A wall-climbing robot and its control method

Abstract

This application relates to a wall-climbing robot and its control method. The wall-climbing robot includes: a vehicle 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 opposite to the first side, the first wheel and the second wheel rotating independently, the rotation of the first wheel and the second wheel driving the vehicle body to move; a controller configured to: determine a first target angular velocity and a first target linear velocity of the vehicle body when the vehicle body is turning; determine a first target linear velocity at the first wheel and a second target linear velocity at the second wheel based on the first target linear velocity and the first target angular velocity; determine the second target angular velocity and the second target linear velocity of the vehicle body when 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, so that the first wheel and the second wheel can turn normally, thereby facilitating the control of the wall-climbing robot to turn and move.

Description

Technical Field

[0001] This application relates to the field of wall-climbing robot technology, specifically to a wall-climbing robot and its control method. Background Technology

[0002] Ground-based mobile robots rely on the ground for support, with gravity providing positive pressure and thus generating friction. Wall-climbing robots, however, require additional positive pressure relative to the wall surface to move, typically provided through vacuum or magnetic adsorption.

[0003] When the first wheel of the wall-climbing robot becomes the instantaneous center of rotation, it is equivalent to the robot's body needing to rotate around the first wheel. At this time, the magnetic attraction of the wall-climbing robot at the first wheel is relatively large, making it impossible for the robot's body to overcome the magnetic attraction and move, thus making it impossible to effectively control the movement of the wall-climbing robot. Summary of the Invention

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

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

[0006] Vehicle body;

[0007] The first wheel is located on the first side of the vehicle body;

[0008] The second wheel is disposed on the second side of the vehicle body, the second side being opposite to the first side. The first wheel and the second wheel rotate independently, and the rotation of the first wheel and the second wheel drives the vehicle body to move.

[0009] The controller is configured to: determine a first target angular velocity and a first target linear velocity of the vehicle body when the vehicle body is turning; 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 linear velocity and the first target angular velocity; and determine the second target angular velocity and the second target linear velocity of the vehicle body when 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] Some embodiments of this application also include:

[0011] A magnetic attraction device provides the vehicle body with a magnetic attraction force to adhere to the wall surface, and the magnetic attraction force is negatively correlated with the rotational speed of the first wheel and the second wheel.

[0012] According to this application, a control method for a wall-climbing robot is also provided, applied to the wall-climbing robot described above, the control method comprising:

[0013] Determine the first target vehicle body angular velocity and the first target vehicle body linear velocity;

[0014] 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 based on 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 determined to be within a preset range, the second target vehicle body angular velocity and the second target vehicle body linear velocity are determined to control the rotation speed of the first wheel and the second wheel.

[0016] In some embodiments of this application, determining 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 based on the first target vehicle body linear velocity and the first target vehicle body angular velocity includes:

[0017] When the vehicle body needs to turn towards the first side, according to formula V L1 =V1-W1*L / 2, determine the linear velocity of the first target; according to the formula V R1 =V1+W1*L / 2, determine the linear velocity of the second target;

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

[0019] In some embodiments of this application, determining 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 based on the first target vehicle body linear velocity and the first target vehicle body angular velocity further includes:

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

[0021] Among them, V L1 V is the linear velocity of the first target. R1V1 is the linear velocity of the second target vehicle body, W1 is the linear velocity of the first target vehicle body, and L is the wheel spacing between the first wheel and the second wheel.

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

[0023] When the vehicle body needs to turn towards 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 the fourth target linear velocity of the vehicle body at the second wheel;

[0024] The rotational speeds of the first and second wheels are controlled such 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.

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

[0026] In some embodiments of this 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 further includes:

[0027] When the vehicle body needs to turn to 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 velocity is greater than the third target linear velocity.

[0028] In some embodiments of this 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 further includes:

[0029] When the vehicle body needs to turn to 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 the fourth target linear velocity of the vehicle body at the second wheel;

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

[0031] In some embodiments of this 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 further includes:

[0032] When the vehicle body needs to turn to 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 velocity is less than the third target linear velocity.

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

[0034] The rotation directions of the first wheel and the second wheel are controlled to be opposite. The linear velocity of the vehicle body at the first wheel is controlled to be the fifth target linear velocity, and the linear velocity of the vehicle body at the second wheel is controlled to be the sixth target linear velocity. Both the fifth target linear velocity and the sixth target linear velocity are greater than the upper limit of the preset range.

[0035] The advantage of this application is that when the first target linear velocity is within a 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 large, making it impossible for the robot to overcome the magnetic attraction force and move, and thus the robot cannot turn. By determining the second target angular velocity and the second target linear velocity of the robot, the first wheel is made to move away from the instantaneous rotation center, the magnetic attraction force at the first and second wheels decreases, and the first and second wheels can turn normally, thereby facilitating the control of the wall-climbing robot's turning and movement.

[0036] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or learned by practicing the application. The purposes and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. In these drawings, similar reference numerals are used to identify similar elements. The drawings described below are some embodiments of this application, but not all embodiments. Other drawings will be readily available to those skilled in the art based on these drawings without any inventive effort.

[0038] Figure 1 This is a flowchart illustrating a control method for a wall-climbing robot according to an exemplary embodiment;

[0039] Figure 2 This is a flowchart illustrating a method for determining a second target vehicle body angular velocity and a second target vehicle body linear velocity according to an exemplary embodiment;

[0040] Figure 3 This is a schematic diagram illustrating the current coordinate system and the target coordinate system according to an exemplary embodiment. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. It should be noted that, unless otherwise specified, the embodiments and feature vectors in the embodiments of this application can be arbitrarily combined with each other.

[0042] When a wall-climbing robot moves on a wall, it needs to provide additional positive pressure relative to the wall surface, which is usually provided through vacuum adsorption or magnetic adsorption.

[0043] When the first wheel of the wall-climbing robot becomes the instantaneous center of rotation, it is equivalent to the robot's body needing to rotate around the first wheel. At this time, the magnetic attraction of the wall-climbing robot at the first wheel is relatively large, making it impossible for the robot's body to overcome the magnetic attraction and move, thus making it impossible to effectively control the movement of the wall-climbing robot.

[0044] To address the aforementioned technical problems, this application provides a wall-climbing robot and its control method. The wall-climbing robot includes a body, a first wheel, a second wheel, and a controller. The first wheel is located on the first side of the body. The second wheel is located on the second side of the body, opposite to the first side. The first and second wheels rotate independently, driving the body's movement. The controller is configured to: determine a first target angular velocity and a first target linear velocity of the body when the body is turning; determine a first target linear velocity at the first wheel and a second target linear velocity at the second wheel based on the first target linear velocity and the first target angular velocity; and determine the second target angular velocity and the second target angular velocity of the body when either the first or second target linear velocity is within a preset range, thereby controlling the rotation speed of the first and second wheels. By determining the second target angular velocity and the second target linear velocity of the body to control the rotation speed of the first and second wheels, both wheels can rotate, allowing either wheel to move away from its instantaneous rotation center, enabling the body to turn normally.

[0045] An exemplary embodiment of this application provides a wall-climbing robot, referring to... Figures 1-3 The wall-climbing robot consists of: a body, a first wheel, a second wheel, and a controller.

[0046] The vehicle body forms the external structure of a wall-climbing robot. A first wheel is located on the first side of the vehicle body, and a second wheel is located on the second side of the vehicle body, opposite to the first side. The first and second wheels rotate independently, driving the vehicle body's movement. For example, the first wheel is located on the left side of the vehicle body, and the second wheel is located on the right side of the vehicle body, symmetrically arranged with respect to the vehicle body's central axis.

[0047] The controller is configured to: determine the first target angular velocity and the first target linear velocity of the vehicle body when the vehicle body is turning, and determine 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 based on the first target linear velocity and the first target angular velocity.

[0048] Among them, the first target vehicle body angular velocity 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.

[0049] When the first target linear velocity or the second target linear velocity is determined to be within a preset range, the second target vehicle body angular velocity and the second target vehicle body linear velocity are determined in order to control the rotation speed of the first wheel and the second wheel.

[0050] For example, the preset range can be set to be greater than -0.012m / s and less than 0.012m / s, where the positive or negative value of the linear velocity indicates the direction of the linear velocity.

[0051] In this embodiment, when the first target linear velocity is within a 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 large, making it impossible for the vehicle to overcome the magnetic attraction force and move, and the vehicle cannot turn. By determining the second target angular velocity and the second target linear velocity of the vehicle, the first wheel is made to move away from the instantaneous rotation center, and the magnetic attraction force at the first and second wheels decreases, allowing the first and second wheels to turn normally, thereby facilitating the control of the wall-climbing robot's turning and movement.

[0052] When the second target linear velocity is within a preset range, the second wheel is located at the instantaneous rotation center. At this time, the magnetic attraction at the second wheel of the wall-climbing robot is strong, making it impossible for the robot to overcome the magnetic attraction and move, and thus preventing the robot from turning. By determining the second target angular velocity and the second target linear velocity of the robot, the second wheel can be moved away from the instantaneous rotation center, allowing the first and second wheels to turn normally, thereby facilitating the control of the wall-climbing robot's turning and movement.

[0053] In some embodiments, the wall-climbing robot also includes a magnetic attraction device that provides magnetic attraction to the wall surface, and the magnetic attraction is negatively correlated with the rotational speed of the first and second wheels.

[0054] For example, the faster the first wheel rotates, the smaller the magnetic attraction at the first wheel, thus reducing the positive pressure of the magnetic attraction on the vehicle body and consequently reducing the vehicle's resistance to movement. Conversely, the slower the first wheel rotates, the greater the magnetic attraction at the first wheel. When the linear velocity of the vehicle body at the first wheel decreases to a preset range, the vehicle body cannot overcome the magnetic attraction to move. By determining the second target angular velocity and the second target linear velocity of the vehicle body, the first wheel can be removed from the instantaneous center of rotation, allowing both the first and second wheels to steer normally, thereby facilitating the control of the wall-climbing robot's steering and movement.

[0055] An exemplary embodiment of this application provides a control method for a wall-climbing robot, applied to the wall-climbing robot described above. See [link to relevant documentation]. Figures 1-3 The control method includes:

[0056] S100, Determine the first target vehicle body angular velocity and the first target vehicle body linear velocity.

[0057] In this step, when the vehicle needs to turn, the controller determines the angular velocity and linear velocity of the first target vehicle body. Therefore, the angular velocity and linear velocity of the first target vehicle body are known parameters.

[0058] S200. Determine 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 based on the first target vehicle body linear velocity and the first target vehicle body angular velocity.

[0059] In this step, the first target angular velocity and the first target 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 by inverse kinematics. The rotation speed of the first wheel is controlled by the first target linear velocity, and the rotation speed of the second wheel is controlled by the second target linear velocity.

[0060] S300: When it is determined that 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 are determined to control the rotation speed of the first wheel and the second wheel.

[0061] In this step, when the first or second target linear velocity is within a preset range, the magnetic attraction at the first or second wheel, which serves as the instantaneous center of rotation, is too strong, preventing the robot from overcoming the magnetic attraction and thus hindering its turning. By determining the second target angular velocity and the second target linear velocity of the robot, the linear velocities at the first and second wheels are obtained through inverse kinematics. Since these calculated linear velocities are outside the preset range, the first or second wheel can be removed from the instantaneous center of rotation, allowing it to turn normally and thus facilitating the control of the robot's turning.

[0062] In some embodiments, step S200 specifically includes: when the vehicle body needs to turn to 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.

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

[0064] The wheel spacing between the first and second wheels is a known parameter, as are the linear velocity and angular velocity of the first target vehicle. Substituting these values ​​into the formula: V L1 =V1-W1*L / 2 and formula: V R1 =V1+W1*L / 2, thereby determining the first target linear velocity and the second target linear velocity, which in turn facilitates the judgment of whether the first target linear velocity and the second target linear velocity are within the preset range.

[0065] In some embodiments, step S200 further includes: when the vehicle body needs to turn to 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.

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

[0067] The wheel spacing between the first and second wheels is a known parameter, as are the linear velocity and angular velocity of the first target vehicle. Substituting these values ​​into the formula: V L1 =V1 + W1 * L / 2 and formula: V R1 =V1-W1*L / 2, thereby determining the first target linear velocity and the second target linear velocity, which facilitates the judgment of whether the first target linear velocity and the second target linear velocity are within the preset range.

[0068] In some embodiments, step S300 specifically includes: when the vehicle body needs to turn to 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 the fourth target linear velocity of the vehicle body at the second wheel.

[0069] Control the rotation speed of the first and second wheels so that the linear velocity of the vehicle at the first wheel is the third target linear velocity, and the linear velocity of the vehicle at the second wheel is the fourth target linear velocity.

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

[0071] The wheel spacing between the first and second wheels is a known parameter. The linear velocity and angular velocity of the second target vehicle can be calculated by the controller. Substituting the wheel spacing, linear velocity, and angular velocity of the second target vehicle into the formula V... L2 =v-ω*L / 2, and formula V R2 =v + ω*L / 2, thus determining the third and fourth target linear velocities. Neither the third nor the fourth target linear velocities are within the preset range. The rotational speeds of the first and second wheels are controlled so that the linear velocity of the vehicle at the first wheel is the third target linear velocity, and the linear velocity of the vehicle at the second wheel is the fourth target linear velocity, allowing the vehicle to turn towards the first side.

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

[0073] In this step, when the vehicle needs to turn to the first side, if the first wheel becomes the instantaneous rotation center of the vehicle at this time, by controlling the rotation direction of the first wheel and the second wheel to be opposite, the first wheel is made to leave the instantaneous rotation center, thereby reducing the magnetic attraction force at the first wheel. The first wheel and the second wheel overcome the resistance of the magnetic attraction force and rotate, and the vehicle achieves the action of making a small turn.

[0074] For example, when the first and second wheels rotate in opposite directions, the linear velocities of the vehicle body at the first wheel and the second wheel are the same in magnitude but opposite in direction, so that the instantaneous center of rotation is located on the central axis of the vehicle body. At this time, the overall linear velocity of the vehicle body is equivalent to 0 m / s, which enables the vehicle body to turn on the spot, making it easier to turn within a smaller operating area.

[0075] In some embodiments, step S300 further includes: when the vehicle body needs to turn to the first side, controlling the first wheel and the second wheel to rotate in the same direction, and the fourth target linear velocity being greater than the third target linear velocity.

[0076] In this step, when the vehicle needs to turn to the first side, if the first wheel becomes the instantaneous rotation center of the vehicle at this time, by controlling the rotation direction of the first wheel and the second wheel to be the same, and the fourth target linear velocity being greater than the third target linear velocity, the first wheel is made to leave the instantaneous rotation center, thereby reducing the magnetic attraction force at the first wheel. The first wheel and the second wheel overcome the resistance of the magnetic attraction force and rotate, and the vehicle achieves the action of making a large turn.

[0077] In some embodiments, step S300 further includes: when the vehicle body needs to turn to 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 the fourth target linear velocity of the vehicle body at the second wheel.

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

[0079] The wheel spacing between the first and second wheels is a known parameter. The linear velocity and angular velocity of the second target vehicle can be calculated by the controller. Substituting the wheel spacing, linear velocity, and angular velocity of the second target vehicle into the formula V... L2 =v + ω * L / 2, and the formula VR2 =v - ω * L / 2, thus determining the third and fourth target linear velocities. Neither the third nor the fourth target linear velocities are within the preset range. The rotational speeds of the first and second wheels are controlled so that the linear velocity of the vehicle at the first wheel is the third target linear velocity, and the linear velocity of the vehicle at the second wheel is the fourth target linear velocity, allowing the vehicle to turn to the second side.

[0080] In some embodiments, step S300 further includes: when the vehicle body needs to turn to the second side, the controller controls the first wheel and the second wheel to rotate in opposite directions.

[0081] In this step, when the vehicle needs to turn to the second side, if the second wheel becomes the instantaneous rotation center of the vehicle, by controlling the rotation direction of the first wheel and the second wheel to be opposite, the second wheel is made to leave the instantaneous rotation center, thereby reducing the magnetic attraction at the second wheel. The first wheel and the second wheel then rotate against the resistance of the magnetic attraction, enabling the vehicle to turn to the second side and make a small turn.

[0082] For example, when the first and second wheels rotate in opposite directions, the linear velocities of the vehicle body at the first wheel and the second wheel are the same in magnitude but opposite in direction, so that the instantaneous center of rotation is located on the central axis of the vehicle body. At this time, the overall linear velocity of the vehicle body is equivalent to 0 m / s, which enables the vehicle body to turn on the spot, making it easier to turn within a smaller operating area.

[0083] In some embodiments, step S300 further includes: when the vehicle body needs to turn to the second side, the controller controls the first wheel to rotate in the same direction as the second wheel, and the fourth target linear velocity is less than the third target linear velocity.

[0084] In this step, when the vehicle needs to turn to the second side, if the second wheel becomes the instantaneous rotation center of the vehicle, by controlling the rotation direction of the first wheel and the second wheel to be the same, and the fourth target linear velocity being less than the third target linear velocity, the second wheel is made to leave the instantaneous rotation center, thereby reducing the magnetic attraction force at the second wheel. The first wheel and the second wheel overcome the resistance of the magnetic attraction force and rotate, and the vehicle achieves the action of making a large turn.

[0085] In some embodiments, both the third target linear velocity and the fourth target linear velocity are greater than the upper limit of a preset range, so that the vehicle body can overcome the resistance of magnetic attraction and move, making it easier to control 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, the control method further includes:

[0087] The first and second wheels are controlled to rotate in opposite directions. The linear velocity of the vehicle at the first wheel is controlled to be the fifth target linear velocity, and the linear velocity of the vehicle at the second wheel is controlled to be the sixth target linear velocity. Both the fifth and sixth target linear velocities are greater than the upper limit 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 of the preset range. For example, in this control process, the rotation process of the first wheel and the second wheel can be controlled within 5 milliseconds to 15 milliseconds, so that the vehicle body can overcome the resistance of magnetic attraction and move. The first wheel or the second wheel leaves the instantaneous rotation center, and the vehicle body does not need to wait in place for the controller to issue a new instruction, nor does the controller need to monitor whether the vehicle body has moved in the previous process. This reduces the computational load of the controller, simplifies the control process of vehicle body steering, and makes it easier to control the steering of the vehicle body.

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

[0090] S010: Based on the current coordinate system and the target coordinate system of the wall-climbing robot, obtain the affine transformation matrix of the wall-climbing robot from the current coordinate system to the target coordinate system.

[0091] S020: Based on the current pose and target pose 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 the control law equation based on the kinematic equation and geometric relationship, and determine the second target vehicle body angular velocity and the second target vehicle body linear velocity based on the control law equation.

[0093] Next, combined Figure 2 This embodiment provides a detailed description of a method for determining the second target vehicle body angular velocity and the second target vehicle body linear velocity.

[0094] The wall-climbing robot moves from its current pose to the target pose, establishing a current coordinate system {R} = O based on the robot's current pose. R X R Y R Establish the target coordinate system {T} = O based on the target pose. T X T Y T ,like Figure 3 As shown.

[0095] In S010, based on the current coordinate system and the target coordinate system of the wall-climbing robot, the affine transformation matrix from the current coordinate system to the target coordinate system is obtained. Specifically, it includes:

[0096] S011: Position in map coordinate system {W} based on the current coordinate system {R} W R, yielding the affine transformation matrix from {W} to {R}.

[0097] S012: Given the pose of the target coordinate system {T} in the map coordinate system {W} W T, yields the affine transformation matrix from {W} to {T}.

[0098] S013: According to Solve for the affine transformation matrix from the current coordinate system {R} to the target coordinate system {T}.

[0099] First, it is necessary to solve for the attitude angles of the wall-climbing robot's current pose {R} relative to the target pose {T}. And the azimuth angle α.

[0100] Specifically, it is necessary to solve for the two-dimensional Euclidean transformation matrix from the current pose {R} to the target pose {T}. Where SO(2)={R∈R 2×2 |R -1 =R T ,detR=1}.

[0101] The specific solution method is as follows: Let the map be the world coordinate system {W}, and determine the pose of the wall-climbing robot in the map coordinate system {W} based on the coordinate system {R} of the wall-climbing robot. W R gives the affine transformation matrix from {W} to {R}. Given the pose of the target in the map coordinate system {W} in the target coordinate system {T} W T gives the affine transformation matrix from {W} to {T}. 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, based on the current pose and target pose of the wall-climbing robot, the affine transformation matrix is ​​obtained. The kinematic equations and geometric relationships between the current pose and the target pose.

[0103] First, based on the solution Attitude angles can be obtained Azimuth α = tan -1 (r23 / r 13 ), and the distance between the wall-climbing robot and the target.

[0104] Secondly, to achieve rigid body motion The specific method is as follows:

[0105] According to the kinematic equations:

[0106]

[0107] Where: v and ω are the linear velocity and angular velocity of the second target vehicle 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 does not need to consider the circular loop problem.

[0108] According to geometric relations, we have:

[0109]

[0110] Where: ρ is the distance between the wall-climbing robot and the target, that is, the distance between the origin of {R} and the origin of {T}; α is the angle between the vector from the origin of {R} to the origin of {T} and the x-axis of {R}, that is, the azimuth angle of the target in the coordinate system of the wall-climbing robot, which is positive counterclockwise according to the right-hand system; Let {R} be the attitude angle relative to {T}, that is, the rotation angle from {R} to {T}, which is also the two-dimensional rotation matrix. The corresponding Euler angles are positive when the right-hand rule is followed by counterclockwise rotation.

[0111] Combining the equations of motion (1-1) and geometric relations (1-2), we have:

[0112]

[0113] and

[0114]

[0115] by Given the state vector, the differential equation of the dynamic system can be obtained as follows:

[0116]

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

[0118]

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

[0120] 1)k ρ The linear velocity is linearly adjusted based on the distance ρ between the wall-climbing robot and the target, that is, the larger the distance ρ is, the larger the linear velocity v is.

[0121] 2)k α The angular velocity is linearly adjusted based on the azimuth angle between the wall-climbing robot and the target, that is, the larger the azimuth angle α, the larger the angular velocity ω.

[0122] 3) The angular velocity is linearly adjusted based on the attitude angle between the wall-climbing robot and the target, i.e., the attitude angle. The larger the angular velocity ω, the greater the angular velocity ω.

[0123] For the wall-climbing robot in this embodiment, the preferred parameters of the constraint-exemplary control law are...

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

[0125] It should be noted that, in this document, relational terms such as "first" and "second" are used merely 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. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. The application has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application, and all such modifications and substitutions should be covered within the scope of the claims of this application.

Claims

1. A wall-climbing robot, characterized in that, include: Vehicle body; The first wheel is located on the first side of the vehicle body; The second wheel is disposed on the second side of the vehicle body, the second side being opposite to the first side. The first wheel and the second wheel rotate independently, and the rotation of the first wheel and the second wheel drives the vehicle body to move. A magnetic attraction device provides the vehicle body with a magnetic attraction force to adhere to the wall surface, and the magnetic attraction force is negatively correlated with the rotational speed of the first wheel and the second wheel; The controller is configured to: determine a first target angular velocity and a first target linear velocity of the vehicle body when the vehicle body is turning; 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 linear velocity and the first target angular velocity; and determine the second target angular velocity and the second target linear velocity of the vehicle body when 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, so that both the first wheel and the second wheel can rotate, so that the first wheel or the second wheel is removed from the instantaneous rotation center, and the vehicle body achieves turning.

2. A control method for a wall-climbing robot, applied to the wall-climbing robot as described in claim 1, characterized in that, The control method includes: Determine the first target vehicle body's angular velocity and linear velocity; 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 based on the first target vehicle body linear velocity and the first target vehicle body angular velocity; When the first target linear velocity or the second target linear velocity is determined to be within a preset range, the second target vehicle body angular velocity and the second target vehicle body linear velocity are determined to control the rotation speed of the first wheel and the second wheel.

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

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

5. The control method according to claim 2, characterized in that, Determining the second target vehicle body angular velocity and the second target vehicle body linear velocity to control the rotational speed of the first wheel and the second wheel includes: When the vehicle body needs to turn towards the first side, according to formula V L2 = - L / 2 is used to determine the third target linear velocity of the vehicle body at the first wheel; according to formula V R2 = + L / 2, to determine the fourth target linear velocity of the vehicle body at the second wheel; The rotational speeds of the first and second wheels are controlled such 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. Among them, V L2 V is the linear velocity of the third target. R2 The fourth target linear velocity, The second target vehicle body linear velocity, Let L be the angular velocity of the second target vehicle body, and L be the wheel spacing between the first wheel and the second wheel.

6. The control method according to claim 5, characterized in that, The step of determining the second target vehicle body angular velocity and the second target vehicle body linear velocity to control the rotational speed of the first wheel and the second wheel further includes: When the vehicle body needs to turn to 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 velocity is greater than the third target linear velocity.

7. The control method according to claim 2, characterized in that, The step of determining the second target vehicle body angular velocity and the second target vehicle body linear velocity to control the rotational speed of the first wheel and the second wheel further includes: When the vehicle body needs to turn to the second side, according to formula V L2 = + L / 2 is used to determine the third target linear velocity of the vehicle body at the first wheel; according to formula V R2 = - L / 2, to determine the fourth target linear velocity of the vehicle body at the second wheel; Among them, V L2 V is the linear velocity of the third target. R2 The fourth target linear velocity, The second target vehicle body linear velocity, Let L be the angular velocity of the second target vehicle body, and L be the wheel spacing between the first wheel and the second wheel.

8. The control method according to claim 7, characterized in that, The step of determining the second target vehicle body angular velocity and the second target vehicle body linear velocity to control the rotational speed of the first wheel and the second wheel further includes: When the vehicle body needs to turn to 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 velocity is less than the third target linear velocity.

9. The control method according to any one of claims 2 to 8, 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 rotation directions of the first wheel and the second wheel are controlled to be opposite. The linear velocity of the vehicle body at the first wheel is controlled to be the fifth target linear velocity, and the linear velocity of the vehicle body at the second wheel is controlled to be the sixth target linear velocity. Both the fifth target linear velocity and the sixth target linear velocity are greater than the upper limit of the preset range.

Images