Wall-climbing robot attitude and position control method and system

Abstract

The invention discloses a wall-climbing robot attitude and position control method and system, and the method comprises the steps: collecting angular velocity data through a gyroscope of a wall-climbing robot, and continuously sampling azimuth angles from the angular velocity data to obtain an azimuth angle sequence; mapping each azimuth angle in the azimuth angle sequence into a unit complex number, and calculating the instantaneous angle variation of the wall-climbing robot by using the group theory property of a complex number division method; constructing a cascade control structure by adopting a differential-first PID (Proportion Integration Differentiation) algorithm; and acquiring the current position of the wall-climbing robot, inputting the instantaneous angle variation, the current position and a preset target position of the wall-climbing robot into a cascade control structure for processing, and outputting a posture and position control signal of the wall-climbing robot. According to the control method, the problem that the deviation between the calculated instantaneous angle variation and the actual rotation angle is continuously increased due to the fact that zero offset drift of a gyroscope can generate accumulative errors in integration in an attitude calculation mode based on angular velocity integration in an existing wall-climbing robot control method is solved.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot control technology, specifically a method and system for controlling the posture and position of a wall-climbing robot. Background Technology

[0002] In the field of wall-climbing robot control, attitude calculation, as the core link connecting sensor data and motion control, directly determines the robot's motion stability and operational reliability in complex vertical environments. In existing wall-climbing robot control schemes, attitude calculation typically involves collecting real-time angular velocity data from the robot's onboard gyroscope, then integrating this angular velocity data in the time domain to derive the instantaneous angular change of the wall-climbing robot, thereby determining its current attitude. However, this attitude calculation method based on "angular velocity integration" suffers from the "zero-bias drift" characteristic commonly found in gyroscopes. This characteristic accumulates over time after integration, causing the calculated instantaneous angular change to deviate significantly from the actual rotation angle of the wall-climbing robot, ultimately leading to inaccurate attitude calculations. Summary of the Invention

[0003] To address the aforementioned shortcomings, this invention proposes a method and system for attitude and position control of a wall-climbing robot. The aim is to solve the problem of attitude calculation based on "angular velocity integration" in existing wall-climbing robot control methods. Due to the zero-bias drift of the gyroscope, cumulative errors will be generated during integration, resulting in a continuous increase in the deviation between the calculated instantaneous angle change and the actual rotation angle, causing attitude inaccuracy.

[0004] To achieve this objective, the present invention adopts the following technical solution: A method for posture and position control of a wall-climbing robot includes the following steps: Step S1: Collect angular velocity data using the gyroscope of the wall-climbing robot, and continuously sample the azimuth angle from the angular velocity data to obtain an azimuth angle sequence; Step S2: Map each azimuth in the azimuth sequence to a unit complex number, and use the group theory property of complex division to calculate the instantaneous angle change of the wall-climbing robot; Step S3: Construct a cascade control structure using the derivative-first PID algorithm, wherein the cascade control structure includes an outer loop and an inner loop; Step S4: Obtain the current position of the wall-climbing robot, and input the instantaneous angle change of the wall-climbing robot, the current position and the preset target position into the cascade control structure for processing, and output the posture and position control signals of the wall-climbing robot.

[0005] Preferably, step S2 specifically includes the following sub-steps: Step S21: According to Euler's formula, for each azimuth angle in the azimuth angle sequence... All are mapped to unit complex numbers ,in, The specific mathematical expression is as follows: ; Where t represents the time index, and t is a positive integer; i represents the imaginary unit of the complex number; Step S22: For the unit complex numbers corresponding to consecutive times t and t-1, calculate the rotational difference using complex division. ,in, The specific calculation formula is as follows: ; in, This represents the difference between the azimuth angle at time t and the azimuth angle at time t-1. Step S23: Extraction The principal argument value is used to obtain the instantaneous angular change of the wall-climbing robot from time t-1 to time t. ,in, The specific calculation formula is as follows: ; in, Representing complex numbers Argument function; Representing complex numbers The imaginary part of the function; Representing complex numbers The real part of the function.

[0006] Preferably, in step S4, the current position and preset target position of the wall-climbing robot are input into the cascade control structure for processing, and the wall-climbing robot position control signal is output. This specifically includes the following sub-steps: Step S41: Based on the current position of the wall-climbing robot and preset target position The position error was calculated. ,in, The specific calculation formula is as follows: ; Step S42: Adjust the position error The outer loop is used for calculation, and the set speed is output. ,in, The specific mathematical expression is as follows: ; in, Indicates the outer loop proportional gain; Indicates the outer loop integral gain; Indicates the outer-loop differential gain; This represents the integral term of the position error from the initial time to the current time t; Step S43: Calculate the current speed of the wall-climbing robot based on its motion characteristics. ,in, The specific calculation formula is as follows: ; Step S44: According to and The speed error was calculated. ,in, The specific calculation formula is as follows: ; Step S45: Calculate the speed error The inner loop performs calculations on the input and outputs control quantities used to control the position of the wall-climbing robot. ,in, The specific mathematical expression is as follows: ; in, Indicates the inner-loop proportional gain; Indicates the inner-loop integral gain; Indicates the inner-loop differential gain; This represents the integral term of the velocity error from the initial time to the current time t.

[0007] Another aspect of this application provides a posture and position control system for a wall-climbing robot, the system comprising: The data acquisition module is used to collect angular velocity data through the gyroscope of the wall-climbing robot; The sampling module is used to continuously sample the azimuth angle from the angular velocity data to obtain the azimuth angle sequence; The mapping module is used to map each azimuth angle in the azimuth angle sequence to a unit complex number. The solution module is used to calculate the instantaneous angle change of the wall-climbing robot using the group theory properties of complex number division; The module is used to construct a cascade control structure using the derivative-first PID algorithm, wherein the cascade control structure includes an outer loop and an inner loop; The acquisition module is used to obtain the current position of the wall-climbing robot; The processing module is used to process the instantaneous angle change, current position and preset target position of the wall-climbing robot into the cascade control structure, and output the posture and position control signals of the wall-climbing robot.

[0008] Preferably, the mapping module includes: a mapping submodule, used to map each azimuth angle in the azimuth angle sequence according to Euler's formula. All are mapped to unit complex numbers ,in, The specific mathematical expression is as follows: ; Where t represents the time index, and t is a positive integer; i represents the imaginary unit of the complex number.

[0009] Preferably, the solution module includes: a first calculation submodule, used to calculate the rotational difference for the unit complex numbers corresponding to consecutive times t and t-1 by complex division. ,in, The specific calculation formula is as follows: ; in, This represents the difference between the azimuth angle at time t and the azimuth angle at time t-1. Extraction submodule, used for extraction The principal argument value is used to obtain the instantaneous angular change of the wall-climbing robot from time t-1 to time t. ,in, The specific calculation formula is as follows: ; in, Representing complex numbers Argument function; Representing complex numbers The imaginary part of the function; Representing complex numbers The real part of the function.

[0010] Preferably, the processing module includes: a second calculation submodule, used to calculate based on the current position of the wall-climbing robot. and preset target position The position error was calculated. ,in, The specific calculation formula is as follows: ; The first calculation submodule is used to process the position error. The outer loop is used for calculation, and the set speed is output. ,in, The specific mathematical expression is as follows: ; in, Indicates the outer loop proportional gain; Indicates the outer loop integral gain; Indicates the outer-loop differential gain; This represents the integral term of the position error from the initial time to the current time t; The third calculation submodule is used to calculate the current speed of the wall-climbing robot based on its motion characteristics. ,in, The specific calculation formula is as follows: ; The fourth calculation submodule is used to calculate based on and The speed error was calculated. ,in, The specific calculation formula is as follows: ; The second calculation submodule is used to process the speed error. The inner loop performs calculations on the input and outputs control quantities used to control the position of the wall-climbing robot. ,in, The specific mathematical expression is as follows: ; in, Indicates the inner-loop proportional gain; Indicates the inner-loop integral gain; Indicates the inner-loop differential gain; This represents the integral term of the velocity error from the initial time to the current time t.

[0011] The technical solution provided by this invention may include the following beneficial effects: Compared to attitude calculation methods based on "angular velocity integration", this scheme first continuously samples the azimuth angle from the angular velocity data collected by the gyroscope of the wall-climbing robot, then maps the azimuth angle to a unit complex number, and uses the group theory property of complex division to calculate the instantaneous angle change of the wall-climbing robot. This eliminates the need to perform integration calculations on the angular velocity data collected by the gyroscope, avoiding the accumulation of angle errors caused by the "zero-bias drift" of the gyroscope, thereby improving the stability of the wall-climbing robot's attitude adjustment. Attached Figure Description

[0012] Figure 1 This is a flowchart illustrating the steps of a method for controlling the posture and position of a wall-climbing robot. Detailed Implementation

[0013] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0014] A method for posture and position control of a wall-climbing robot includes the following steps: Step S1: Collect angular velocity data using the gyroscope of the wall-climbing robot, and continuously sample the azimuth angle from the angular velocity data to obtain an azimuth angle sequence; Step S2: Map each azimuth in the azimuth sequence to a unit complex number, and use the group theory property of complex division to calculate the instantaneous angle change of the wall-climbing robot; Step S3: Construct a cascade control structure using the derivative-first PID algorithm, wherein the cascade control structure includes an outer loop and an inner loop; Step S4: Obtain the current position of the wall-climbing robot, and input the instantaneous angle change of the wall-climbing robot, the current position and the preset target position into the cascade control structure for processing, and output the posture and position control signals of the wall-climbing robot.

[0015] This solution provides a method for posture and position control of a wall-climbing robot, such as... Figure 1As shown, the first step is to collect angular velocity data using the gyroscope of the wall-climbing robot and continuously sample azimuth angles from the angular velocity data to obtain an azimuth angle sequence. In this embodiment, by continuously sampling azimuth angles from the angular velocity data, a data foundation is provided for the subsequent calculation of the instantaneous angle change of the wall-climbing robot. The second step is to map each azimuth angle in the azimuth angle sequence to a unit complex number and use the group theory property of complex division to calculate the instantaneous angle change of the wall-climbing robot. In this embodiment, the group theory property of complex division specifically includes the closure and inverse properties of the two-dimensional special orthogonal group SO(2). By mapping the azimuth angle to a unit complex number and using the group theory property of complex division to calculate the instantaneous angle change of the wall-climbing robot, the physical rotation process of the wall-climbing robot is essentially transformed into elemental operations within the SO(2) group, ensuring that the calculated instantaneous angle change of the wall-climbing robot is unambiguous and conflict-free. The third step is to construct a cascade control structure using a derivative-first PID algorithm. This cascade control structure includes an outer loop and an inner loop. In this embodiment, the outer loop is responsible for macroscopic trajectory and position accuracy control, while the inner loop is responsible for rapidly suppressing internal and external disturbances and ensuring the stability of speed tracking. By constructing a cascade control structure consisting of an outer loop and an inner loop, the structure ensures strong anti-interference and dynamic adaptability while maintaining macroscopic control accuracy. The fourth step is to obtain the current position of the wall-climbing robot and input the instantaneous angle change, current position, and preset target position into the cascade control structure for processing, outputting the robot's attitude control signal. In this embodiment, by inputting the instantaneous angle change, current position, and preset target position into the cascade control structure for processing, coordinated control of the robot's attitude and position is achieved. The instantaneous angle change reflects the real-time heading and attitude of the wall-climbing robot, providing crucial dynamic feedback for control and avoiding blind control; the current position clarifies the actual coordinates of the wall-climbing robot in the spatial coordinate system, serving as the basis for calculating position error; and the target position establishes the ultimate goal of control. The combination of these three factors ensures that the wall-climbing robot's posture adjustment can accurately serve its overall task of moving towards the target location, effectively preventing path deviation.

[0016] Compared to attitude calculation methods based on "angular velocity integration", this scheme first continuously samples the azimuth angle from the angular velocity data collected by the gyroscope of the wall-climbing robot, then maps the azimuth angle to a unit complex number, and uses the group theory property of complex division to calculate the instantaneous angle change of the wall-climbing robot. This eliminates the need to perform integration calculations on the angular velocity data collected by the gyroscope, avoiding the accumulation of angle errors caused by the "zero-bias drift" of the gyroscope, thereby improving the stability of the wall-climbing robot's attitude adjustment.

[0017] Preferably, step S2 specifically includes the following sub-steps: Step S21: According to Euler's formula, for each azimuth angle in the azimuth angle sequence... All are mapped to unit complex numbers ,in, The specific mathematical expression is as follows: ; Where t represents the time index, and t is a positive integer; i represents the imaginary unit of the complex number; Step S22: For the unit complex numbers corresponding to consecutive times t and t-1, calculate the rotational difference using complex division. ,in, The specific calculation formula is as follows: ; in, This represents the difference between the azimuth angle at time t and the azimuth angle at time t-1. Step S23: Extraction The principal argument value is used to obtain the instantaneous angular change of the wall-climbing robot from time t-1 to time t. ,in, The specific calculation formula is as follows: ; in, Representing complex numbers Argument function; Representing complex numbers The imaginary part of the function; Representing complex numbers The real part of the function.

[0018] In this embodiment, in step S21, by using Euler's formula to convert the azimuth angle to a unit complex number, the azimuth angle information is preserved, and the angle change can be handled using the rules of complex number operations. In step S22, by using complex number division to calculate the rotation difference at consecutive moments, the azimuth angle relationship between adjacent moments can be automatically associated. In step S23, by extracting the principal value of the argument of the complex number to obtain the instantaneous angle change, the angle difference in complex form can be converted into an intuitive angle value. At the same time, the atan2 function is used to correct the angle range to ensure that the angle change conforms to the actual rotation direction.

[0019] Preferably, in step S4, the current position and preset target position of the wall-climbing robot are input into the cascade control structure for processing, and the wall-climbing robot position control signal is output. This specifically includes the following sub-steps: Step S41: Based on the current position of the wall-climbing robot and preset target position The position error was calculated. ,in, The specific calculation formula is as follows: ; Step S42: Adjust the position error The outer loop is used for calculation, and the set speed is output. ,in, The specific mathematical expression is as follows: ; in, Indicates the outer loop proportional gain; Indicates the outer loop integral gain; Indicates the outer-loop differential gain; This represents the integral term of the position error from the initial time to the current time t; Step S43: Calculate the current speed of the wall-climbing robot based on its motion characteristics. ,in, The specific calculation formula is as follows: ; Step S44: According to and The speed error was calculated. ,in, The specific calculation formula is as follows: ; Step S45: Calculate the speed error The inner loop performs calculations on the input and outputs control quantities used to control the position of the wall-climbing robot. ,in, The specific mathematical expression is as follows: ; in, Indicates the inner-loop proportional gain; Indicates the inner-loop integral gain; Indicates the inner-loop differential gain; This represents the integral term of the velocity error from the initial time to the current time t.

[0020] In this embodiment, in step S41, the position error is calculated based on the current position and target position of the wall-climbing robot, providing accurate input basis for the outer loop of the subsequent cascade control structure. In step S42, by inputting the position error into the outer loop for calculation, the output set speed integrates the proportional, integral, and derivative effects of the outer loop. The outer loop's proportional function provides a fast response to the position error, improving the real-time adjustment capability of the wall-climbing robot system; the outer loop's integral function accumulates long-term position errors, eliminating steady-state deviations and preventing the wall-climbing robot from deviating from the target position for extended periods; the outer loop's derivative function introduces actual speed feedback, suppressing oscillations caused by position changes in advance. In step S43, the current speed of the wall-climbing robot is calculated, providing accurate actual motion state data for the subsequent speed error calculation. In step S44, the speed error is calculated based on the current speed and set speed of the wall-climbing robot, providing a data basis for the input of the inner loop of the subsequent cascade control structure. In step S45, by inputting the speed error into the inner loop for calculation, the output control quantity integrates multiple gain parameters from both the inner and outer loops, thereby achieving a faster and more accurate system control response.

[0021] Another aspect of this application provides a posture and position control system for a wall-climbing robot, the system comprising: The data acquisition module is used to collect angular velocity data through the gyroscope of the wall-climbing robot; The sampling module is used to continuously sample the azimuth angle from the angular velocity data to obtain the azimuth angle sequence; The mapping module is used to map each azimuth angle in the azimuth angle sequence to a unit complex number. The solution module is used to calculate the instantaneous angle change of the wall-climbing robot using the group theory properties of complex number division; The module is used to construct a cascade control structure using the derivative-first PID algorithm, wherein the cascade control structure includes an outer loop and an inner loop; The acquisition module is used to obtain the current position of the wall-climbing robot; The processing module is used to process the instantaneous angle change, current position and preset target position of the wall-climbing robot into the cascade control structure, and output the posture and position control signals of the wall-climbing robot.

[0022] This solution provides a posture and position control system for a wall-climbing robot. Through the coordinated operation of a data acquisition module, a sampling module, a mapping module, a construction module, an acquisition module, and a processing module, it achieves precise control of the robot's posture and position. The solution first continuously samples the azimuth angle from the angular velocity data acquired by the robot's gyroscope. Then, the azimuth angle is mapped to a unit complex number, and the instantaneous angle change of the robot is calculated using the group theory property of complex number division. This eliminates the need for integration calculations on the angular velocity data acquired by the gyroscope, avoiding the accumulation of angle errors caused by the gyroscope's "zero-bias drift," thereby improving the stability of the robot's posture adjustment.

[0023] Preferably, the mapping module includes: a mapping submodule, used to map each azimuth angle in the azimuth angle sequence according to Euler's formula. All are mapped to unit complex numbers ,in, The specific mathematical expression is as follows: ; Where t represents the time index, and t is a positive integer; i represents the imaginary unit of the complex number.

[0024] In this embodiment, by setting up a mapping submodule, the azimuth angle information is preserved, and the operation rules of complex numbers are used to handle angle changes.

[0025] Preferably, the solution module includes: a first calculation submodule, used to calculate the rotational difference for the unit complex numbers corresponding to consecutive times t and t-1 by complex division. ,in, The specific calculation formula is as follows: ; in, This represents the difference between the azimuth angle at time t and the azimuth angle at time t-1. Extraction submodule, used for extraction The principal argument value is used to obtain the instantaneous angular change of the wall-climbing robot from time t-1 to time t. ,in, The specific calculation formula is as follows: ; in, Representing complex numbers Argument function; Representing complex numbers The imaginary part of the function; Representing complex numbers The real part of the function.

[0026] In this embodiment, by setting a first calculation submodule, the azimuth angle relationship between adjacent moments can be automatically associated. By setting an extraction submodule, the complex angle difference can be converted into an intuitive angle value, and the atan2 function is used to correct the angle range to ensure that the angle change conforms to the actual rotation direction.

[0027] Preferably, the processing module includes: The second calculation submodule is used to calculate based on the current position of the wall-climbing robot. and preset target position The position error was calculated. ,in, The specific calculation formula is as follows: ; The first calculation submodule is used to process the position error. The outer loop is used for calculation, and the set speed is output. ,in, The specific mathematical expression is as follows: ; in, Indicates the outer loop proportional gain; Indicates the outer loop integral gain; Indicates the outer-loop differential gain; This represents the integral term of the position error from the initial time to the current time t; The third calculation submodule is used to calculate the current speed of the wall-climbing robot based on its motion characteristics. ,in, The specific calculation formula is as follows: ; The fourth calculation submodule is used to calculate based on and The speed error was calculated. ,in, The specific calculation formula is as follows: ; The second calculation submodule is used to process the speed error. The inner loop performs calculations on the input and outputs control quantities used to control the position of the wall-climbing robot. ,in, The specific mathematical expression is as follows: ; in, Indicates the inner-loop proportional gain; Indicates the inner-loop integral gain; Indicates the inner-loop differential gain; This represents the integral term of the velocity error from the initial time to the current time t.

[0028] In this embodiment, by setting a second calculation submodule, accurate input data is provided for the outer loop of the subsequent cascade control structure. By setting a first arithmetic submodule, the output set speed integrates the proportional, integral, and derivative actions of the outer loop. By setting a third calculation submodule, accurate actual motion state data is provided for the subsequent calculation of speed error. By setting a fourth calculation submodule, a data foundation is provided for the input of the inner loop of the subsequent cascade control structure. By setting a second arithmetic submodule, the output control quantity integrates multiple gain parameters from both the inner and outer loops, thereby achieving a faster and more accurate system control response.

[0029] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0030] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for posture and position control of a wall-climbing robot, characterized in that: Includes the following steps: Step S1: Collect angular velocity data using the gyroscope of the wall-climbing robot, and continuously sample the azimuth angle from the angular velocity data to obtain an azimuth angle sequence; Step S2: Map each azimuth in the azimuth sequence to a unit complex number, and use the group theory property of complex division to calculate the instantaneous angle change of the wall-climbing robot; Step S3: Construct a cascade control structure using the derivative-first PID algorithm, wherein the cascade control structure includes an outer loop and an inner loop; Step S4: Obtain the current position of the wall-climbing robot, and input the instantaneous angle change of the wall-climbing robot, the current position and the preset target position into the cascade control structure for processing, and output the posture and position control signals of the wall-climbing robot.

2. The method for posture and position control of a wall-climbing robot according to claim 1, characterized in that: Step S2 specifically includes the following sub-steps: Step S21: According to Euler's formula, for each azimuth angle in the azimuth angle sequence... All are mapped to unit complex numbers ,in, The specific mathematical expression is as follows: ； Where t represents the time index, and t is a positive integer; i represents the imaginary unit of the complex number; Step S22: For the unit complex numbers corresponding to consecutive times t and t-1, calculate the rotational difference using complex division. ,in, The specific calculation formula is as follows: ； in, This represents the difference between the azimuth angle at time t and the azimuth angle at time t-1. Step S23: Extraction The principal argument value is used to obtain the instantaneous angular change of the wall-climbing robot from time t-1 to time t. ,in, The specific calculation formula is as follows: ； in, Representing complex numbers Argument function; Representing complex numbers The imaginary part of the function; Representing complex numbers The real part of the function.

3. The method for posture and position control of a wall-climbing robot according to claim 1, characterized in that: In step S4, the current position and preset target position of the wall-climbing robot are input into the cascade control structure for processing, and the wall-climbing robot position control signal is output. Specifically, this includes the following sub-steps: Step S41: Based on the current position of the wall-climbing robot and preset target position The position error was calculated. ,in, The specific calculation formula is as follows: ； Step S42: Adjust the position error The outer loop is used for calculation, and the set speed is output. ,in, The specific mathematical expression is as follows: ； in, Indicates the outer loop proportional gain; Indicates the outer loop integral gain; Indicates the outer-loop differential gain; This represents the integral term of the position error from the initial time to the current time t; Step S43: Calculate the current speed of the wall-climbing robot based on its motion characteristics. ,in, The specific calculation formula is as follows: ； Step S44: According to and The speed error was calculated. ,in, The specific calculation formula is as follows: ； Step S45: Calculate the speed error The inner loop performs calculations on the input and outputs control quantities used to control the position of the wall-climbing robot. ,in, The specific mathematical expression is as follows: ； in, Indicates the inner-loop proportional gain; Indicates the inner-loop integral gain; Indicates the inner-loop differential gain; This represents the integral term of the velocity error from the initial time to the current time t.

4. A posture and position control system for a wall-climbing robot, using the posture and position control method for a wall-climbing robot as described in any one of claims 1-3, characterized in that: The system includes: The data acquisition module is used to collect angular velocity data through the gyroscope of the wall-climbing robot; The sampling module is used to continuously sample the azimuth angle from the angular velocity data to obtain the azimuth angle sequence; The mapping module is used to map each azimuth angle in the azimuth angle sequence to a unit complex number. The solution module is used to calculate the instantaneous angle change of the wall-climbing robot using the group theory properties of complex number division; The module is used to construct a cascade control structure using the derivative-first PID algorithm, wherein the cascade control structure includes an outer loop and an inner loop; The acquisition module is used to obtain the current position of the wall-climbing robot; The processing module is used to process the instantaneous angle change, current position and preset target position of the wall-climbing robot into the cascade control structure, and output the posture and position control signals of the wall-climbing robot.

5. The posture and position control system for a wall-climbing robot according to claim 4, characterized in that: The mapping module includes: The mapping submodule is used to map each azimuth angle in the azimuth angle sequence according to Euler's formula. All are mapped to unit complex numbers ,in, The specific mathematical expression is as follows: ； Where t represents the time index, and t is a positive integer; i represents the imaginary unit of the complex number.

6. The posture and position control system for a wall-climbing robot according to claim 5, characterized in that: The solution module includes: The first calculation submodule is used to calculate the rotational difference for the unit complex numbers corresponding to consecutive times t and t-1 using complex number division. ,in, The specific calculation formula is as follows: ； in, This represents the difference between the azimuth angle at time t and the azimuth angle at time t-1. Extraction submodule, used for extraction The principal argument value is used to obtain the instantaneous angular change of the wall-climbing robot from time t-1 to time t. ,in, The specific calculation formula is as follows: ； in, Representing complex numbers Argument function; Representing complex numbers The imaginary part of the function; Representing complex numbers The real part of the function.

7. The posture and position control system for a wall-climbing robot according to claim 4, characterized in that: The processing module includes: The second calculation submodule is used to calculate based on the current position of the wall-climbing robot. and preset target position The position error was calculated. ,in, The specific calculation formula is as follows: ； The first calculation submodule is used to calculate the position error. The outer loop is used for calculation, and the set speed is output. ,in, The specific mathematical expression is as follows: ； in, Indicates the outer loop proportional gain; Indicates the outer loop integral gain; Indicates the outer-loop differential gain; This represents the integral term of the position error from the initial time to the current time t; The third calculation submodule is used to calculate the current speed of the wall-climbing robot based on its motion characteristics. ,in, The specific calculation formula is as follows: ； The fourth calculation submodule is used to calculate based on and The speed error was calculated. ,in, The specific calculation formula is as follows: ； The second calculation submodule is used to process the speed error. The inner loop performs calculations on the input and outputs control quantities used to control the position of the wall-climbing robot. ,in, The specific mathematical expression is as follows: ； in, Indicates the inner-loop proportional gain; Indicates the inner-loop integral gain; Indicates the inner-loop differential gain; This represents the integral term of the velocity error from the initial time to the current time t.

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