CN112792819A - Crawling robot and control method - Google Patents
Crawling robot and control method Download PDFInfo
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- CN112792819A CN112792819A CN202110157005.5A CN202110157005A CN112792819A CN 112792819 A CN112792819 A CN 112792819A CN 202110157005 A CN202110157005 A CN 202110157005A CN 112792819 A CN112792819 A CN 112792819A
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- crawling robot
- supporting leg
- driving
- chassis
- crawling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The present disclosure provides a crawling robot and a control method. The method comprises the following steps: the first traveling mechanism comprises an upper chassis and a first supporting leg group arranged on the upper chassis, the second traveling mechanism comprises a lower chassis and a second supporting leg group arranged on the lower chassis, each supporting leg in the first supporting leg group and the second supporting leg group comprises a supporting part and a first driving device, the supporting parts are connected with the first driving devices, and the first driving devices are connected with the upper chassis or the lower chassis and are used for driving the supporting parts to move relative to the upper chassis or the lower chassis so as to realize the bending and unfolding of the supporting legs; the second driving device is used for driving the upper chassis and the lower chassis to move relatively according to the advancing direction; the detection device is arranged at the front end of the upper chassis; the controller is connected with the first driving device, the second driving device and the detection device, and is used for controlling the first traveling mechanism and the second traveling mechanism to alternately travel and controlling the supporting legs to bend and unfold. Therefore, the crawling robot crawls and detects the wind power blades, and the detection efficiency is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a crawling robot and a control method.
Background
With the improvement of the installation probability of the wind power blade and the lengthening of the operation time, outdoor operations such as operation, maintenance and repair of the fan blade or the aviation blade are urgently needed. At present, the maintenance of the blade with the complex curved surface on the surface is mainly finished manually, and the maintenance mainly depends on the level and the labor intensity of an operator, so that the detection work efficiency is low.
Disclosure of Invention
The disclosure provides a crawling robot and a control method, so that the crawling robot can detect wind power blades to improve the detection efficiency.
A first aspect of the present disclosure provides a crawling robot, comprising:
the first traveling mechanism comprises an upper chassis and a first supporting leg group arranged on the upper chassis, and the first supporting leg group comprises a plurality of supporting legs;
the second traveling mechanism comprises a lower chassis and a second supporting leg group arranged on the lower chassis, the second supporting leg group comprises a plurality of supporting legs, and the lower chassis is in sliding fit with the upper chassis along the traveling direction;
each support leg in the first support leg group and the second support leg group comprises a support part and a first driving device, the first driving device is connected with the upper chassis or the lower chassis, the support part is connected with the first driving device, and the first driving device is used for driving the support part to move relative to the upper chassis or the lower chassis so as to realize the bending and unfolding of the support leg;
the second driving device is used for driving the upper chassis and the lower chassis to move relatively according to the advancing direction;
the detection device is arranged at the front end of the upper chassis;
the controller is connected with the first driving device, the second driving device and the detection device and is used for controlling the first traveling mechanism and the second traveling mechanism to alternately travel and controlling the supporting legs to bend and unfold.
In the embodiment, after the controller controls the plurality of first support leg groups on the first traveling mechanism to travel for the predetermined distance along the traveling direction, the controller controls the plurality of second support leg groups on the second traveling mechanism to travel for the predetermined distance along the traveling direction, wherein the first traveling mechanism and the second traveling mechanism alternately travel, in the traveling process, the upper chassis and the lower chassis can move relatively, and the detection device positioned at the upper front end moves along with the upper chassis to detect the surface condition of the passing path. And the supporting part of each supporting leg is driven by the first driving device to realize the bending and unfolding of the supporting leg, so that when the crawling robot is placed on the fan blade, the first supporting leg group and the second supporting leg group on the first travelling mechanism and the second travelling mechanism can be adsorbed on the fan blade, and when the first supporting leg group is lifted to advance, the second supporting leg group is adsorbed on the fan blade, so as to ensure the stability of the crawling robot on the fan blade, and further complete the detection of the fan blade. Therefore, the crawling robot detects the wind power blades, and therefore detection efficiency is improved.
In one embodiment, the first set of support legs comprises at least three support legs;
according to the advancing direction of the crawling robot, one supporting leg is installed at the front end of the upper chassis, one supporting leg is installed at the rear end of the upper chassis, at least one supporting leg is installed in the middle of the upper chassis, the supporting leg installed at the front end of the upper chassis and the supporting leg installed at the rear end of the upper chassis are located on the same side, and the at least one supporting leg installed in the middle of the upper chassis and the supporting leg installed at the front end of the upper chassis are located on different sides.
In one embodiment, the second set of support legs comprises at least three support legs;
according to the advancing direction of the crawling robot, one supporting leg is installed at the front end of the lower chassis, one supporting leg is installed at the rear end of the lower chassis, at least one supporting leg is installed in the middle of the lower chassis, the supporting leg installed at the front end of the lower chassis and the supporting leg installed at the rear end of the lower chassis are located on the same side, and the at least one supporting leg installed in the middle of the lower chassis and the supporting leg installed at the front end of the lower chassis are located on different sides.
In one embodiment, the first drive means comprises a first servo motor and a second servo motor;
the first servo motor is arranged on the upper chassis or the lower chassis;
the second servo motor is arranged on the rotating shaft of the first servo motor, so that the second servo motor rotates along with the rotation of the rotating shaft of the first servo motor;
the supporting part is arranged on the rotating shaft of the second servo motor so as to enable the supporting part to rotate along with the rotation of the rotating shaft of the second servo motor;
the rotating shaft of the first servo motor is parallel to the rotating shaft of the second servo motor and parallel to the advancing direction.
In one embodiment, the second driving means includes a driving motor, a driving sled, a driving rail, and a timing belt, wherein:
the driving guide rail is arranged on the lower chassis; the driving sliding plate is in sliding fit with the driving guide rail and is fixedly connected with the upper chassis; the synchronous belt is arranged on the lower chassis and is connected with the driving sliding plate so as to drive the driving sliding plate to slide along the driving guide rail when the synchronous belt acts; the driving motor is arranged on the lower chassis and is in transmission connection with the synchronous belt so as to drive the synchronous belt to act;
alternatively, the first and second electrodes may be,
the driving guide rail is arranged on the upper chassis; the driving sliding plate is in sliding fit with the driving guide rail and is fixedly connected with the lower chassis; the synchronous belt is arranged on the upper chassis and is connected with the driving sliding plate so as to drive the driving sliding plate to slide along the driving guide rail when the synchronous belt acts; the driving motor is arranged on the upper chassis and is in transmission connection with the synchronous belt to drive the synchronous belt to act. In one embodiment, the supporting leg further comprises a suction cup, and the suction cup is mounted at one end, far away from the first driving device, of the supporting portion and used for being adsorbed on the wind power blade.
In one embodiment, the detection device includes a vision sensor and a position sensor, both of which are connected to the controller.
A second aspect of the present disclosure provides a control method, the method including:
determining the position of each step of the crawling robot during crawling according to the initial position and the target position of the crawling robot, the length of the crawling robot and the length of supporting legs of the crawling robot;
determining the distance between every two steps by using the position between every two steps;
and controlling the first travelling mechanism and the second travelling mechanism of the crawling robot to crawl through the distance between every two steps.
The embodiment determines the distance between every two steps of the crawling robot according to the initial position and the target position of the crawling robot and the length of the crawling robot, and controls the first travelling mechanism and the second travelling mechanism of the crawling robot to crawl according to the distance between every two steps, so that the detection efficiency is improved.
In one embodiment, the controlling the first and second traveling mechanisms of the crawling robot to crawl by the distance between every two steps includes:
determining the displacement of the crawling robot in the longitudinal direction and the displacement of the crawling robot in the transverse direction respectively by using the distance between every two steps in the longitudinal direction and the distance between every two steps in the transverse direction;
controlling each supporting leg of the first traveling mechanism and each supporting leg of the second traveling mechanism of the crawling robot to alternately move in the longitudinal direction according to the displacement amount in the longitudinal direction; and the number of the first and second groups,
and controlling each supporting leg of the first travelling mechanism and each supporting leg of the second travelling mechanism of the crawling robot to realize alternate movement in the transverse direction according to the displacement in the transverse direction.
The embodiment controls the supporting legs of the crawling robot to realize the alternating motion in the transverse direction or the longitudinal direction by respectively determining the displacement of the crawling robot in the longitudinal direction and the displacement of the crawling robot in the transverse direction by using the distance between every two steps in the longitudinal direction and the distance in the transverse direction.
In one embodiment, after the first and second traveling mechanisms of the crawling robot are controlled to crawl by the distance between every two steps, the method further comprises:
and if the number of the steps of the crawling robot which has crawled is determined to be equal to the number of the steps of the crawling robot which needs to crawl, controlling the crawling robot to finish crawling.
The present embodiment determines the condition for finishing the crawling by the relationship between the number of steps that the crawling robot has crawled and the number of steps that the crawling is required.
In one embodiment, the method further comprises:
and if the number of steps of the crawling robot is determined to be not equal to the number of steps needing to crawl, returning to execute the step of controlling the crawling of the first travelling mechanism and the second travelling mechanism of the crawling robot through the distance between every two steps until the number of steps of the crawling robot is determined to be equal to the number of steps needing to crawl, and ending the crawling.
In this embodiment, when it is determined that the number of steps that have crawled is not equal to the number of steps that need crawl, the robot is controlled to continue crawling.
In a third aspect of the embodiments of the present disclosure, there is provided an electronic device, including:
at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions for execution by the at least one processor; the instructions are executable by the at least one processor to enable the at least one processor to perform the method of the second aspect.
A fourth aspect provided by the embodiments of the present disclosure provides a computer storage medium storing a computer program for executing the method according to the second aspect.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1A is one of the schematic structural views of a crawling robot in one embodiment of the present disclosure;
fig. 1B is a second schematic structural view of a crawling robot according to one embodiment of the present disclosure;
fig. 1C is a third schematic structural view of a crawling robot according to one embodiment of the present disclosure;
FIG. 2 is a schematic view of a support leg of a crawling robot, according to one embodiment of the present disclosure;
fig. 3 is one of flow diagrams illustrating a control method of a crawling robot according to one embodiment of the present disclosure;
fig. 4 is a second flowchart illustrating a control method of the crawling robot according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The term "and/or" in the embodiments of the present disclosure describes an association relationship of associated objects, and means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The application scenario described in the embodiment of the present disclosure is for more clearly illustrating the technical solution of the embodiment of the present disclosure, and does not form a limitation on the technical solution provided in the embodiment of the present disclosure, and as a person having ordinary skill in the art knows, with the occurrence of a new application scenario, the technical solution provided in the embodiment of the present disclosure is also applicable to similar technical problems. In the description of the present disclosure, the term "plurality" means two or more unless otherwise specified.
In the prior art, the maintenance of the blade with the complex curved surface on the surface is mainly finished manually, and the maintenance mainly depends on the level and labor intensity of an operator, so that the detection work efficiency is low.
Therefore, the disclosure provides a crawling robot and a control method, after a controller of the crawling robot controls a plurality of first support leg groups on a first travelling mechanism to travel for a preset distance along a travelling direction, the controller controls a plurality of second support leg groups on a second travelling mechanism to travel for the preset distance along the travelling direction, wherein the first travelling mechanism and the second travelling mechanism alternately travel, in the travelling process, an upper chassis and a lower chassis can move relatively, and a detection device at the upper front end moves along with the upper chassis to detect the surface condition of a passing path. And the supporting part of each supporting leg is driven by the first driving device to realize the bending and unfolding of the supporting leg, so that when the crawling robot is placed on the fan blade, the first supporting leg group and the second supporting leg group on the first travelling mechanism and the second travelling mechanism can be adsorbed on the fan blade, and when the first supporting leg group is lifted to advance, the second supporting leg group is adsorbed on the fan blade, so as to ensure the stability of the crawling robot on the fan blade, and further complete the detection of the fan blade. Therefore, the crawling robot detects the wind power blades, and therefore detection efficiency is improved. Next, the structure of the crawling robot of the present disclosure will be described first.
As shown in fig. 1A, the crawling robot includes:
a first travel mechanism 110, the first travel mechanism 110 comprising an upper chassis 120 and a first support leg group mounted on the upper chassis 120, the first support leg group comprising a plurality of support legs;
a second traveling mechanism 130, wherein the second traveling mechanism 130 comprises a lower chassis 140 and a second supporting leg group mounted on the lower chassis 140, the second supporting leg group comprises a plurality of supporting legs 150, and the lower chassis 140 is in sliding fit with the upper chassis 120 along the traveling direction;
each of the support legs 150 of the first and second support leg groups comprises a support portion 151 and a first driving device 152, the first driving device 152 is connected with the upper chassis 120 or the lower chassis 140, the support portion 151 is connected with the first driving device 152, and the first driving device 152 is used for driving the support portion 151 to move relative to the upper chassis 120 or the lower chassis 140 to realize the bending and unfolding of the support leg 150;
a detection device 160 installed at a front end of the lower chassis 140;
as shown in fig. 1B, a second driving device 170, wherein the second driving device 170 is configured to drive the upper chassis 120 and the lower chassis 140 to perform a relative motion in a traveling direction;
in one embodiment, the second driving device 170 includes a driving motor 171, a driving sled 172, a driving rail 173, and a timing belt 174;
the driving rail 173 is disposed on the lower chassis 140; the driving sliding plate 172 is in sliding fit with the driving guide rail 173 and is fixedly connected with the upper chassis 120; the timing belt 174 is mounted on the lower chassis 140 and connected to the driving sled 172 to drive the driving sled 172 to slide along the driving rail 173 when the timing belt 174 is actuated; the driving motor 171 is mounted on the lower chassis 140 and is in transmission connection with the timing belt 174 to drive the timing belt 174 to move.
Alternatively, the first and second electrodes may be,
the driving guide rail is arranged on the upper chassis; the driving sliding plate is in sliding fit with the driving guide rail and is fixedly connected with the lower chassis; the synchronous belt is arranged on the upper chassis and is connected with the driving sliding plate so as to drive the driving sliding plate to slide along the driving guide rail when the synchronous belt acts; the driving motor is arranged on the upper chassis and is in transmission connection with the synchronous belt to drive the synchronous belt to act.
In fig. 1B of the present disclosure, the example that the driving guide rail, the timing belt and the driving motor are mounted on the lower chassis is illustrated, and the specific mounting position of the present disclosure is not limited herein.
In one embodiment, the crawling robot further comprises a drag chain 175 for crawling the tracks inside the robot.
As shown in fig. 1C, the crawling robot is schematically attached to a wind power blade, wherein a controller 180 is connected to the first driving device 152, the second driving device 170 and the detecting device 160, and the controller 180 is configured to control the first traveling mechanism 110 and the second traveling mechanism 130 to alternately travel and control each supporting leg 150 to bend and unfold.
In one embodiment, the first set of support legs includes at least three support legs 150, and FIG. 1A includes three support legs for each set of support legs.
Wherein, according to the traveling direction of the crawling robot, one support leg 150 is installed at the front end of the upper chassis 120, one support leg is installed at the rear end of the upper chassis 120, at least one support leg is installed at the middle part of the upper chassis 120, the support leg 150 installed at the front end of the upper chassis 120 is positioned at the same side as the support leg 150 installed at the rear end of the upper chassis 120, and the at least one support leg 150 installed at the middle part of the upper chassis 120 is positioned at a different side from the support leg 150 installed at the front end of the upper chassis 120;
the second supporting leg group comprises at least three supporting legs;
wherein, according to the traveling direction of the crawling robot, one support leg 150 is installed at the front end of the lower chassis 140, one support leg 150 is installed at the rear end of the lower chassis 140, at least one support leg 150 is installed at the middle part of the lower chassis 140, the support leg 150 installed at the front end of the lower chassis 140 is positioned at the same side as the support leg 150 installed at the rear end of the lower chassis 140, and the at least one support leg 150 installed at the middle part of the lower chassis 140 is positioned at a different side from the support leg 150 installed at the front end of the lower chassis 140.
In one embodiment, the detection device includes a vision sensor and a position sensor, both of which are connected to the controller.
As shown in fig. 2, the first driving device 152 includes a first servo motor 210 and a second servo motor 220;
the first servo 220 motor is mounted on the upper chassis 120 or the lower chassis 140;
the second servo motor 220 is mounted on the rotating shaft 211 of the first servo motor 210, so that the second servo motor 220 rotates along with the rotation of the rotating shaft 211 of the first servo motor 210;
the support part 151 is mounted on the rotation shaft 221 of the second servo motor 220 such that the support part 151 rotates along with the rotation of the rotation shaft 221 of the second servo motor 220;
the rotation axis 211 of the first servo motor 210 is parallel to the rotation axis 221 of the second servo motor 220 and parallel to the traveling direction.
In one embodiment, the support leg 150 further comprises a suction cup 230, and the suction cup 230 is mounted at one end of the support part 151 far away from the first driving device 152 and is used for being sucked on the wind blade.
After the structure of the crawling robot of the present disclosure is introduced, fig. 3 is a flowchart illustrating a control method of the present disclosure, which may include the following steps:
step 301: determining the position of each step of the crawling robot during crawling according to the initial position and the target position of the crawling robot, the length of the crawling robot and the length of supporting legs of the crawling robot;
and determining the position of each step of the robot in the transverse direction during crawling according to the initial position, the target position and the length of the crawling robot. And determining the position of the crawling robot in the longitudinal direction of each step during crawling according to the initial position, the target position and the length of the supporting legs of the crawling robot.
Step 302: determining the distance between every two steps by using the position between every two steps;
step 303: and controlling the first travelling mechanism and the second travelling mechanism of the crawling robot to crawl through the distance between every two steps.
Therefore, the distance between every two steps of the crawling robot is determined according to the initial position and the target position of the crawling robot and the length of the crawling robot, and the crawling of the first travelling mechanism and the second travelling mechanism of the crawling robot is controlled according to the distance between every two steps, so that the detection efficiency is improved.
In one embodiment, the aforementioned step 303 can be implemented as: determining the displacement of the crawling robot in the longitudinal direction and the displacement of the crawling robot in the transverse direction respectively by using the distance between every two steps in the longitudinal direction and the distance between every two steps in the transverse direction; controlling each supporting leg of the first traveling mechanism and each supporting leg of the second traveling mechanism of the crawling robot to alternately move in the longitudinal direction according to the displacement amount in the longitudinal direction; and controlling each supporting leg of the first travelling mechanism and each supporting leg of the second travelling mechanism of the crawling robot to realize alternate movement in the transverse direction according to the displacement in the transverse direction.
For example, the distance between every two steps in the longitudinal direction is a meters, and the distance between every two steps in the transverse direction is b meters. It is determined that the crawling robot has a displacement amount b in the longitudinal direction and a displacement amount a in the lateral direction. The supporting legs of the first traveling mechanism and the supporting legs of the second traveling mechanism of the crawling robot are controlled to alternately move a meters in the longitudinal direction and the supporting legs of the first traveling mechanism and the supporting legs of the second traveling mechanism of the crawling robot are controlled to alternately move b meters forward in the transverse direction, so that the supporting legs of the first traveling mechanism and the supporting legs of the second traveling mechanism of the crawling robot alternately move in the longitudinal direction and the transverse direction respectively.
In order to more accurately control the crawling robot, in one embodiment, if it is determined that the number of steps that the crawling robot has crawled is equal to the number of steps that the crawling robot needs to crawl, the crawling robot is controlled to finish crawling. And if the number of the steps of the crawling robot is determined to be not equal to the number of the steps needing to crawl, returning to the step 303 until the number of the steps of the crawling robot is determined to be equal to the number of the steps needing to crawl, and ending the crawling.
For example, if the number of steps that the crawling robot needs to crawl is 20, and the number of steps that the crawling robot has crawled is determined to be 15, it is determined that the number of steps that the crawling robot has crawled is not equal to the number of steps that the crawling robot needs to crawl, and the crawling robot is controlled to continue crawling. And controlling the crawling robot to stop crawling until the crawling robot is determined to crawl for 20 steps.
Thus, it is determined when to control the crawling robot to stop crawling by the number of steps that have already been crawled and the number of steps that need to be crawled.
For further understanding of the technical solution of the present disclosure, the following detailed description with reference to fig. 4 may include the following steps:
step 401: determining the position of each step of the crawling robot during crawling according to the initial position and the target position of the crawling robot, the length of the crawling robot and the length of supporting legs of the crawling robot;
step 402: determining the distance between every two steps by using the position between every two steps;
step 403: determining the displacement of the crawling robot in the longitudinal direction and the displacement of the crawling robot in the transverse direction respectively by using the distance between every two steps in the longitudinal direction and the distance between every two steps in the transverse direction;
step 404: controlling each supporting leg of the first traveling mechanism and each supporting leg of the second traveling mechanism of the crawling robot to alternately move in the longitudinal direction according to the displacement amount in the longitudinal direction;
step 405: controlling each supporting leg of a first travelling mechanism and each supporting leg of a second travelling mechanism of the crawling robot to realize alternate movement in the transverse direction according to the displacement in the transverse direction;
step 406: judging whether the number of steps crawled by the crawling robot is equal to the number of steps to be crawled, if so, executing step 407, and if not, returning to execute step 403;
step 407: and controlling the crawling robot to finish crawling.
Having described a crawling robot and a control method according to an exemplary embodiment of the present disclosure, an electronic device according to another exemplary embodiment of the present disclosure will be described next.
As will be appreciated by one skilled in the art, aspects of the present disclosure may be embodied as a system, method or program product. Accordingly, various aspects of the present disclosure may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.
In some possible implementations, an electronic device in accordance with the present disclosure may include at least one processor, and at least one computer storage medium. Wherein the computer storage medium stores program code which, when executed by the processor, causes the processor to perform the steps of the control method of the crawling robot according to various exemplary embodiments of the present disclosure described above in this specification. For example, the processor may perform steps 301-303 as shown in FIG. 3.
An electronic device 500 according to this embodiment of the disclosure is described below with reference to fig. 5. The electronic device 500 shown in fig. 5 is only an example and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 5, the electronic device 500 is represented in the form of a general electronic device. The components of the electronic device 500 may include, but are not limited to: the at least one processor 501, the at least one computer storage medium 502, and the bus 503 connecting the various system components (including the computer storage medium 502 and the processor 501).
The computer storage media 502 may include readable media in the form of volatile computer storage media, such as random access computer storage media (RAM)521 and/or cache storage media 522, and may further include read-only computer storage media (ROM) 523.
The electronic device 500 may also communicate with one or more external devices 504 (e.g., keyboard, pointing device, etc.), with one or more devices that enable a user to interact with the electronic device 500, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 500 to communicate with one or more other electronic devices. Such communication may be through input/output (I/O) interfaces 505. Also, the electronic device 500 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 506. As shown, the network adapter 506 communicates with other modules for the electronic device 500 over the bus 503. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 500, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
In some possible embodiments, various aspects of the control method of the crawling robot provided by the present disclosure may also be implemented in the form of a program product comprising program code for causing a computer device to perform the steps of the control method of the crawling robot according to various exemplary embodiments of the present disclosure described above in this specification when the program product is run on the computer device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable diskette, a hard disk, a random access computer storage media (RAM), a read-only computer storage media (ROM), an erasable programmable read-only computer storage media (EPROM or flash memory), an optical fiber, a portable compact disc read-only computer storage media (CD-ROM), an optical computer storage media piece, a magnetic computer storage media piece, or any suitable combination of the foregoing.
The program product of the control method of the crawling robot of the embodiments of the present disclosure may employ a portable compact disc read-only computer storage medium (CD-ROM) and include program codes, and may be run on an electronic device. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the consumer electronic device, partly on the consumer electronic device, as a stand-alone software package, partly on the consumer electronic device and partly on a remote electronic device, or entirely on the remote electronic device or server. In the case of remote electronic devices, the remote electronic devices may be connected to the consumer electronic device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external electronic device (e.g., through the internet using an internet service provider).
It should be noted that although several modules of the apparatus are mentioned in the above detailed description, such division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more of the modules described above may be embodied in one module, in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module described above may be further divided into embodiments by a plurality of modules.
Further, while the operations of the disclosed methods are depicted in the drawings in a particular order, this does not require or imply that these operations must be performed in this particular order, or that all of the illustrated operations must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk computer storage media, CD-ROMs, optical computer storage media, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the present disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable computer storage medium that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable computer storage medium produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications can be made in the present disclosure without departing from the spirit and scope of the disclosure. Thus, if such modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is intended to include such modifications and variations as well.
Claims (13)
1. A crawling robot, comprising:
the first traveling mechanism comprises an upper chassis and a first supporting leg group arranged on the upper chassis, and the first supporting leg group comprises a plurality of supporting legs;
the second traveling mechanism comprises a lower chassis and a second supporting leg group arranged on the lower chassis, the second supporting leg group comprises a plurality of supporting legs, and the lower chassis is in sliding fit with the upper chassis along the traveling direction;
each support leg in the first support leg group and the second support leg group comprises a support part and a first driving device, the first driving device is connected with the upper chassis or the lower chassis, the support part is connected with the first driving device, and the first driving device is used for driving the support part to move relative to the upper chassis or the lower chassis so as to realize the bending and unfolding of the support leg;
the second driving device is used for driving the upper chassis and the lower chassis to move relatively according to the advancing direction;
the detection device is arranged at the front end of the upper chassis;
the controller is connected with the first driving device, the second driving device and the detection device and is used for controlling the first traveling mechanism and the second traveling mechanism to alternately travel and controlling the supporting legs to bend and unfold.
2. The crawling robot of claim 1, wherein said first set of support legs comprises at least three support legs;
according to the advancing direction of the crawling robot, one supporting leg is installed at the front end of the upper chassis, one supporting leg is installed at the rear end of the upper chassis, at least one supporting leg is installed in the middle of the upper chassis, the supporting leg installed at the front end of the upper chassis and the supporting leg installed at the rear end of the upper chassis are located on the same side, and the at least one supporting leg installed in the middle of the upper chassis and the supporting leg installed at the front end of the upper chassis are located on different sides.
3. The crawling robot of claim 1, wherein the second set of support legs comprises at least three support legs;
according to the advancing direction of the crawling robot, one supporting leg is installed at the front end of the lower chassis, one supporting leg is installed at the rear end of the lower chassis, at least one supporting leg is installed in the middle of the lower chassis, the supporting leg installed at the front end of the lower chassis and the supporting leg installed at the rear end of the lower chassis are located on the same side, and the at least one supporting leg installed in the middle of the lower chassis and the supporting leg installed at the front end of the lower chassis are located on different sides.
4. The crawling robot of claim 1, wherein said first drive means comprises a first servomotor and a second servomotor;
the first servo motor is arranged on the upper chassis or the lower chassis;
the second servo motor is arranged on the rotating shaft of the first servo motor, so that the second servo motor rotates along with the rotation of the rotating shaft of the first servo motor;
the supporting part is arranged on the rotating shaft of the second servo motor so as to enable the supporting part to rotate along with the rotation of the rotating shaft of the second servo motor;
the rotating shaft of the first servo motor is parallel to the rotating shaft of the second servo motor and parallel to the advancing direction.
5. The crawling robot of claim 1, wherein the second driving means comprises a driving motor, a driving sled, a driving rail and a timing belt, wherein:
the driving guide rail is arranged on the lower chassis; the driving sliding plate is in sliding fit with the driving guide rail and is fixedly connected with the upper chassis; the synchronous belt is arranged on the lower chassis and is connected with the driving sliding plate so as to drive the driving sliding plate to slide along the driving guide rail when the synchronous belt acts; the driving motor is arranged on the lower chassis and is in transmission connection with the synchronous belt so as to drive the synchronous belt to act;
alternatively, the first and second electrodes may be,
the driving guide rail is arranged on the upper chassis; the driving sliding plate is in sliding fit with the driving guide rail and is fixedly connected with the lower chassis; the synchronous belt is arranged on the upper chassis and is connected with the driving sliding plate so as to drive the driving sliding plate to slide along the driving guide rail when the synchronous belt acts; the driving motor is arranged on the upper chassis and is in transmission connection with the synchronous belt to drive the synchronous belt to act.
6. The crawling robot of claim 1, wherein the support leg further comprises a suction cup mounted at an end of the support portion remote from the first driving device for suction on a wind blade.
7. The crawling robot of claim 1, wherein the detection means comprises a vision sensor and a position sensor, both connected to the controller.
8. A method of controlling the crawling robot of any of claims 1 to 7, characterized in that the method comprises:
determining the position of each step of the crawling robot during crawling according to the initial position and the target position of the crawling robot, the length of the crawling robot and the length of supporting legs of the crawling robot;
determining the distance between every two steps by using the position between every two steps;
and controlling the first travelling mechanism and the second travelling mechanism of the crawling robot to crawl through the distance between every two steps.
9. The method of claim 8, wherein the controlling the first and second travel mechanisms of the crawling robot to crawl by the distance between every two steps comprises:
determining the displacement of the crawling robot in the longitudinal direction and the displacement of the crawling robot in the transverse direction respectively by using the distance between every two steps in the longitudinal direction and the distance between every two steps in the transverse direction;
controlling each supporting leg of the first traveling mechanism and each supporting leg of the second traveling mechanism of the crawling robot to alternately move in the longitudinal direction according to the displacement amount in the longitudinal direction; and the number of the first and second groups,
and controlling each supporting leg of the first travelling mechanism and each supporting leg of the second travelling mechanism of the crawling robot to realize alternate movement in the transverse direction according to the displacement in the transverse direction.
10. The method of claim 8, wherein after the first and second travel mechanisms of the crawling robot are controlled by the distance between every two steps to crawl, the method further comprises:
and if the number of the steps of the crawling robot which has crawled is determined to be equal to the number of the steps of the crawling robot which needs to crawl, controlling the crawling robot to finish crawling.
11. The method of claim 10, further comprising:
and if the number of steps of the crawling robot is determined to be not equal to the number of steps needing to crawl, returning to execute the step of controlling the crawling of the first travelling mechanism and the second travelling mechanism of the crawling robot through the distance between every two steps until the number of steps of the crawling robot is determined to be equal to the number of steps needing to crawl, and ending the crawling.
12. An electronic device comprising at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions for execution by the at least one processor; the instructions are executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 8-11.
13. A computer storage medium, characterized in that the computer storage medium stores a computer program for performing the method according to any one of claims 8-11.
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| CN202110157005.5A CN112792819A (en) | 2021-02-04 | 2021-02-04 | Crawling robot and control method |
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