CN111959631A - Wall-climbing robot and control method thereof - Google Patents
Wall-climbing robot and control method thereof Download PDFInfo
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- CN111959631A CN111959631A CN202010883272.6A CN202010883272A CN111959631A CN 111959631 A CN111959631 A CN 111959631A CN 202010883272 A CN202010883272 A CN 202010883272A CN 111959631 A CN111959631 A CN 111959631A
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The invention relates to a wall-climbing robot and a control method thereof, relating to the field of robots. This wall climbing robot includes: the fan is arranged in the center of the rack and used for generating negative pressure to enable the wall-climbing robot to be adsorbed on the moving plane; the pressure detection device is arranged in a negative pressure cavity of the wall-climbing robot; the control system is respectively connected with the fan and the pressure detection device; the pressure detection device is used for detecting the pressure value in the negative pressure cavity; and the control system is used for comparing the pressure value detected by the pressure detection device with the pressure threshold value of the negative pressure cavity and controlling the operation of the fan according to the comparison result. According to the invention, the pressure value in the negative pressure cavity detected by the pressure detection device is compared with the pressure threshold value of the negative pressure cavity, the operation of the fan is controlled according to the comparison result, when the moving plane of the wall-climbing robot is changed, the rotating speed of the fan can be timely adjusted, and the adaptability of the wall-climbing robot to different types of moving planes is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a wall-climbing robot and a control method thereof.
Background
In the city, the 'spider man' (the aerial worker) is responsible for the detection or cleaning work of the outer wall surface of the high-rise building, but the working efficiency is low, and the high-altitude working danger is high. Therefore, there is a strong need for a way to replace manual work for doing this, wherein the use of a wall-climbing robot is an effective way. The wall climbing robot is used as one special operation robot, mainly works in various natural environments and artificial buildings which are at a certain height away from the ground and cannot be directly contacted by people, can stably move on a vertical wall surface, and can carry other operation tools to complete various operations. However, at present, many wall climbing robots manually adjust the rotating speed of a fan through an operator, so that the wall climbing robots have poor adaptability to different types of moving planes.
Disclosure of Invention
The invention aims to provide a wall climbing robot and a control method thereof.
In order to achieve the purpose, the invention provides the following scheme:
a wall climbing robot, comprising: the device comprises a fan, a rack, a left side moving device, a right side moving device, a moving device motor, a control system and a pressure detection device;
the fan is arranged in the center of the rack and used for generating negative pressure to enable the wall-climbing robot to be adsorbed on a moving plane;
the left side moving device and the right side moving device are arranged on the left side and the right side of the rack and are used for enabling the wall climbing robot to move on a moving plane;
the left side moving device and the right side moving device are respectively connected with a moving device motor;
the control system is respectively connected with the fan and the mobile device motor;
the pressure detection device is arranged in a negative pressure cavity of the wall-climbing robot and is connected with the control system; the negative pressure cavity is an air inlet part of the fan;
the pressure detection device is used for detecting a pressure value in the negative pressure cavity and sending the detected pressure value to the control system;
the control system is used for comparing the pressure value detected by the pressure detection device with a negative pressure cavity pressure threshold value of the wall-climbing robot, controlling the operation of the fan according to the comparison result and controlling the operation of the motor of the mobile device.
Optionally, the wall-climbing robot further includes: a remote control device and a wireless communication device;
the control system is connected with the remote control device through the wireless communication device;
the control system is also used for controlling the motor of the mobile device according to the control instruction of the remote control device.
Optionally, the wireless communication device specifically includes: a transmitter and a receiver;
the transmitter is arranged in the remote control device and is connected with the remote control device;
the receiver is arranged in the wall-climbing robot and is connected with the control system;
the remote control device is used for sending a control instruction to the wall climbing robot through the transmitter;
the control system is used for receiving the control instruction sent by the remote control device through the receiver.
Optionally, the wall-climbing robot further includes: a motion control device;
the motion control device includes: the fan driving sub-device and the moving device driving sub-device;
the fan driving sub-device comprises a fan motor driver and a fan control chip; the fan motor driver is connected with the fan, and the fan control chip is respectively connected with the fan motor driver and the control system;
the mobile device driving sub-device comprises a mobile device motor driver and a mobile device control chip; the mobile device motor driver is connected with the mobile device motor, and the mobile device control chip is respectively connected with the mobile device motor driver and the control system.
Optionally, the control system includes:
the pressure value acquisition module is used for acquiring a pressure value in a negative pressure cavity of the wall climbing robot and a negative pressure cavity pressure threshold;
the fan rotating speed increasing module is used for increasing the rotating speed of the fan when the pressure value in the negative pressure cavity is smaller than the pressure threshold value of the negative pressure cavity;
and the fan rotating speed reduction module is used for reducing the rotating speed of the fan when the pressure value in the negative pressure cavity is greater than the pressure threshold value of the negative pressure cavity.
A wall-climbing robot control method is applied to the wall-climbing robot, and comprises the following steps:
acquiring a pressure value in a negative pressure cavity of the wall climbing robot and a negative pressure cavity pressure threshold;
if the pressure value in the negative pressure cavity is smaller than the pressure threshold value of the negative pressure cavity, increasing the rotating speed of the fan;
and if the pressure value in the negative pressure cavity is greater than the pressure threshold value of the negative pressure cavity, reducing the rotating speed of the fan.
Optionally, if the pressure value in the negative pressure cavity is greater than the negative pressure cavity pressure threshold, after reducing the fan rotational speed, the method further includes:
if the pressure value in the negative pressure cavity is equal to the negative pressure cavity pressure threshold value, acquiring a control instruction of a remote control device through a wireless communication device;
if the control instruction is a straight-going walking instruction, acquiring an acceleration value and an operation speed value, and controlling a motor of a mobile device according to the acceleration value and the operation speed value to enable the wall-climbing robot to walk straight;
and if the control instruction is a turning and walking instruction, acquiring a differential value and the running speed value, and controlling a motor of the mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn.
Optionally, if the control instruction is a straight-traveling command, acquiring an acceleration value and a running speed value, and controlling a motor of the mobile device according to the acceleration value and the running speed value to enable the wall-climbing robot to travel straight, specifically including:
acquiring an acceleration value and an operation speed value;
controlling the motor of the mobile device to operate according to the acceleration value;
acquiring the current running speed of a motor of the mobile device;
judging whether the current running speed is equal to the running speed value or not to obtain a first judgment result;
if the first judgment result is yes, controlling the motor of the mobile device to operate according to the operation speed value, so that the wall climbing robot can walk straight;
and if the first judgment result is negative, returning to the step of controlling the motor of the mobile device to operate according to the acceleration value.
Optionally, if the control instruction is a turning and walking instruction, acquiring a differential value and the running speed value, and controlling a motor of a mobile device according to the running speed value and the differential value to turn the wall-climbing robot, specifically including:
if the turning walking command is a left turning command, acquiring a differential value and the running speed value;
if the differential value is a positive number, controlling a mobile device motor connected with a right mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn left;
and if the differential value is a negative number, controlling a mobile device motor connected with a left mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn left.
Optionally, if the control instruction is a turning and walking instruction, acquiring a differential value and the running speed value, and controlling a motor of a mobile device according to the running speed value and the differential value to turn the wall-climbing robot, specifically including:
if the turning walking command is a right turning command, acquiring a differential value and the running speed value;
if the differential value is a positive number, controlling a mobile device motor connected with a left mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn right;
and if the differential value is a negative number, controlling a mobile device motor connected with a right mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn right.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a wall-climbing robot and a control method thereof. This wall climbing robot includes: the device comprises a fan, a rack, a left side moving device, a right side moving device, a moving device motor, a control system and a pressure detection device; the fan is arranged in the center of the rack and used for generating negative pressure to enable the wall-climbing robot to be adsorbed on the moving plane; the left moving device and the right moving device are arranged on the left side and the right side of the rack and are used for enabling the wall climbing robot to move on a moving plane; the left moving device and the right moving device are respectively connected with a moving device motor; the control system is respectively connected with the fan and the mobile device motor; the pressure detection device is arranged in a negative pressure cavity of the wall climbing robot and is connected with the control system; the negative pressure cavity is an air inlet part of the fan; the pressure detection device is used for detecting a pressure value in the negative pressure cavity and sending the detected pressure value to the control system; the control system is used for comparing the pressure value detected by the pressure detection device with a negative pressure cavity pressure threshold value of the wall-climbing robot, controlling the operation of the fan according to the comparison result and controlling the operation of the motor of the mobile device. According to the wall climbing robot, the pressure value in the negative pressure cavity is obtained by the pressure detection device, the pressure value in the negative pressure cavity is compared with the pressure threshold value of the negative pressure cavity, the operation of the fan is controlled according to the comparison result, when the moving plane of the wall climbing robot is changed, the rotating speed of the fan can be adjusted in time, and the adaptability of the wall climbing robot to different types of moving planes is improved.
The control system is wirelessly connected with the remote control device through the wireless communication device, and the wall climbing robot is controlled in a wireless mode without a towing cable; negative pressure is formed through the fan, and compared with a wall-climbing robot adopting a permanent magnet adsorption mode, the wall-climbing robot has no requirement on the type of materials on the surface adsorbed by the wall-climbing robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a structural diagram of a wall-climbing robot according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating an operation process of the wall-climbing robot according to the embodiment of the present invention;
fig. 3 is a flowchart of a wall-climbing robot control method according to an embodiment of the present invention.
Description of the symbols: 1. a fan; 2. a right side moving device; 3. a frame; 4. a central controller; 5. a handheld control end; 6. a negative pressure sensor; 7. the left side moves the device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a wall climbing robot and a control method thereof.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a structural diagram of a wall-climbing robot according to an embodiment of the present invention. Referring to fig. 1, the wall-climbing robot includes: the device comprises a fan 1, a rack 3, a left side moving device 7, a right side moving device 2, a moving device motor, a control system, a remote control device, a wireless communication device, a pressure detection device, a motion control device and a power supply.
The fan 1 is arranged in the center of the frame 3 and used for generating negative pressure to enable the wall-climbing robot to be adsorbed on a moving plane. The fan 1 is positioned in the center of the wall-climbing robot and fixed on the rack 3, and the fan 1 rotates at a high speed to generate negative pressure, so that pressure from a moving plane to the moving plane is generated, and the wall-climbing robot can be stably adsorbed on the moving plane. The plane of movement may be a wall surface and/or a wall surface. The wall climbing robot of this embodiment is a negative pressure adsorption wall climbing robot.
The left and right moving devices 7 and 2 for moving the wall-climbing robot on the moving plane are installed at the left and right sides of the frame 3. Left side mobile device 7 and right side mobile device 2 specifically select for use track or wheel, and left side mobile device 7 is the left side track in this embodiment, and right side mobile device 2 is the right side track.
The left moving device 7 and the right moving device 2 are each connected to a moving device motor. The motor of the mobile device adopts a speed reducing motor.
The power supply is arranged on the rack 3, the power supply is respectively connected with the fan 1 and the control system, and the power supply is used for supplying power to the fan 1 and the control system. The other devices needing power supply in the wall climbing robot are connected with the control system, the control system supplies power to the other devices needing power supply, and the other devices needing power supply are a motor of a mobile device and the like.
The control system is respectively connected with the fan 1 and the mobile device motor.
The control system is connected with the remote control device through the wireless communication device. The remote control device adopts a hand-held control end 5.
The wireless communication device specifically includes: a transmitter and a receiver. The transmitter and the receiver are connected through a wireless network, and data exchange of the custom data format is carried out between the transmitter and the receiver through the wireless network.
The transmitter is installed in the remote control device and is connected with the remote control device.
The receiver is installed in the wall climbing robot and is connected with the control system.
The remote control device is used for sending a control command to the wall climbing robot through the emitter.
The control system is used for receiving the control instruction sent by the remote control device through the receiver.
The control system is used for controlling the operation of the motor of the mobile device according to the control instruction of the remote control device. The control system adopts a central controller 4, and the central controller 4 of the present embodiment adopts an arm (advanced RISC machines) processor. The central controller 4 receives a control command from the handheld control end 5 through the receiver, and controls the speed reduction motor to drive the mobile devices on the two sides to walk in a straight line or turn. The two-sided moving means refer to the left-sided moving means 7 and the right-sided moving means 2.
The pressure detection device is arranged in a negative pressure cavity of the wall climbing robot and is connected with the control system; the negative pressure cavity is the air inlet position of the fan 1, and the negative pressure cavity is hollow. The fan is installed at one end of the concave area far away from the moving plane, the opening of one end of the concave area far away from the moving plane is used for air outlet, one end of the concave area close to the moving plane is used for air inlet, the concave area is a negative pressure area, the negative pressure area forms a negative pressure cavity after the fan is started, and the four walls of the negative pressure cavity are the four walls of the concave area.
The pressure detection device is used for detecting the pressure value in the negative pressure cavity and sending the detected pressure value to the control system. The pressure detection device adopts a negative pressure sensor 6; the central controller 4 is wired to the negative pressure sensor 6. The negative pressure sensor is used for detecting the pressure value in the negative pressure cavity or the pressure value at the air duct of the fan and feeding back the pressure value to the central controller 4 according to different pressure values.
The control system is also used for comparing the pressure value detected by the pressure detection device with a negative pressure cavity pressure threshold value of the wall-climbing robot and controlling the operation of the fan according to the comparison result.
The motion control device includes: a fan driving sub-device and a moving device driving sub-device.
The fan driving sub-device comprises a fan motor driver and a fan control chip; the fan motor driver is connected with the fan 1, and the fan control chip is respectively connected with the fan motor driver and the control system. The fan motor driver and the fan control chip are welded and fixed on the circuit board. The fan control chip is also connected with an encoder of the fan, and the encoder of the fan is used for feeding back the rotating speed of the fan and the position information of the fan.
The mobile device driving sub-device comprises a mobile device motor driver and a mobile device control chip; the mobile device motor driver is connected with the mobile device motor, and the mobile device control chip is respectively connected with the mobile device motor driver and the control system. The mobile device motor driver and the mobile device control chip are welded and fixed on the circuit board. The mobile device control chip is also connected with an encoder of the mobile device motor, and the encoder of the mobile device motor is used for feeding back the rotating speed of the mobile device motor and the position information of the mobile device.
The control system includes:
and the initialization module is used for carrying out initialization operation on the control system.
The initial value setting module is used for setting initial values of parameters in the control system, wherein the parameters comprise a negative pressure cavity pressure threshold value, a fan rotating speed, a running speed value, a differential speed value, an acceleration value, a time parameter and a communication parameter; the time parameter refers to the acceleration time required by the speed reducing motor to operate to a specified speed; the communication parameters refer to communication parameters for pairing a transmitter and a receiver of the wireless communication device.
And the pressure value acquisition module is used for acquiring a pressure value in a negative pressure cavity of the wall-climbing robot and a negative pressure cavity pressure threshold value.
And the fan rotating speed increasing module is used for increasing the rotating speed of the fan when the pressure value in the negative pressure cavity is smaller than the pressure threshold value of the negative pressure cavity.
And the fan rotating speed reduction module is used for reducing the rotating speed of the fan when the pressure value in the negative pressure cavity is greater than the pressure threshold value of the negative pressure cavity. The central controller carries out different treatments on the rotating speed of the fan according to the pressure in the negative pressure cavity, and when the central controller judges that the pressure in the negative pressure cavity is small, namely the pressure in the negative pressure cavity is smaller than a negative pressure cavity pressure threshold value, the central controller gives a command of increasing the rotating speed of the fan; when the central controller judges that the pressure in the negative pressure cavity is larger than the negative pressure cavity pressure threshold, the central controller gives a command of reducing the rotating speed of the fan until the pressure in the negative pressure cavity reaches the negative pressure cavity pressure threshold, and a closed loop feedback link of pressure regulation is formed. In practical application, the pressure threshold of the negative pressure cavity is determined according to the weight of the wall-climbing robot, the pressure threshold is input into the control system in advance, and the control system can automatically judge whether the pressure in the negative pressure cavity is larger or smaller according to data transmitted by the negative pressure sensor during operation.
And the control instruction acquisition module is used for acquiring a control instruction of the remote control device through the wireless communication device when the pressure value in the negative pressure cavity is equal to the negative pressure cavity pressure threshold value.
And the straight-going module is used for acquiring an acceleration value and a running speed value when the control instruction is a straight-going walking instruction, and controlling a motor of the mobile device according to the acceleration value and the running speed value to enable the wall-climbing robot to walk straight.
The straight module specifically includes:
and the acceleration value acquisition unit is used for acquiring an acceleration value and a running speed value.
And the acceleration control unit is used for controlling the motor of the mobile device to operate according to the acceleration value.
And the current running speed acquiring unit is used for acquiring the current running speed of the motor of the mobile device.
And the first judgment unit is used for judging whether the current running speed is equal to the running speed value or not to obtain a first judgment result.
And the running speed control unit is used for controlling the motor of the mobile device to run according to the running speed value when the first judgment result is yes, so that the wall climbing robot can walk straightly.
And the circulating unit is used for executing the acceleration control unit when the first judgment result is negative.
And the turning module is used for acquiring the differential value and the running speed value when the control instruction is a turning and walking instruction, and controlling the motor of the mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn. The difference of the running speeds of the motors of the mobile devices at the two sides is a differential value, so that the running speed of the motor of the mobile device at one side is the sum of the running speed value and the differential value; the differential speed value can also be divided into two parts, namely the running speed of the motor of the mobile device at one side is the sum of the running speed value and one part of the differential speed value, and the running speed of the motor of the mobile device at the other side is the sum of the running speed value and the other part of the differential speed value.
The turning module specifically includes:
and the left turning command unit is used for acquiring the differential value and the running speed value when the turning walking command is a left turning command. The left turn command is a left front turn command.
And the right-side moving device left turning unit is used for controlling a moving device motor connected with the right-side moving device according to the running speed value and the differential value when the differential value is a positive number, so that the wall-climbing robot turns left. The running speed of the motor of the mobile device connected with the right mobile device is the sum of the running speed value and the differential speed value.
And the left-side moving device left turning unit is used for controlling a moving device motor connected with the left-side moving device according to the running speed value and the differential value when the differential value is negative so as to enable the wall-climbing robot to turn left. The running speed of the motor of the mobile device connected with the left mobile device is the sum of the running speed value and the differential speed value.
And the left rear turning command unit is used for acquiring the differential value and the running speed value when the turning walking command is the left rear turning command.
And the right side moving device left rear turning unit is used for controlling a moving device motor connected with the right side moving device according to the running speed value and the differential value when the differential value is negative, so that the wall climbing robot turns in the left rear direction. The running speed of the motor of the mobile device connected with the right mobile device is the sum of the running speed value and the differential speed value.
And the left rear turning unit of the left side moving device is used for controlling a motor of the moving device connected with the left side moving device according to the running speed value and the differential value when the differential value is a positive number, so that the wall climbing robot turns at the left rear. The running speed of the motor of the mobile device connected with the left mobile device is the sum of the running speed value and the differential speed value.
And the right turning command unit is used for acquiring the differential value and the running speed value when the turning walking command is the right turning command. The right turn command is a right front turn command.
And the left side moving device right turning unit is used for controlling a moving device motor connected with the left side moving device according to the running speed value and the differential value when the differential value is a positive number, so that the wall climbing robot turns right. The running speed of the motor of the mobile device connected with the left mobile device is the sum of the running speed value and the differential speed value.
And the right-side moving device right turning unit is used for controlling a moving device motor connected with the right-side moving device according to the running speed value and the differential value when the differential value is negative, so that the wall-climbing robot turns right. The running speed of the motor of the mobile device connected with the right mobile device is the sum of the running speed value and the differential speed value.
And a right rear turn command unit for acquiring the differential value and the running speed value when the turning and traveling command is a right rear turn command.
And the left side moving device right rear turning unit is used for controlling a moving device motor connected with the left side moving device according to the running speed value and the differential value when the differential value is a negative number, so that the right rear of the wall climbing robot turns. The running speed of the motor of the mobile device connected with the left mobile device is the sum of the running speed value and the differential speed value.
And the right rear turning unit of the right side moving device is used for controlling a motor of the moving device connected with the right side moving device according to the running speed value and the differential value when the differential value is a positive number so as to turn the right rear of the wall climbing robot. The running speed of the motor of the mobile device connected with the right mobile device is the sum of the running speed value and the differential speed value.
And the abnormity detection module is used for enabling the acceleration value and the running speed value to be zero when the fan rotating speed and the pressure detection device fed back by the encoder of the fan are abnormal, so that the wall-climbing robot stops moving.
The abnormality detection module specifically includes: and the rotating speed obtaining unit is used for obtaining the real-time rotating speed of the fan fed back by the encoder of the fan.
The fan rotating speed abnormity unit is used for judging whether the real-time fan rotating speed is lower than the preset fan rotating speed or not; when the real-time fan rotating speed is lower than the preset fan rotating speed, the fan rotating speed is abnormal, the acceleration value and the running speed value are enabled to be zero, and the wall-climbing robot stops moving. In the embodiment, the preset fan rotating speed is the minimum fan rotating speed, and the specific value of the minimum rotating speed is related to the weight of the actual robot; the minimum rotating speed can be calculated through testing, when the robot can be stably adsorbed on the wall surface, the rotating speed of the fan begins to be reduced, when the robot begins to slip, the rotating speed of the fan is the minimum rotating speed, and the minimum rotating speed can be calculated in an auxiliary mode through the encoder.
And the pressure value acquisition unit is used for acquiring a real-time pressure value detected by the pressure detection device in real time.
And the standard pressure value acquisition unit is used for acquiring a preset standard pressure value corresponding to the real-time fan rotating speed.
The pressure detection device abnormity unit is used for judging whether the real-time pressure value is lower than a preset standard pressure value or not; and when the real-time pressure value is lower than the preset standard pressure value, the pressure detection device is abnormal, and the acceleration value and the running speed value are zero, so that the wall-climbing robot stops moving. In the embodiment, the preset standard pressure value is a minimum pressure value, the minimum pressure value is a minimum pressure threshold value in the negative pressure cavity, and a specific value of the minimum pressure value is related to the weight of the actual robot; the minimum pressure value also needs to be calculated through testing, when the robot can adsorb on the wall steadily, begins to reduce the rotational speed of fan, when the robot begins to skid, measures the pressure value in the negative pressure intracavity and can obtain the minimum pressure value.
Fig. 2 is a flowchart of an operation process of the wall-climbing robot according to the embodiment of the present invention, and referring to fig. 2, the operation process of the wall-climbing robot is as follows:
after the control system is powered on, an initialization program is executed, namely the control system is initialized.
And executing a wireless communication program, namely establishing wireless communication between the handheld control end and the central controller by the wireless communication device, performing a wireless communication test, and testing whether the communication between the receiver arranged on the wall-climbing robot and the transmitter of the operator remote control device is good or not. If the communication is abnormal, the wireless communication device is checked and the abnormality is eliminated.
When the communication is normal, a fan operating button (arranged at a handheld control end) is pressed, a fan is started, and an automatic fan control program is executed, namely, a control system sets the fan rotating speed, time parameters and the like of a module according to an initial value, the fan of the wall climbing robot is controlled to start rotating through a fan driving sub-device of a motion control device, the rotating speed is gradually increased to a preset rotating speed, and stable adsorption force is generated when the pressure value in a negative pressure cavity reaches a negative pressure cavity pressure threshold value, so that the wall climbing robot is stably adsorbed on a wall surface. The method specifically comprises the following steps: and the central controller judges whether the fan reaches a preset rotating speed or not, and if the fan does not reach the preset rotating speed, the rotating speed is increased or whether the fan breaks down or not is checked.
After the fan reaches preset rotational speed, carry out the pressure detection procedure, central controller compares according to the pressure value and the negative pressure chamber pressure threshold value in the negative pressure chamber that negative pressure sensor detected promptly to the rotational speed of control fan increases or reduces: if the pressure value is higher than the pressure threshold value of the negative pressure cavity, the rotating speed can be reduced until the pressure value reaches the pressure threshold value of the negative pressure cavity; if the pressure value is lower than the pressure threshold value of the negative pressure cavity, the rotating speed of the fan needs to be increased, so that the vacuum degree in the negative pressure cavity is improved, and a closed loop detection link of pressure is formed. And when the pressure value is lower than the pressure threshold value of the negative pressure cavity, whether the negative pressure cavity is abnormal or not can be checked.
After the pressure value in the negative pressure cavity reaches the pressure threshold value of the negative pressure cavity, the handheld control end sends a control instruction to the wall climbing robot to enable the wall climbing robot to execute a specified task, the control system performs different operations according to different instructions input by an operator and executes a chassis control program applying the control program, the chassis control program, namely a moving device of the motion control device, drives a sub-device to start to be responsible for the operation of the left side crawler and the right side crawler, and the robot is controlled to walk linearly or turn. The method specifically comprises the following steps:
if the control system receives that the control command of the handheld control end is a command for starting the wall climbing robot to walk linearly, the control system operates the straight walking module; and if the control command is a straight line stopping command, the running speed of the motor of the mobile device is enabled to be zero.
And if the control system receives that the control command of the handheld control end is a command for starting the wall climbing robot to turn and walk, the control system operates the turning module. The control system judges whether the turning walking command is to turn to the left side or to turn to the right side, and then controls the motor of the mobile device according to the running speed value and the differential speed value of the crawler belts on the two sides; if the wall-climbing robot turns to the left side, the speed value of the left wheel is smaller than that of the right wheel; and if the wall-climbing robot turns to the right side, the speed value of the right side wheel is smaller than that of the left side wheel. The turning state can be divided into four different states of left front turning, right front turning, left rear turning and right rear turning according to the front and back difference of the operation direction of the wall climbing robot. And if the control command is a command for stopping turning and walking, the running speeds of the motors of the mobile devices on the two sides are the same. The motor of the moving device of the wall climbing robot rotates forwards in the left front turning state and the right front turning state, and the motor of the moving device of the wall climbing robot rotates backwards in the left rear turning state and the right rear turning state.
And executing a fan manual control program applying the control program, wherein the fan manual control program is that the control system acquires a fan rotating speed command of the handheld control end, and the control system controls the rotating speed of the fan through a fan driving sub-device of the motion control device according to the fan rotating speed command. The operating personnel of wall climbing robot can adjust the fan rotational speed through wireless communication device, when operating personnel wants to adjust the fan rotational speed, sends the instruction to control system through wireless communication device's button, and at this moment control system will operate fan manual control procedure, and control system exports control command to fan drive sub-device at last, and fan drive sub-device goes to adjust the fan rotational speed again.
The control system of the negative pressure adsorption wall-climbing robot is also used for detecting whether the negative pressure adsorption wall-climbing robot is abnormal or not, if the control system of the negative pressure adsorption wall-climbing robot detects that the negative pressure adsorption wall-climbing robot is abnormal, the control system automatically starts a protection function (namely, the acceleration value and the running speed value are zero), so that the wall-climbing robot is in a protection state (namely, the wall-climbing robot stops moving), a motor of a moving device of the wall-climbing robot in operation automatically stops emergently, the robot in the emergency stop state cannot be started, meanwhile, a fan driving sub-device controls a fan to maintain a certain rotating speed, the wall-climbing robot can be stably adsorbed on a wall surface, and meanwhile, the control system sends a preset emergency stop code to a handheld control end. The abnormality includes an abnormality in the encoder feedback speed of the fan, an abnormality in the pressure detection device, and the like.
The robot is controlled through the remote control device, the remote control device and the control system are in 2.4G wireless communication, the control system stores instructions which are possibly sent by the remote control device, such as forward, backward, left turn, right turn and the like, after the instructions sent by the remote control device are received, the control system analyzes the instructions, compares the instructions with the previously stored instructions, executes the instructions once the instructions are matched, and otherwise does not execute any action.
The embodiment also provides a control method of the wall climbing robot, and fig. 3 is a flowchart of the control method of the wall climbing robot provided by the embodiment of the present invention. Referring to fig. 3, the wall-climbing robot control method includes:
And 102, if the pressure value in the negative pressure cavity is smaller than the pressure threshold value of the negative pressure cavity, increasing the rotating speed of the fan.
And 103, if the pressure value in the negative pressure cavity is greater than the pressure threshold value of the negative pressure cavity, reducing the rotating speed of the fan.
And 104, if the pressure value in the negative pressure cavity is equal to the negative pressure cavity pressure threshold value, acquiring a control instruction of the remote control device through the wireless communication device.
And 105, if the control instruction is a straight-going walking instruction, acquiring an acceleration value and a running speed value, and controlling a motor of the mobile device according to the acceleration value and the running speed value to enable the wall-climbing robot to walk straight.
Step 105, specifically comprising:
and acquiring an acceleration value and a running speed value.
And controlling the motor of the mobile device to operate according to the acceleration value.
And acquiring the current running speed of the motor of the mobile device.
And judging whether the current running speed is equal to the running speed value or not to obtain a first judgment result.
If the first judgment result is yes, controlling the motor of the mobile device to operate according to the operation speed value, and enabling the wall-climbing robot to walk straight.
If the first judgment result is negative, returning to the step of controlling the motor of the mobile device to operate according to the acceleration value.
And 106, if the control instruction is a turning and walking instruction, acquiring a differential value and a running speed value, and controlling a motor of the mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn. The difference of the running speeds of the motors of the mobile devices at the two sides is a differential value, so that the running speed of the motor of the mobile device at one side is the sum of the running speed value and the differential value; the differential speed value can also be divided into two parts, namely the running speed of the motor of the mobile device at one side is the sum of the running speed value and one part of the differential speed value, and the running speed of the motor of the mobile device at the other side is the sum of the running speed value and the other part of the differential speed value.
Step 106, specifically comprising:
and if the turning and walking command is a left turning command, acquiring a differential speed value and a running speed value. The left turn command is a left front turn command.
If the differential value is positive, controlling a mobile device motor connected with the right mobile device according to the running speed value and the differential value to enable the wall climbing robot to turn left. The running speed of the motor of the mobile device connected with the right mobile device is the sum of the running speed value and the differential speed value.
And if the differential value is negative, controlling a mobile device motor connected with the left mobile device according to the running speed value and the differential value to enable the wall climbing robot to turn left. The running speed of the motor of the mobile device connected with the left mobile device is the sum of the running speed value and the differential speed value.
And if the turning walking command is a left rear turning command, acquiring a differential speed value and a running speed value.
And if the differential value is negative, controlling a mobile device motor connected with the right mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn at the left rear side. The running speed of the motor of the mobile device connected with the right mobile device is the sum of the running speed value and the differential speed value.
If the differential value is positive, controlling a mobile device motor connected with the left mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn at the left rear side. The running speed of the motor of the mobile device connected with the left mobile device is the sum of the running speed value and the differential speed value.
And if the turning and walking command is a right turning command, acquiring a differential speed value and a running speed value. The right turn command is a right front turn command.
And if the differential value is positive, controlling a mobile device motor connected with the left mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn right. The running speed of the motor of the mobile device connected with the left mobile device is the sum of the running speed value and the differential speed value.
And if the differential value is negative, controlling a mobile device motor connected with the right mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn right. The running speed of the motor of the mobile device connected with the right mobile device is the sum of the running speed value and the differential speed value.
And if the turning walking command is a right rear turning command, acquiring a differential value and a running speed value.
And if the differential value is negative, controlling a mobile device motor connected with the left mobile device according to the running speed value and the differential value to enable the right rear part of the wall climbing robot to turn. The running speed of the motor of the mobile device connected with the left mobile device is the sum of the running speed value and the differential speed value.
And if the differential value is positive, controlling a mobile device motor connected with the right mobile device according to the running speed value and the differential value to enable the right rear part of the wall climbing robot to turn. The running speed of the motor of the mobile device connected with the right mobile device is the sum of the running speed value and the differential speed value.
The wall-climbing robot control method further comprises the following steps: when the fan rotating speed and the pressure detection device fed back by the encoder of the fan are abnormal, the acceleration value and the running speed value are set to be zero, and the wall-climbing robot stops moving. The method specifically comprises the following steps:
and acquiring the real-time fan rotating speed fed back by an encoder of the fan.
Judging whether the real-time fan rotating speed is lower than a preset fan rotating speed or not; when the real-time fan rotating speed is lower than the preset fan rotating speed, the fan rotating speed is abnormal, the acceleration value and the running speed value are enabled to be zero, and the wall-climbing robot stops moving. The preset fan rotating speed in this embodiment is the minimum fan rotating speed.
And acquiring a real-time pressure value detected by the pressure detection device in real time.
And acquiring a preset standard pressure value corresponding to the real-time fan rotating speed.
Judging whether the real-time pressure value is lower than a preset standard pressure value or not; and when the real-time pressure value is lower than the preset standard pressure value, the pressure detection device is abnormal, and the acceleration value and the running speed value are zero, so that the wall-climbing robot stops moving. In this embodiment, the preset standard pressure value is the minimum pressure value.
Under the normal condition, pressure value in the negative pressure cavity can be stabilized near preset pressure value, when climbing wall robot to coarse wall on, pressure value in the negative pressure cavity can reduce, control system gives control command, improve the fan rotational speed, until the pressure value is stabilized near preset pressure value, when climbing wall robot adsorbs on the smooth wall, pressure value in the negative pressure cavity can rise, control system gives control command, reduce the fan rotational speed, until the pressure value is stabilized near preset pressure value.
When the wall climbing robot moves from one type of moving plane to another type of moving plane, the pressure in the negative pressure cavity of the wall climbing robot changes, at the moment, the pressure sensor feeds the detected pressure value back to the control system, the control system compares the detected pressure value with the pressure threshold value of the negative pressure cavity, after the comparison result is calculated, the control system outputs an instruction to the fan driving sub-device according to the comparison result to adjust the rotating speed of the fan, so that the pressure value in the negative pressure cavity reaches the set pressure threshold value of the negative pressure cavity, the rotating speed of the fan is adjusted in real time according to different application scenes, and the work of the wall climbing robot is guaranteed. The control system is wirelessly connected with the remote control device through the wireless communication device, the wall-climbing robot is controlled in a wireless mode, power is supplied to the wall-climbing robot through the power supply, a towing cable is not needed for supplying power, the application range of the wall-climbing robot is wider, negative pressure is formed through the fan, and compared with the wall-climbing robot adopting a permanent magnet adsorption mode, the wall-climbing robot has no requirement on the type of materials on the surface adsorbed by the wall-climbing robot; the wall climbing robot and the control method thereof can also detect whether the negative pressure adsorption wall climbing robot is abnormal in the motion process in real time, and automatically start the protection function if the negative pressure adsorption wall climbing robot is abnormal, so that the wall climbing robot is more automatic in work, and the automation level of related operation is greatly improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A wall climbing robot, comprising: the device comprises a fan, a rack, a left side moving device, a right side moving device, a moving device motor, a control system and a pressure detection device;
the fan is arranged in the center of the rack and used for generating negative pressure to enable the wall-climbing robot to be adsorbed on a moving plane;
the left side moving device and the right side moving device are arranged on the left side and the right side of the rack and are used for enabling the wall climbing robot to move on a moving plane;
the left side moving device and the right side moving device are respectively connected with a moving device motor;
the control system is respectively connected with the fan and the mobile device motor;
the pressure detection device is arranged in a negative pressure cavity of the wall-climbing robot and is connected with the control system; the negative pressure cavity is an air inlet part of the fan;
the pressure detection device is used for detecting a pressure value in the negative pressure cavity and sending the detected pressure value to the control system;
the control system is used for comparing the pressure value detected by the pressure detection device with a negative pressure cavity pressure threshold value of the wall-climbing robot, controlling the operation of the fan according to the comparison result and controlling the operation of the motor of the mobile device.
2. The wall-climbing robot according to claim 1, further comprising: a remote control device and a wireless communication device;
the control system is connected with the remote control device through the wireless communication device;
the control system is also used for controlling the motor of the mobile device according to the control instruction of the remote control device.
3. The wall-climbing robot as claimed in claim 2, wherein the wireless communication device specifically comprises: a transmitter and a receiver;
the transmitter is arranged in the remote control device and is connected with the remote control device;
the receiver is arranged in the wall-climbing robot and is connected with the control system;
the remote control device is used for sending a control instruction to the wall climbing robot through the transmitter;
the control system is used for receiving the control instruction sent by the remote control device through the receiver.
4. The wall-climbing robot according to claim 1, further comprising: a motion control device;
the motion control device includes: the fan driving sub-device and the moving device driving sub-device;
the fan driving sub-device comprises a fan motor driver and a fan control chip; the fan motor driver is connected with the fan, and the fan control chip is respectively connected with the fan motor driver and the control system;
the mobile device driving sub-device comprises a mobile device motor driver and a mobile device control chip; the mobile device motor driver is connected with the mobile device motor, and the mobile device control chip is respectively connected with the mobile device motor driver and the control system.
5. The wall-climbing robot of claim 1, wherein the control system comprises:
the pressure value acquisition module is used for acquiring a pressure value in a negative pressure cavity of the wall climbing robot and a negative pressure cavity pressure threshold;
the fan rotating speed increasing module is used for increasing the rotating speed of the fan when the pressure value in the negative pressure cavity is smaller than the pressure threshold value of the negative pressure cavity;
and the fan rotating speed reduction module is used for reducing the rotating speed of the fan when the pressure value in the negative pressure cavity is greater than the pressure threshold value of the negative pressure cavity.
6. A wall-climbing robot control method applied to the wall-climbing robot according to any one of claims 1 to 5, comprising:
acquiring a pressure value in a negative pressure cavity of the wall climbing robot and a negative pressure cavity pressure threshold;
if the pressure value in the negative pressure cavity is smaller than the pressure threshold value of the negative pressure cavity, increasing the rotating speed of the fan;
and if the pressure value in the negative pressure cavity is greater than the pressure threshold value of the negative pressure cavity, reducing the rotating speed of the fan.
7. The wall-climbing robot control method according to claim 6, wherein if the pressure value in the negative pressure cavity is greater than the negative pressure cavity pressure threshold, after the rotating speed of the fan is reduced, the method further comprises:
if the pressure value in the negative pressure cavity is equal to the negative pressure cavity pressure threshold value, acquiring a control instruction of a remote control device through a wireless communication device;
if the control instruction is a straight-going walking instruction, acquiring an acceleration value and an operation speed value, and controlling a motor of a mobile device according to the acceleration value and the operation speed value to enable the wall-climbing robot to walk straight;
and if the control instruction is a turning and walking instruction, acquiring a differential value and the running speed value, and controlling a motor of the mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn.
8. The method according to claim 7, wherein if the control command is a straight-traveling command, acquiring an acceleration value and a running speed value, and controlling a motor of a mobile device according to the acceleration value and the running speed value to make the wall-climbing robot travel straight, specifically comprising:
acquiring an acceleration value and an operation speed value;
controlling the motor of the mobile device to operate according to the acceleration value;
acquiring the current running speed of a motor of the mobile device;
judging whether the current running speed is equal to the running speed value or not to obtain a first judgment result;
if the first judgment result is yes, controlling the motor of the mobile device to operate according to the operation speed value, so that the wall climbing robot can walk straight;
and if the first judgment result is negative, returning to the step of controlling the motor of the mobile device to operate according to the acceleration value.
9. The method according to claim 7, wherein if the control command is a turn walking command, acquiring a differential value and the running speed value, and controlling a motor of a mobile device according to the running speed value and the differential value to turn the wall-climbing robot, specifically comprising:
if the turning walking command is a left turning command, acquiring a differential value and the running speed value;
if the differential value is a positive number, controlling a mobile device motor connected with a right mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn left;
and if the differential value is a negative number, controlling a mobile device motor connected with a left mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn left.
10. The method according to claim 7, wherein if the control command is a turn walking command, acquiring a differential value and the running speed value, and controlling a motor of a mobile device according to the running speed value and the differential value to turn the wall-climbing robot, specifically comprising:
if the turning walking command is a right turning command, acquiring a differential value and the running speed value;
if the differential value is a positive number, controlling a mobile device motor connected with a left mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn right;
and if the differential value is a negative number, controlling a mobile device motor connected with a right mobile device according to the running speed value and the differential value to enable the wall-climbing robot to turn right.
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Application publication date: 20201120 |