CN114684288A - Climbing robot, control method and computer readable storage medium - Google Patents
Climbing robot, control method and computer readable storage medium Download PDFInfo
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- CN114684288A CN114684288A CN202011589739.2A CN202011589739A CN114684288A CN 114684288 A CN114684288 A CN 114684288A CN 202011589739 A CN202011589739 A CN 202011589739A CN 114684288 A CN114684288 A CN 114684288A
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- 238000000034 method Methods 0.000 title claims abstract description 29
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- 230000000694 effects Effects 0.000 description 17
- 210000000078 claw Anatomy 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 2
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- 208000004350 Strabismus Diseases 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention provides a climbing robot, a control method and a computer readable storage medium, wherein the climbing robot comprises a fixed plate, a movable plate and at least two supporting guide rails, a climbing device is arranged on the fixed plate, a second climbing device is arranged on the movable plate, and the first climbing device and the second climbing device are used for climbing a climbing object; the fixed plate is fixedly connected with one end of each supporting guide rail; the movable plate is provided with through holes corresponding to the support guide rails, and the support guide rails penetrate through the through holes of the movable plate and are movably connected with the movable plate; be provided with the drive arrangement with each supporting rail one-to-one on the movable plate, each drive arrangement is used for driving the movable plate and prolongs each supporting rail and remove, and each supporting rail offsets according to each drive arrangement's different revolutions, has solved that climbing robot can only straight line or perpendicular climbing, and unable the turning to, skew meet the defect that complex situation then can't be handled, has realized that climbing robot carries out the skew in order to adapt to different climbing environment, the function of climbing demand to the equidirectional.
Description
Technical Field
The present invention relates to the field of robotics, and more particularly, to a climbing robot, a control method, and a computer-readable storage medium.
Background
With the development of science and technology, the robot technology is more mature, is applied to different technical fields and different scenes, and solves various problems; the climbing robot has multiple scenes, for example, when urban trees are affected by natural disasters or pests, are easy to break and endanger the safety of pedestrians, the climbing robot can climb the trees to confirm the current conditions of the urban trees; fruit tree disease and pest detection and the like can be carried out through the climbing robot; for another example, some high-altitude scenes can be confirmed by photographing through a climbing robot; however, the existing climbing robots are heavy and can climb linearly or vertically, and cannot handle complex conditions.
Disclosure of Invention
The technical problem to be solved by the invention is that in the related technology, the climbing robot can only climb linearly or vertically, cannot turn and shift, and cannot process complex conditions.
In order to solve the above technical problems, the present invention provides a climbing robot, including: the climbing robot includes: the device comprises a fixed plate, a movable plate and at least two supporting guide rails, wherein a climbing device is arranged on the fixed plate, a second climbing device is arranged on the movable plate, and the first climbing device and the second climbing device are used for climbing objects; the fixed plate is fixedly connected with one end of each supporting guide rail; the movable plate is provided with through holes corresponding to the support guide rails, and the support guide rails penetrate through the through holes of the movable plate and are movably connected with the movable plate; the movable plate is provided with driving devices in one-to-one correspondence with the supporting guide rails, each driving device is used for driving the movable plate to move along each supporting guide rail, and each supporting guide rail shifts according to different revolution numbers of each driving device:
optionally, when the climbing robot comprises three support rails, a triangular structure is formed between the support rails.
Optionally, the climbing robot further includes: a hanging cord, at least one divider plate; one end of the hanging rope line is fixed on the fixing plate, a scale node is arranged on the hanging rope line, and the partition plate is fixed at the scale node; the partition board is provided with through holes corresponding to the sub-support guide rails, and the sub-support guide rails penetrate through the through holes of the partition board and are movably connected with the partition board
Optionally, each driving device includes: the output shaft of the motor is connected with the first transmission gear, the first transmission gear is connected with the second transmission gear, and the second transmission gear is further connected with the support guide rail.
Optionally, the climbing robot further includes: a camera and a control panel; the camera and the control panel are arranged on the moving plate and/or the fixed plate.
Further, the present invention also provides a control method, including: the driving device receives a control instruction and drives the movable plate to move relative to the fixed plate according to the control instruction; and when each driving device drives according to the control command and the revolution of each driving device is different, each supporting guide rail is driven to shift.
Optionally, the driving device receives a control instruction, and rotates according to the control instruction to drive the moving plate to move relative to the fixed plate, including: the first driving device and the second driving device receive control, and when the control commands of the first driving device and the second driving device are consistent, the first driving device and the second driving device drive the moving plate to move on the Y axis relative to the fixed plate.
Optionally, the driving device receives a control instruction, and rotates according to the control instruction to drive the moving plate to move relative to the fixed plate, including: the first driving device and the second driving device receive a control instruction, and when the control instructions of the first driving device and the second driving device are inconsistent, the first driving device and the second driving device drive the moving plate to move so as to drive the support guide rail to shift towards the X axis.
Optionally, the driving device receives a control instruction, and rotates according to the control instruction to drive the moving plate to move relative to the fixed plate, including: when the climbing robot comprises a third driving device and a corresponding supporting guide rail, the first driving device, the second driving device and the third driving device receive control instructions, and when the control instructions of the third driving device and the first driving device and/or the second driving device are inconsistent, the first driving device, the second driving device and the third driving device drive the moving plate to move to drive the supporting guide rail to shift towards the Z axis.
Further, the present invention also provides a computer-readable storage medium storing one or more programs, which are executable by one or more processors to implement the steps of the control method as described above.
Advantageous effects
The invention provides a climbing robot, a control method and a computer readable storage medium, aiming at the defects that the existing climbing robot can only climb linearly or vertically, cannot turn and deflect and cannot be processed in case of complex conditions, the climbing robot is characterized in that a climbing device is arranged on a fixed plate, a second climbing device is arranged on a movable plate and at least two supporting guide rails are arranged, and the first climbing device and the second climbing device are used for climbing objects; the fixed plate is fixedly connected with one end of each supporting guide rail; the movable plate is provided with through holes corresponding to the support guide rails, and the support guide rails penetrate through the through holes of the movable plate and are movably connected with the movable plate; be provided with the drive arrangement with each supporting rail one-to-one on the movable plate, each drive arrangement is used for driving the movable plate and prolongs each supporting rail and remove, each supporting rail offsets according to each drive arrangement's different revolutions, solved the climbing robot and can only be the straight line or scramble perpendicularly, can't turn to, the skew, meet the defect that the complex situation then can't be handled, realized that the climbing robot carries out the skew in order to adapt to different climbing environment, the function of climbing demand to the equidirectional, user experience has been promoted.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic structural diagram of a climbing robot provided in a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a main body of a climbing robot provided by a first embodiment of the invention;
fig. 3 is an exploded schematic view of a main body part of the climbing robot provided by the first embodiment of the invention;
FIG. 4 is a basic flowchart of a control method according to a second embodiment of the present invention;
fig. 5 is a schematic view illustrating that the driving device drives the moving plate to move upward according to a second embodiment of the present invention;
fig. 6 is a schematic view illustrating a driving device driving a moving plate to move downward according to a second embodiment of the present invention;
fig. 7 is a schematic view illustrating that the driving device drives the moving plate to move so that the main body shifts to the right according to the second embodiment of the present invention;
fig. 8 is a schematic view illustrating that the driving device drives the moving plate to move so that the main body is shifted to the left according to the second embodiment of the present invention;
fig. 9 is a schematic view illustrating that the driving device drives the moving plate to move so that the main body is shifted backward according to the second embodiment of the present invention;
fig. 10 is a schematic view illustrating the driving device driving the moving plate to move so that the main body shifts forward according to the second embodiment of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
First embodiment
In order to solve the above problems, the present embodiment proposes a climbing robot, as shown in fig. 1 and 2, including but not limited to: the climbing device comprises a fixed plate 1, a movable plate 2 and at least two supporting guide rails 3, wherein a first climbing device 4 is arranged on the fixed plate 1, a second climbing device 5 is arranged on the movable plate 2, and the first climbing device 4 and the second climbing device 5 are used for climbing a climbing object; the fixed plate 1 is fixedly connected with one end of each supporting guide rail 3; the movable plate 2 is provided with through holes corresponding to the support guide rails 3, and the support guide rails 3 penetrate through the through holes of the movable plate 2 and are movably connected with the movable plate 2; the moving plate 2 is provided with driving devices 6 corresponding to the supporting guide rails 3 one by one, each driving device 6 is used for driving the moving plate 2 to move along each supporting guide rail 3, and each supporting guide rail 3 shifts according to different rotation numbers of each driving device 6. It should be understood that the climbing device includes, but is not limited to: at least one of gripper, sucking disc, controllable anchor clamps etc. and then adapt to different climbing environment, for example, the gripper is used for climbing trees, and the sucking disc is used for climbing glass etc..
It should be understood that the support rail 3 is formed of a seamless bendable spring structure, wherein a spiral shape existing on the seamless bendable spring structure can be a thread; that is, each support rail 3 may be formed of a seamless bendable spring structure as a bendable screw; it should be understood that each driving device 6 has a number of revolutions when it moves, which is divided into a direction of rotation and a speed of rotation, and when it has a number of revolutions in the forward direction, it moves in a first direction, and when it has a number of revolutions in the reverse direction, it moves in a second direction, and at the same time, the higher the speed of rotation, the longer the distance of movement, wherein the first direction and the second direction are opposite to each other on the Y-axis; for example, when the number of revolutions of the driving device 6 is a forward direction, the driving device 6 moves downward to drive the moving plate 2 to move downward relative to the fixed plate 1, and when the number of revolutions of the driving device 6 is a reverse direction, the driving device 6 moves upward to drive the moving plate 2 to move upward relative to the fixed plate 1; when the mechanical claws on the fixed plate 1 or the movable plate 2 of the climbing robot grasp a fixed object, the driving device 6 is controlled to rotate to drive the movable plate 2 to move on the Y axis relative to the fixed plate 1, and then the effect of moving on the Y axis of the climbing robot is realized.
It should be understood that, when the climbing robot is provided with two supporting rails 3, the climbing robot has driving devices 6 corresponding to the supporting rails 3 one by one, that is, the climbing robot has two driving devices 6 at this time, each driving device 6 drives the moving plate 2 to move along each supporting rail 3, and when the rotation direction of each driving device 6 is consistent with the rotation speed, the moving plate 2 is driven to normally move along the same direction on the supporting rails 3; when the rotation numbers of the driving devices 6 are not consistent, the moving plate 2 is driven to move on the supporting guide rails 3 in an offset manner, so that the supporting guide rails 3 are offset according to different rotation numbers of the driving devices 6; for example, the supporting rails 3 are divided into a left supporting rail 3 and a right supporting rail 3, when the number of revolutions of the driving device 6 of the left supporting rail 3 is a forward rotation direction and the number of revolutions of the driving device 6 of the right supporting rail 3 is a reverse rotation direction, at this time, between the fixed plate 1 and the moving plate 2, the left supporting rail 3 is lengthened, the right supporting rail 3 is shortened, and under the mutual force, the supporting rails 3 are bent rightward, that is, the supporting rails 3 are deviated rightward, so that the climbing robot is deviated rightward; when the revolution of the driving device 6 of the left supporting guide rail 3 is in a reverse direction and the revolution of the driving device 6 of the right supporting guide rail 3 is in a forward direction, at this time, between the fixed plate 1 and the moving plate 2, the left supporting guide rail 3 is shortened, the right supporting guide rail 3 is lengthened, and under the mutual force, the supporting guide rail 3 is bent leftwards, that is, the supporting guide rail 3 is deviated leftwards, so that the climbing robot is deviated leftwards; the effect that the climbing robot shifts towards the X axis (left and right) is realized; that is, when the gripper on the fixed plate 1 or the moving plate 2 of the climbing robot grabs a fixed object, the driving device 6 is controlled to rotate to drive the moving plate 2 to move relative to the fixed plate 1, so that the robot can shift to the X axis, and the shifting effect is achieved. It should be appreciated that in some examples, when the rotation directions are the same and the rotation speeds are different, the effect of offset may also occur.
In some embodiments, when the climbing robot comprises three support rails 3, a triangular structure is formed between the respective support rails 3. That is, the three support rails 3 are in a parallel state in the initial state and are not in a plane, so as to form a triangular structure, and it should be understood that the triangular structure has better stability and more stable gravity center; it should be understood that the climbing robot has the driving devices 6 corresponding to the supporting rails 3 one by one, that is, the climbing robot has three driving devices 6 at this time, each driving device 6 drives the moving plate 2 to move along each supporting rail 3, and when the number of revolutions of each driving device 6 is consistent, the moving plate 2 is driven to normally move along the same direction on the supporting rails 3; when the rotation numbers of the driving devices 6 are not consistent, the moving plate 2 is driven to move on the supporting guide rails 3 in an offset manner, so that the supporting guide rails 3 are offset according to different rotation numbers of the driving devices 6; for example, the supporting rails 3 are divided into two supporting rails 3, namely a left supporting rail 3, a middle supporting rail 3 and a right supporting rail 3, when the number of revolutions of the driving device 6 of the left supporting rail 3 and/or the right supporting rail 3 is a forward rotation direction and the number of revolutions of the driving device 6 of the middle supporting rail 3 is a reverse rotation direction, at this time, the left supporting rail 3 and/or the right supporting rail 3 between the fixed plate 1 and the moving plate 2 is increased and the middle supporting rail 3 is shortened, and under the action of mutual force, the supporting rails 3 are bent backwards, that is, the supporting rails 3 are deviated backwards, so that the climbing robot is deviated backwards; when the revolution of the driving device 6 of the left supporting guide rail 3 and/or the right supporting guide rail 3 is in a reverse direction and the revolution of the driving device 6 of the middle supporting guide rail 3 is in a forward direction, the left and/or right supporting guide rails 3 are shortened between the fixed plate 1 and the movable plate 2 at the moment, the middle supporting guide rail 3 is lengthened, and under the action of mutual force, the supporting guide rails 3 are bent forwards, namely the supporting guide rails 3 are deviated forwards, so that the climbing robot is deviated forwards; the effect that the climbing robot deflects to the Z axis (front and back) is achieved; that is, when the gripper on the fixed plate 1 or the movable plate 2 of the climbing robot grabs a fixed object, the driving device 6 is controlled to rotate to drive the movable plate 2 to move relative to the fixed plate 1, so that the robot can shift to the Z axis, and a shifting effect is achieved. It should be appreciated that in some examples, when the rotation directions are the same and the rotation speeds are different, the effect of offset may also occur.
It should be understood that when the climbing robot includes three support rails 3, the effect of offsetting to the X-axis (left and right) can be achieved when the number of rotations of the two support rails 3 is not uniform at the left and right; that is, when the gripper on the fixed plate 1 or the moving plate 2 of the climbing robot grabs the fixed object, the driving device 6 is controlled to rotate to drive the moving plate 2 to move relative to the fixed plate 1, and then the effect of shifting the climbing robot to the X axis is realized.
In some embodiments, the climbing robot further comprises: a hanging cord 8, at least one divider plate 7; one end of the hanging rope line 8 is fixed on the fixing plate 1, a scale node is arranged on the hanging rope line 8, and the partition plate 7 is fixed at the scale node; the partition plate 7 is provided with through holes corresponding to the sub-support guide rails 3, and the sub-support guide rails 3 penetrate through the through holes of the partition plate 7 and are movably connected with the partition plate 7; it should be understood that the farther the distance between the moving plate 2 and the fixed plate 1 is, the more the partition plates 7 are, and thus the pitch of each support rail 3 is maintained when each support rail 3 is bent; it will be appreciated that the distance between the individual divider plates 7 is controlled by the graduated nodes on the suspension lines 8.
In some embodiments, as shown in fig. 2, each drive device 6 comprises: the output shaft of the motor 61 is connected with the first transmission gear 62, the first transmission gear 62 is connected with the second transmission gear 63, and the second transmission gear 63 is further connected with the support guide rail 3; the motor 61 rotates to transmit force to the first transmission gear 62 through the output shaft to drive the first transmission gear 62 to rotate, the inner wall of the second transmission gear 63 is of a threaded structure and is matched with threads on the support guide rail 3, and when the first transmission gear 62 drives the second transmission gear 63 to rotate, the second transmission gear 63 also rotates on the support guide rail 3 at the same time, so that kinetic energy generated by rotation of the motor 61 is converted into movement kinetic energy, the driving device 6 moves on the support guide rail 3, and the driving device 6 drives the movable plate 2 and the fixed plate 1 to move relatively; it should be appreciated that in some examples, the second drive gear 63 is integrally formed; the second transmission gear 63 can also be formed by combination, as shown in fig. 3, a threaded collar 631 divided into halves is nested in the transmission gear 630 to form the second transmission gear, so that the process is simpler, and the probability of the second transmission gear being stuck to the support rail 3 is reduced.
In some embodiments, the climbing robot further comprises: a camera and a control panel; the camera and the control panel are arranged on the moving plate 2 and/or the fixed plate 1; according to the requirement, other devices can be flexibly added to the moving plate 2 and/or the fixed plate 1 to adapt to different requirements.
The climbing robot provided by this embodiment, above-mentioned climbing robot includes but not limited to: the device comprises a fixed plate, a movable plate and at least two supporting guide rails, wherein a first climbing device is arranged on the fixed plate, a second climbing device is arranged on the movable plate, and the first climbing device and the second climbing device are used for climbing objects; the fixed plate is fixedly connected with one end of each supporting guide rail; the movable plate is provided with through holes corresponding to the support guide rails, and the support guide rails penetrate through the through holes of the movable plate and are movably connected with the movable plate; be provided with the drive arrangement with each supporting rail one-to-one on the movable plate, each drive arrangement is used for the drive the movable plate prolongs each supporting rail and removes, and each supporting rail offsets according to each drive arrangement's different revolutions, has solved climbing robot and can only straight line or perpendicular climbing, and unable the defect that turns to, skew, meet the complex situation then can't be handled, has realized that climbing robot carries out the skew in order to adapt to different climbing environment, the function of climbing demand to the equidirectional.
Second embodiment
The embodiment further provides a control method, which is applied to the climbing robot in the above embodiment, and as shown in fig. 4, the control method includes:
s401, the driving device receives a control instruction and drives the movable plate to move relative to the fixed plate according to the control instruction;
in some embodiments, the driving device receives a control command, and the rotating according to the control command to drive the moving plate to move relative to the fixed plate includes: the first driving device and the second driving device receive control commands, and when the control commands of the first driving device and the second driving device are consistent, the first driving device and the second driving device drive the moving plate to move on the Y axis relative to the fixed plate; for example, as shown in fig. 5, when there are three support rails, the driving device corresponding to the left support rail is used as the first driving device, the driving device corresponding to the right support rail is used as the second driving device, and the driving device corresponding to the middle support rail is used as the third driving device, when the numbers of revolutions of the first, second and third driving devices are all in the reverse direction and the speeds are the same, the driving devices move upward to drive the moving plate to move upward relative to the fixed plate; as shown in fig. 6, when the first, second and third driving devices rotate in the forward direction and at the same speed, the driving devices move downward to drive the moving plate to move downward relative to the fixed plate; when a mechanical claw on a fixed plate or a movable plate of the climbing robot grabs a fixed object, a driving device is controlled to rotate to drive the movable plate to move on a Y axis relative to the fixed plate, so that the effect of moving the climbing robot on the Y axis is realized; it should be understood that, when the climbing robot has only two supporting rails, the first driving device and the second driving device rotate in the same number to drive the movable plate to move on the Y axis relative to the fixed plate, so that the climbing robot can move on the Y axis.
S402, when the driving devices are driven according to the control instruction and the rotation numbers of the driving devices are different, driving the supporting guide rails to shift.
In some embodiments, the driving device receives a control command, and the rotating according to the control command to drive the moving plate to move relative to the fixed plate includes: the first driving device and the second driving device receive a control instruction, and when the control instructions of the first driving device and the second driving device are inconsistent, the first driving device and the second driving device drive the moving plate to move so as to drive the support guide rail to shift towards the X axis; for example, when there are three support rails, the driving device corresponding to the left support rail is used as the first driving device, the driving device corresponding to the right support rail is used as the second driving device, and the driving device corresponding to the middle support rail is used as the third driving device, as shown in fig. 7, when the number of revolutions of the first driving device of the left support rail is in the forward direction and the number of revolutions of the second driving device of the right support rail is in the reverse direction, the third driving device of the middle support rail is not moved, at this time, the left support rail is lengthened and the right support rail is shortened between the fixed plate and the moving plate, and under the mutual force, the support rails are bent to the right, that is, the support rails are shifted to the right, so that the climbing robot is shifted to the right; as shown in fig. 8, when the number of revolutions of the first driving device of the left supporting rail is a reverse direction and the number of revolutions of the second driving device of the right supporting rail is a forward direction, the third driving device of the middle supporting rail is not moved, at this time, between the fixed plate and the moving plate, the left supporting rail is shortened, the right supporting rail is lengthened, and under the mutual force, the supporting rails are bent leftward, that is, the supporting rails are deviated leftward, so that the climbing robot is deviated leftward; the effect that the climbing robot shifts towards the X axis (left and right) is realized; that is, when the gripper on the fixed plate or the movable plate of the climbing robot grabs a fixed object, the driving device is controlled to rotate to drive the movable plate to move relative to the fixed plate, so that the robot can shift towards the X axis, and the shifting effect is achieved. It should be appreciated that in some examples, when the rotation directions are the same and the rotation speeds are different, the effect of offset may also occur. It should be understood that, when the climbing robot has only two supporting rails, the moving plate can be driven to shift by the first driving device and the second driving device in different numbers of revolutions.
In some embodiments, the driving device receives a control command, and the rotating according to the control command to drive the moving plate to move relative to the fixed plate includes: when the climbing robot comprises a third driving device and a corresponding supporting guide rail, the first driving device, the second driving device and the third driving device receive control instructions, and when the control instructions of the third driving device and the first driving device and/or the second driving device are inconsistent, the first driving device, the second driving device and the third driving device drive the moving plate to move to drive the supporting guide rail to shift towards the Z axis. For example, when there are three support rails, the driving device corresponding to the left support rail is used as the first driving device, the driving device corresponding to the right support rail is used as the second driving device, and the driving device corresponding to the middle support rail is used as the third driving device, as shown in fig. 9, when the number of rotations of the first driving device and/or the second driving device of the left support rail and/or the right support rail is the forward rotation direction and the number of rotations of the third driving device of the middle support rail is the reverse rotation direction, then the left and/or right support rails between the fixed plate and the moving plate are lengthened, the middle support rail is shortened, and under the mutual force, the support rails will bend backwards, that is, the support rails shift backwards, so as to realize the backward shift of the climbing robot; as shown in fig. 10, when the number of rotations of the first driving device and/or the second driving device of the left supporting rail and/or the right supporting rail is in a reverse direction and the number of rotations of the third driving device of the middle supporting rail is in a forward direction, the left and/or right supporting rails between the fixed plate and the moving plate are shortened, the middle supporting rail is lengthened, and under the mutual force, the supporting rails are bent forward, that is, the supporting rails are shifted forward, so that the climbing robot is shifted forward; the effect that the climbing robot deflects to the Z axis (front and back) is achieved; that is, when a gripper on a fixed plate or a movable plate of the climbing robot grabs a fixed object, the driving device is controlled to rotate to drive the movable plate to move relative to the fixed plate, so that the robot can shift to the Z axis, and the shifting effect is achieved. It should be appreciated that in some examples, when the rotation directions are the same and the rotation speeds are different, the effect of offset may also occur. That is, according to the different direction of turning to of drive arrangement and speed, can realize different directions of motion, realize producing deformation through the mutual action with climbing robot, and then squint to the direction of difference.
According to the control method provided by the embodiment, a driving device receives a control instruction and drives the movable plate to move relative to the fixed plate according to the control instruction; when each driving device drives according to the control instruction and the revolution of each driving device is different, each supporting guide rail is driven to deflect; the climbing robot applied to the first embodiment solves the problems that the climbing robot can only climb linearly or vertically, cannot turn to and shift, and cannot handle complex conditions, and realizes the function of shifting the climbing robot to different directions to adapt to different climbing environments and climbing requirements.
Third embodiment
For better explanation of the present invention, the present embodiment provides a more specific example to illustrate the climbing robot;
in some instances, typhoons often blow trees down and apart, particularly trees that have been infested. Therefore, when the typhoon season comes, it is necessary to regularly detect the greening trees in the personnel-dense area. Because trees itself has a lot of branches and leaves, unsuitable unmanned aerial vehicle is close to the flight and detects, and personnel climb up and are more dangerous again, so the skew is in order to climb the climbing robot of different branches and just can be fine solution this kind of problem about appearing one kind.
In some examples, there is a first gripper on the fixed plate of the climbing robot and a second gripper on the moving plate, while a wireless camera is also mounted on the fixed plate through a hole of the extension structure. The tail ends of the mechanical claws are embedded with steel needles, the steel needles are inserted into barks to play a role in fixing when trees are grabbed, the trees are grabbed by the wireless remote controller on the ground, as long as one mechanical claw (a first mechanical claw) grabs the trees, the trees are grabbed by the other mechanical claw (a second mechanical claw) through the motor control movement on the flexible body, then the mechanical claw (the first mechanical claw) is released, and then the mechanical claws are stretched and moved up and down or the body is swung to offset, so that the climbing including the branch climbing can be realized. In the process, the video can be transmitted to a ground signal receiving end for real-time display by installing the gripper wireless camera, and the health condition of the tree can be judged by the method, so that whether the tree is trimmed or not is determined.
In some examples, when the climbing device of the climbing robot is set to a controllable clamp, climbing to the destination by the climbing robot can be achieved by controlling the telescopic movement of the clamp to recognize the climbing machine.
Fourth embodiment
The present invention also provides a computer-readable storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the steps of the control method as described above.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A climbing robot, comprising: the climbing robot includes: the device comprises a fixed plate, a movable plate and at least two supporting guide rails, wherein a climbing device is arranged on the fixed plate, a second climbing device is arranged on the movable plate, and the first climbing device and the second climbing device are used for climbing objects;
the fixed plate is fixedly connected with one end of each supporting guide rail;
the movable plate is provided with through holes corresponding to the support guide rails, and the support guide rails penetrate through the through holes of the movable plate and are movably connected with the movable plate;
the moving plate is provided with driving devices which correspond to the supporting guide rails one to one, each driving device is used for driving the moving plate to move along each supporting guide rail, and each supporting guide rail shifts according to different revolution numbers of each driving device.
2. The climbing robot of claim 1, wherein when the climbing robot includes three support rails, a triangular structure is formed between each support rail.
3. The climbing robot of claim 1, further comprising: a hanging cord, at least one divider plate; one end of the hanging rope line is fixed on the fixing plate, a scale node is arranged on the hanging rope line, and the partition plate is fixed at the scale node;
the partition plate is provided with through holes corresponding to the sub-support guide rails, and the sub-support guide rails penetrate through the through holes of the partition plate and are movably connected with the partition plate.
4. A climbing robot as claimed in any one of claims 1 to 3, characterized in that each drive means comprises: the output shaft of the motor is connected with the first transmission gear, the first transmission gear is connected with the second transmission gear, and the second transmission gear is further connected with the support guide rail.
5. The climbing robot of claim 4, further comprising: a camera and a control panel; the camera and the control panel are arranged on the moving plate and/or the fixed plate.
6. A control method applied to the climbing robot of any one of claims 1 to 5, characterized by comprising:
the driving device receives a control instruction and drives the movable plate to move relative to the fixed plate according to the control instruction;
and when each driving device drives according to the control command and the revolution of each driving device is different, each supporting guide rail is driven to shift.
7. The control method of claim 6, wherein the driving device receives a control command, and the rotating according to the control command to move the movable plate relative to the fixed plate comprises:
the first driving device and the second driving device receive control, and when the control commands of the first driving device and the second driving device are consistent, the first driving device and the second driving device drive the moving plate to move on the Y axis relative to the fixed plate.
8. The control method of claim 6, wherein the driving device receives a control command, and the rotating according to the control command to move the movable plate relative to the fixed plate comprises:
the first driving device and the second driving device receive a control instruction, and when the control instructions of the first driving device and the second driving device are inconsistent, the first driving device and the second driving device drive the moving plate to move so as to drive the support guide rail to shift towards the X axis.
9. The control method of claim 6, wherein the driving device receives a control command, and the rotating according to the control command to move the movable plate relative to the fixed plate comprises:
when the climbing robot comprises a third driving device and a corresponding supporting guide rail, the first driving device, the second driving device and the third driving device receive control instructions, and when the control instructions of the third driving device and the first driving device and/or the second driving device are inconsistent, the first driving device, the second driving device and the third driving device drive the moving plate to move so as to drive the supporting guide rail to shift towards the Z axis.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores one or more programs which are executable by one or more processors to implement the steps of the control method according to any one of claims 6 to 9.
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| CN202011589739.2A CN114684288A (en) | 2020-12-29 | 2020-12-29 | Climbing robot, control method and computer readable storage medium |
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| CN202011589739.2A CN114684288A (en) | 2020-12-29 | 2020-12-29 | Climbing robot, control method and computer readable storage medium |
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Application publication date: 20220701 |