wheel are controlled to rotate in opposite directions, the linear speed of the vehicle body at the first wheel is controlled to be the fifth target linear speed, and the linear speed of the vehicle body at the second wheel is controlled to be the sixth target linear speed, and the fifth target linear speed and the sixth target linear speed are both greater than the upper limit value of the preset range.

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