The invention relates to a wall-climbing robot and a control method thereof.The wall-climbing robot comprises a vehicle frame, a roller module and a control part, the vehicle frame is provided with a pose sensor and a detection tool, a switching part of the roller module is connected with the vehicle frame and a wheel frame, and the switching part is rotationally connected with the vehicle frame around a first preset rotating shaft; the switching part is rotationally connected with the wheel frame around a second preset rotating shaft, angle sensors are arranged at the first preset rotating shaft and the second preset rotating shaft, and the control part is electrically connected with the pose sensor and the angle sensors. According to the wall-climbing robot, the control part can obtain the data detected by the pose sensor and the angle sensor, so that the pose information of the wall-climbing robot and the internal pose information of the wall-climbing robot are determined, and then the climbing state of the wall-climbing robot on the wind power tower drum is accurately obtained; and the detection direction or the detection distance of the detection tool is adaptively adjusted to achieve the optimal detection effect.
本申请关于一种爬壁机器人及其控制方法,爬壁机器人包括车架、滚轮模组和控制部,车架设置有位姿传感器和检测工装,滚轮模组的转接部连接车架与车轮架,转接部绕第一预设转轴与车架转动连接,转接部绕第二预设转轴与车轮架转动连接,第一预设转轴和第二预设转轴处设置有角度传感器,控制部与位姿传感器和角度传感器电连接。本公开中,控制部能够获取位姿传感器和角度传感器检测的数据,从而确定爬壁机器人的位姿信息以及爬壁机器人的内部姿态信息,进而精确获取爬壁机器人在风电塔筒上的攀爬状态,进而对检测工装的检测方向或者检测距离进行适应性调节以达到最佳检测效果。
Wall-climbing robot and control method thereof
一种爬壁机器人及其控制方法
2024-11-15
Patent
Electronic Resource
Chinese
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