Curtain wall cleaning robot and control method thereof

Abstract

The invention belongs to the technical field of cleaning robots, and particularly relates to a curtain wall cleaning robot which comprises a shell, four flexible limbs, a walking wheel set and a cleaning device. The shell comprises an upper shell body, and a lower shell body is installed at the bottom of the upper shell body. Each flexible limb comprises a multi-degree-of-freedom connecting rod, the four multi-degree-of-freedom connecting rods are installed on the outer wall of the upper shell, negative pressure suction cups are installed at the ends of the four multi-degree-of-freedom connecting rods, and elastic buffering elements are further installed on the multi-degree-of-freedom connecting rods; the cleaning robot integrates an integrated flexible executing mechanism, a multi-source energy collecting system and an intelligent multi-mode motion control system, ground bionic walking, rapid moving, vertical / inclined curtain wall climbing and ground-wall surface seamless switching can be achieved, and the cleaning robot is self-adaptive to diversified scenes such as flat ground, curved surfaces and multi-plane turning; efficient and self-adaptive cleaning of the building facade is achieved, and the cruising ability is remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cleaning robots, and particularly relates to a curtain wall cleaning robot and a control method thereof. BACKGROUND

[0002] Currently, high-altitude curtain wall cleaning technology mainly falls into three categories: manual cleaning, adsorption type wall climbing robots, and bionic climbing robots. Although various technologies have certain applications, they all have significant bottlenecks in adaptability, safety, and energy efficiency: (1) Manual cleaning Technical status: Relying on "spidermen" or baskets for high-altitude operations, this is the method still widely used at present.

[0003] Defects and deficiencies: Poor safety: Workers face a high risk of falling from a great height, and are greatly affected by the weather.

[0004] Low efficiency: The cleaning quality depends on the experience of workers, and the efficiency is low (usually less than 600 m2 / person·day), and the cost is high.

[0005] Limited operation range: Difficult to deal with complex curtain wall structures (such as curved surfaces, multi-plane turning points).

[0006] (2) Adsorption type wall climbing robot (represented by track / wheel type vacuum adsorption) Technical status: As disclosed in patent CN120886934A, it uses a rigid adsorption chassis and a track type moving mechanism, and realizes wall fixing through a single large-area negative pressure adsorption unit. The cleaning device is rigidly connected with the chassis.

[0007] Defects and deficiencies: Weak terrain adaptability: The rigid adsorption chassis cannot cross the window frames, decorative strips and other obstacles on the curtain wall surface (high failure probability), and is difficult to adapt to curved surfaces or vertical surfaces with large changes in inclination.

[0008] Poor flexibility: The movement mode is single, and cannot realize ground walking. Deployment and recovery need additional equipment assistance.

[0009] Adsorption reliability risk: Once the single large-area adsorption unit leaks, there is a risk of whole falling.

[0010] (3) Bionic climbing robot (represented by multi-legged intermittent adsorption) Technical status: As shown in patent CN119586931A, it uses a 6-legged rigid link structure, controls the adsorption and release of each adsorption foot through an independent vacuum pump, relies on a single battery power supply, and has no energy recovery device.

[0011] Defects and deficiencies: Low energy efficiency: intermittent adsorption and leg lifting require frequent start-stop of vacuum pump and driving mechanism, resulting in high energy consumption.

[0012] Short endurance time: limited by battery capacity, continuous operation time is usually less than 2 hours, which is difficult to meet the demand of large-area curtain wall cleaning.

[0013] Complex control and stability challenge: in the coordination of multi-legged movement and adsorption state switching, posture instability and impact are easy to occur, which requires high control algorithm.

[0014] Technical problem summary: the existing technical solutions have mutual constraints in the three core dimensions of environmental adaptability (unable to balance ground movement and complex facade climbing), energy self-sustaining (short endurance) and movement stability (large impact when overcoming obstacles, easy to lose stability), and lack a comprehensive solution that integrates high adaptability movement, long-term energy supply and intelligent stable operation. Therefore, there is an urgent need for a curtain wall cleaning robot system that integrates ground movement, facade climbing, energy self-sustaining and stable operation. SUMMARY

[0015] To solve the problems raised in the background art, the present application provides a curtain wall cleaning robot and its control method, the core technical solution is the collaborative design of "integrated flexible actuator + multi-source energy collection system + intelligent multi-modal motion control system", the specific working principle is as follows: 1. Integrated flexible actuator: multi-degree-of-freedom linkage (preferably 3 degrees of freedom) provides flexible movement space, cooperates with end negative pressure suction cup to realize reliable adsorption, and disc spring set buffers contact impact, which cooperates with each other to make the robot not only able to cross obstacles over 20 cm, but also able to keep movement stable; 2. Multi-source energy collection system: solar panels generate electricity continuously under light conditions, friction nanometer power generation modules recover friction energy of joint rotation, and turbine generators recover kinetic energy of air pump exhaust, three types of electrical energy are uniformly stored and distributed through energy management unit, which provides power for multi-modal motion and cleaning device, solving the problem of endurance; 3. Intelligent multi-modal motion control system: based on the fusion signal of camera and laser ranging sensor, the controller autonomously judges the environment (ground / wall surface, slope, obstacle), and switches the corresponding gait, and through the safety logic of "at least two points adsorption", the operation safety is ensured.

[0016] Through the above collaborative design, the robot can autonomously, stably and safely switch and work between the ground, vertical curtain wall, curved surface and multi-surface structure, realizing efficient and self-adaptive cleaning of building facades.

[0017] In order to achieve the above object, the present application provides the following technical scheme: a curtain wall cleaning robot, comprising a shell, four flexible limbs, a walking wheel set and a cleaning device; the shell comprises an upper shell, a lower shell is mounted at the bottom of the upper shell; the four flexible limbs each comprise a multi-degree-of-freedom linkage, the four multi-degree-of-freedom linkages are each mounted on the outer wall of the upper shell, and the end of each of the four multi-degree-of-freedom linkages is provided with a negative pressure suction cup, and an elastic buffer element is further mounted on the multi-degree-of-freedom linkage; the cleaning device comprises a cleaning frame, the cleaning frame is located below the lower shell, a notch is formed in the upper shell, a telescopic piece is mounted on the top of the cleaning frame, and the top of the telescopic piece passes through the notch and is movably mounted on the top of the lower shell.

[0018] Preferably, a camera and a laser ranging sensor are respectively mounted on the outer wall of the upper shell.

[0019] Preferably, a fixed piece is fixedly mounted on the top of the lower shell near each corner, and a reinforcing rib is fixedly mounted on the outer wall of the fixed piece.

[0020] Preferably, the walking wheel set comprises a walking motor, the walking motor is fixedly connected with the upper shell, and a wheel body is fixedly mounted on the output end of the walking motor.

[0021] Preferably, two side frames are fixedly mounted on the top of the lower shell, an electric sliding rail is fixedly mounted between the two side frames, an electric sliding block is slidably connected on the electric sliding rail, and the electric sliding block is fixedly connected with the top of the telescopic piece.

[0022] Preferably, a solar panel is mounted on the top of the upper shell, a friction nano power generation module is mounted at the joint of the multi-degree-of-freedom linkage, a turbine generator is further mounted on the negative pressure suction cup, the turbine generator, the friction nano power generation module and the solar panel are electrically connected with an energy management unit, and the energy management unit is mounted in the upper shell.

[0023] Preferably, the elastic buffer element is a disc spring set.

[0024] A control method of a curtain wall cleaning robot is suitable for the curtain wall cleaning robot, and comprises the following steps: S1: bionic walking gait: suitable for flat ground, four flexible limbs are controlled to move in a diagonal gait, the negative pressure suction cup does not work at this time, and the robot walks like a quadruped animal; S2: wall climbing gait: suitable for vertical or inclined curtain wall, a gait of "three-point suction and one-point movement" is adopted, the suction and release of the electromagnetic valve of the air pump are controlled in coordination, at least two negative pressure suction cups are ensured to be in the suction state at any time, the joint movement is controlled, and stable climbing on the wall surface is realized; S3: fast moving gait: suitable for flat or slope ≤ 40° ground, retract the flexible limbs and put down the walking wheel set, drive the four wheel bodies to rotate by controlling the walking motor, realize forward, backward and differential steering; S4: wall climbing gait: realize the transition from ground to wall, the robot walks to the wall, extends the front limb negative pressure suction disc to adsorb the wall, then pulls up the shell through the coordinated movement of the flexible limbs, finally makes the four legs adsorb on the wall, retracts the walking wheel set; S5: wall descending gait: realize the transition from wall to ground, it is a reverse process, by sequentially releasing the negative pressure suction disc and controlling the slow extension of the flexible limbs, the robot smoothly slides to the ground, then switches to walking or fast moving gait.

[0025] Compared with the prior art, the beneficial effects of the present application are: 1. Excellent multi-terrain and environmental adaptability: the robot integrates five motion modes of wheeled fast moving, bionic ground walking, vertical or inclined surface climbing, autonomous obstacle crossing and seamless ground-wall switching. Through unified mechanical structure and intelligent control framework, it can adapt to various working scenes from flat ground to complex facade (including curved surface, multi-plane turning), solving the problem of single function of traditional robots.

[0026] 2. Outstanding high obstacle crossing and high stable motion ability: the integrated actuator design of "three degrees of freedom flexible limb + end negative pressure suction disc" is adopted. Three degrees of freedom provides flexible motion space, making the obstacle crossing height above 20cm; the integrated disc spring buffer can effectively absorb the contact impact, reducing the vibration damage to the robot body; the negative pressure suction disc provides reliable adsorption. The combination of the three makes the robot have flexibility, reliable adsorption and motion stability when crossing curtain wall obstacles.

[0027] 3. Significant energy self-provision and long endurance: innovatively integrated are three energy collection methods of air pump exhaust kinetic energy recovery, solar energy and joint friction nanometer power generation, and combined with intelligent energy management system for optimized scheduling. The system can convert the energy dissipated into electrical energy, significantly prolong the endurance time, realize the theoretical working time of more than 5 hours, support long-time and large-area continuous operation, and reduce the dependence on frequent charging or battery replacement.

[0028] 4. High-efficiency and safe autonomous operation ability: based on multi-sensor fusion, the robot can realize real-time sensing of the environment and its own posture, and realize autonomous, smooth and safe switching between different gaits through the preset finite state machine control algorithm. Especially the safety constraint logic of "at least maintaining two-point adsorption", fundamentally eliminates the risk of falling due to accidental detachment during switching or moving, and improves the overall operation safety and automation level. BRIEF DESCRIPTION OF DRAWINGS

[0029] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a top view of the structure of the present invention; Figure 2 This is a side view of the structure of the present invention; Figure 3 This is a schematic diagram of the external three-dimensional structure of the present invention; Figure 4 This is a schematic diagram of the structure of the flexible limb of the present invention; Figure 5 This is a structural unfolded view of the outer casing of the present invention.

[0030] In the diagram: 1. Outer shell; 11. Upper shell; 12. Lower shell; 13. Camera; 14. Laser rangefinder; 15. Fixing component; 16. Reinforcing rib; 2. Flexible limb; 21. Multi-degree-of-freedom linkage; 22. Negative pressure suction cup; 23. Elastic buffer element; 3. Walking wheel set; 31. Walking motor; 32. Wheel body; 4. Cleaning device; 41. Cleaning frame; 42. Telescopic component; 43. Groove; 44. Electric slider; 45. Electric slide rail; 46. Side frame. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] like Figures 1-5 As shown: A curtain wall cleaning robot includes a shell 1, four flexible limbs 2, a set of wheels 3, a cleaning device 4, a sensor assembly, and an energy supply system; The outer shell 1 includes an upper shell 11 (made of aluminum alloy, with dimensions of 300mm×300mm×100mm) and a lower shell 12 (made of engineering plastic, with dimensions of 300mm×300mm×80mm), which are fixedly connected by 4 fasteners 15 (M8 bolts). The reinforcing rib 16 is a triangular steel plate with a thickness of 5mm to improve the connection strength. The four flexible limbs 2 are all 3-DOF connecting rods 21 (made of carbon fiber, with each joint rotation angle range of 0°-180° and obstacle clearance height ≥20cm), and negative pressure suction cups 22 (diameter 80mm, maximum suction force 80N, working suction force ≥50N) are installed at the ends. Disc spring groups 23 (model 6120, stiffness 50N / mm) are installed on the connecting rods. The walking wheel set 3 includes four walking motors 31 (model 57BLDC, rated power 50W), and the output end is installed with a wheel body 32 (diameter 100mm, rubber material); The cleaning device 4 includes a cleaning frame 41 (size 250mmx200mm), and a cleaning brush (bristle length 50mm) and a high-pressure spray head (spray pressure 0.3MPa) are installed inside; an electric push rod (extension piece 42, model XTL100, extension stroke 150mm) is installed on the top of the cleaning frame, and the top of the electric push rod is installed on the top of the lower shell 12 through an electric sliding block 44 (slidingly matched with an electric sliding rail 45, sliding rail stroke 200mm, driving motor power 20W); The sensor assembly includes a camera 13 (resolution 1920x1080, frame rate 30fps) and a laser ranging sensor 14 (measurement range 0.1-5m, accuracy ±1mm); The energy supply system includes a solar panel (power 50W, conversion efficiency 22%), a friction nanometer power generation module (model TENG-100, output voltage 3.3V), a turbine generator (model TG-50, output power 10W), and an energy management unit (integrated lithium battery capacity 10Ah, charging voltage 5V, output voltage 12V).

[0033] The working process of the energy supply system is as follows: 1. The solar panel converts solar energy into electrical energy, and the voltage is stabilized by a photovoltaic controller (integrated in the energy management unit) and then transmitted to the lithium battery for storage; 2. When the joint of the multi-degree-of-freedom connecting rod 21 rotates, the upper and lower friction layers (polytetrafluoroethylene and aluminum foil) of the friction nanometer power generation module slide relative to each other, generating electrostatic induction, and the output low-voltage electrical energy is converted into direct-current electrical energy by a rectifier circuit and transmitted to the lithium battery; 3. When the air pump of the negative pressure suction cup 22 works, the air flow velocity of the exhaust port reaches 15m / s, driving the turbine of the turbine generator to rotate (rotation speed 3000rpm), and the generated electrical energy is transmitted to the lithium battery after voltage stabilization; 4. The energy management unit monitors the lithium battery power in real time, when the power≥80%, the solar panel is preferentially used for power supply; when the power<30%, the turbine generator and the friction nanometer power generation module are started to generate power, to ensure the continuous operation of the robot.

[0034] In this embodiment: in use, first use the walking wheel set 3 to move the whole device to the appropriate position, then the multi-degree of freedom connecting rod 21 can be used to lift the negative pressure suction cup 22 and adsorb on the curtain wall, at this time the walking wheel set 3 is retracted, after the four negative pressure suction cups 22 are adsorbed on the curtain wall, the adsorption of a single negative pressure suction cup 22 is released in turn, and the lifted negative pressure suction cup 22 is adsorbed again under the action of the corresponding multi-degree of freedom connecting rod 21, the walking process of the whole cleaning robot on the curtain wall is completed, during which the cleaning brush and the spray head and other components installed inside the cleaning frame 41 are used to clean the curtain wall, after cleaning, the cleaning frame 41 is moved away from the curtain wall by cooperating with the telescopic piece 42.

[0035] In an optional embodiment, the outer wall of the upper shell 11 is respectively provided with a camera 13 and a laser ranging sensor 14.

[0036] In this embodiment: the controller of the robot uses an STM32H743 single-chip microcomputer, the signals of the camera 13 and the laser ranging sensor 14 are transmitted to the controller through an I2C bus, and the controller controls the driving modules of the walking motor 31, the air pump electromagnetic valve, the electric push rod and the electric sliding rail through a PWM signal, which can accurately identify obstacles and avoid them during movement, and can also identify the areas that need to be cleaned to provide accurate cleaning effect.

[0037] In an optional embodiment, the lower shell 12 is fixedly installed with a fixed piece 15 near the four corners at the top, and the outer wall of the fixed piece 15 is fixedly installed with a reinforcing rib 16.

[0038] In this embodiment: the fixed piece 15 is used to fixedly install the lower shell 12 and the upper shell 11, and the reinforcing rib 16 can further improve the fixing effect and ensure the stability.

[0039] In an optional embodiment, the walking wheel set 3 includes a walking motor 31, the walking motor 31 is fixedly connected with the upper shell 11, and the output end of the walking motor 31 is fixedly installed with a wheel body 32.

[0040] In this embodiment: when moving the whole robot by using the walking wheel set 3, four walking motors 31 can be driven to make the four walking motors 31 drive the four wheel bodies 32 to rotate, and the friction between the wheel bodies 32 and the ground promotes the movement of the whole robot.

[0041] In an optional embodiment, the top of the lower shell 12 is fixedly installed with two side frames 46, the electric sliding rail 45 is fixedly installed between the two side frames 46, the electric sliding block 44 is slidingly connected with the electric sliding rail 45, and the electric sliding block 44 is fixedly connected with the top of the telescopic piece 42.

[0042] In the embodiment: through the cooperation of the above structure, the horizontal movement function of the cleaning frame 41 and other components at the bottom of the lower shell 12 can be realized, thereby expanding the cleaning range of the cleaning brush and the nozzle inside the cleaning frame 41, and making the cleaning effect better.

[0043] In an optional embodiment, a solar panel is installed at the top of the upper shell 11, a friction nano power generation module is installed at the joint of the multi-degree-of-freedom connecting rod 21, and a turbine generator is further installed on the negative pressure suction cup 22. The turbine generator, the friction nano power generation module and the solar panel are electrically connected with an energy management unit, which is installed inside the upper shell 11.

[0044] In the embodiment: through the setting of the turbine generator, the friction nano power generation module and the solar panel, the kinetic energy of the exhaust of the vacuum device, the solar energy and the mechanical friction at the joint of the multi-degree-of-freedom connecting rod 21 can be recovered and converted into electric energy, which is finally coordinated and dispatched by the energy management unit.

[0045] In an optional embodiment, the elastic buffer element 23 is a disc spring set.

[0046] In the embodiment: the disc spring set provides good buffering effect for the flexible limbs 2, so that the traveling process is more stable.

[0047] A control method of a curtain wall cleaning robot, suitable for a curtain wall cleaning robot, comprising the following steps: S1: bionic walking gait: suitable for flat ground, control four flexible limbs 2 to move in a diagonal gait, at this time the negative pressure suction cup 22 does not work, and the robot walks like a quadruped animal; S2: wall climbing gait: suitable for vertical or inclined curtain wall, adopting a gait of "three-point suction and one-point movement", through coordinated control of the suction and release of the air pump electromagnetic valve and the control of joint movement, stable climbing on the wall surface is realized; S3: fast moving gait: suitable for flat or slope ≤40° ground, retracting the flexible limbs 2 and lowering the walking wheel set 3, through the control of the walking motor 31 to drive the four wheel bodies 32 to rotate, forward, backward and differential steering are realized; S4: wall climbing gait: realizing the transition from the ground to the wall, the robot moves to the wall, the front limb negative pressure suction cup 22 is extended to adsorb the wall surface, then the outer shell 1 is pulled up through the coordinated movement of the flexible limbs 2, and finally the four legs are adsorbed on the wall surface, and the walking wheel set 3 is retracted; S5: wall climbing gait: realizing the transition from the wall to the ground, which is a reverse process, through sequentially releasing the negative pressure suction cup 22 and controlling the slow extension of the flexible limbs 2, the robot is smoothly slid to the ground, and then the walking or fast moving gait is switched.

[0048] Control logic flow of gait switching: 1. The controller collects sensor signals in real time, judges the current environment (ground / wall, slope, obstacle distance / height); 2. According to the environmental parameters, match the preset gait (such as ground slope ≤ 0° and no obstacle → bionic walking gait); 3. Send control signals to each actuator to execute corresponding gait actions; 4. Real-time monitoring of attitude sensor (MPU6050 type, integrated accelerometer and gyroscope) signal, if the attitude fluctuation is > 5°, immediately trigger the emergency suction (all negative pressure suction cups are sucked), adjust the attitude and continue the work.

[0049] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the foregoing embodiments of the present application are described in detail, for those skilled in the art, it still can be modified, or part of the technical features of the equivalent replacement. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application, should be included in the protection scope of the present application.

Claims

1. A curtain wall cleaning robot, characterized in that: It includes an outer shell (1), four flexible limbs (2), a set of walking wheels (3), a cleaning device (4), a sensor assembly, and an energy supply system; The outer shell (1) includes an upper shell (11), and a lower shell (12) is installed at the bottom of the upper shell (11). Each of the four flexible limbs (2) includes a multi-degree-of-freedom link (21). The four multi-degree-of-freedom links (21) are all mounted on the outer wall of the upper housing (11), and the ends of the four multi-degree-of-freedom links (21) are all equipped with negative pressure suction cups (22). Elastic buffer elements (23) are also mounted on the multi-degree-of-freedom links (21). The cleaning device (4) includes a cleaning frame (41), which is located below the lower housing (12). The lower housing (12) has a slot (43) and a telescopic component (42) is installed on the top of the cleaning frame (41). The top of the telescopic component (42) passes through the slot (43) and is movably installed on the top of the lower housing (12). The sensor assembly includes a camera (13) and a laser rangefinder (14) mounted on the outer wall of the upper housing (11); The energy supply system includes an energy management unit installed inside the upper housing (11).

2. The curtain wall cleaning robot according to claim 1, characterized in that: The camera (13) is used to identify the cleaning area and obstacles of the curtain wall, and the laser range sensor (14) is used to detect the distance between the robot and the wall and the ground and the height of the obstacles. Both signals are transmitted to the controller to provide a basis for gait switching and motion control.

3. The curtain wall cleaning robot according to claim 1, characterized in that: The lower housing (12) is fixedly installed with fasteners (15) at the top near the four corners, and the fasteners (15) are fixedly installed with reinforcing ribs (16) on the outer wall.

4. A curtain wall cleaning robot according to claim 1, characterized in that: The walking wheel set (3) includes a walking motor (31), which is fixedly connected to the upper housing (11), and a wheel body (32) is fixedly installed at the output end of the walking motor (31).

5. A curtain wall cleaning robot according to claim 1, characterized in that: Two side frames (46) are fixedly installed on the top of the lower housing (12), and an electric slide rail (45) is fixedly installed between the two side frames (46). An electric slider (44) is slidably connected on the electric slide rail (45), and the electric slider (44) is fixedly connected to the top of the telescopic member (42).

6. A curtain wall cleaning robot according to claim 1, characterized in that: The energy supply system also includes a solar panel, a triboelectric nano-power generation module, and a turbine generator. The solar panel is installed on the top of the upper housing (11) to convert solar energy into electrical energy. The triboelectric nano-power generation module is installed at the joint of the multi-degree-of-freedom linkage (21) and generates electrostatic induction power through the relative motion of the friction layer when the joint rotates. The turbine generator is installed at the exhaust port of the air pump of the negative pressure suction cup (22) and generates power by driving the turbine to rotate using the exhaust airflow of the air pump. The solar panel, the triboelectric nano-power generation module, and the turbine generator are all electrically connected to the input end of the energy management unit through wires. The energy management unit is used for energy storage, voltage stabilization, and power distribution to actuators such as the walking motor (31), air pump, and controller.

7. A curtain wall cleaning robot according to claim 1, characterized in that: The elastic buffer element (23) is a disc spring assembly.

8. A control method for a curtain wall cleaning robot, applicable to the curtain wall cleaning robot according to any one of claims 1-7, characterized in that, Includes the following steps: S1: Bionic walking gait: When the laser ranging sensor (14) detects that the ground slope is ≤0° and there are no obstacles, it triggers and controls the four flexible limbs (2) to move in a diagonal gait (limbs 1 and 3 lift up and move synchronously, limbs 2 and 4 support; then limbs 2 and 4 lift up and move, limbs 1 and 3 support). At this time, the negative pressure suction cup (22) does not work, and the robot walks like a quadruped. S2: Wall climbing gait: When the laser rangefinder (14) detects a wall tilt angle ≥60°, it triggers a cyclical gait of "three-point adsorption, one-point movement": the negative pressure suction cups (22) of flexible limbs 1, 2, and 3 are kept adsorbed to the wall, the negative pressure suction cup (22) of flexible limb 4 is released, and limb 4 is driven to move to the target position and adsorbed through the multi-degree-of-freedom linkage (21); then limbs 1, 2, and 4 are kept adsorbed, limb 3 is released and moved to adsorb; By sequentially following a clockwise order, stable climbing can be achieved. S3: Rapid movement gait: When the laser rangefinder (14) detects a ground slope ≤40° and no obstacle with a height >5cm, it triggers the retraction of the flexible limb (2) and the lowering of the walking wheel set (3). By controlling the walking motor (31), it drives the four wheels (32) to rotate at a speed of 0.5-1m / s, realizing forward, backward and differential steering; S4: Wall-mounted gait: When the laser rangefinder (14) detects that the distance between the robot and the wall is ≤10cm, it is triggered. The negative pressure suction cups (22) of the forelimbs (flexible limbs 1 and 2) are extended to adhere to the wall and maintain the suction force ≥50N. Then, the outer shell (1) is pulled up by the coordinated contraction of the flexible limbs (2), so that the negative pressure suction cups (22) of the hindlimbs (3 and 4) adhere to the wall. Finally, all four legs are adhered to the wall and the walking wheel set (3) is retracted. S5: Downhill gait: When the camera (13) recognizes that there are no obstacles on the ground and the laser rangefinder (14) detects that the robot is ≤50cm above the ground, it is triggered. The negative pressure suction cup (22) is released in the order of "4→3→2→1" to control the flexible limb (2) to slowly extend at a speed of 5cm / s, so that the robot can smoothly slide down to the ground. Then it switches to walking or fast movement gait.

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