Control method of climbing robot and climbing robot

A control method and robot technology, applied in the mechanical field, can solve problems such as cable damage, impact, and cable height, so as to avoid unnecessary impact and improve the use environment

Pending Publication Date: 2020-09-11
SHENZHEN INST OF ARTIFICIAL INTELLIGENCE & ROBOTICS FOR SOC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The detection process of the wheeled robot requires the hub and the cable to cooperate with each other to provide power, which has high requirements on the cable. At the same time, the friction force acts on the cable during the movement, which is easy to cause damage to the cable and cause unnecessary impact.

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  • Control method of climbing robot and climbing robot
  • Control method of climbing robot and climbing robot
  • Control method of climbing robot and climbing robot

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Embodiment Construction

[0058] This application is based on the current detection of the cables of cable-stayed bridges. The robots used are generally driven by wheels, and the use of wheeled robots needs to exert pressure on the cables. The heavier the robot, the greater the impact on the cables, and for different The hub of the cable robot with a larger diameter needs to be replaced accordingly, and the adaptability is poor. Based on the above problems, a control method for a climbing robot is proposed, which is used on a climbing robot that uses a ducted drive as power. The climbing robot climbs along the cable. When climbing, the power is provided by the duct drive, which avoids the unnecessary influence of the climbing robot on the cable, and at the same time improves the type of cable that the climbing robot is suitable for. For the detection process, the obtained cable data is closer to the actual situation.

[0059]In order to enable those skilled in the art to better understand the solutions ...

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Abstract

The embodiment of the invention discloses a control method of a climbing robot. The climbing robot comprises a climbing main body, a duct propeller and a holding unit, wherein the duct propeller and the holding unit are arranged on the climbing main body, and the climbing main body is used for sleeving a climbed object. The method comprises the following steps of determining a target position to which the climbing robot needs to climb, determining the magnitude and direction of target thrust according to the weight of the climbing robot and the inclination angle of the climbed object relativeto the ground, controlling the duct propeller to output the target thrust in the magnitude and the direction, so that the climbing robot flies along the sleeved climbed object, and when the real-timeflight position of the climbing robot is the same as the target position, controlling the holding unit to hold the climbed object.

Description

technical field [0001] The embodiments of the present application relate to the mechanical field, and in particular to a control method of a climbing robot and the climbing robot. Background technique [0002] Cable-stayed bridge is an important structural form of modern long-span bridges, especially when crossing canyons, bays, large rivers, rivers and other places where piers are not easy to build, the bridge type of cable-stayed bridges is often selected. The cable-stayed bridge is composed of cables, cable towers, main girders, and bridge deck. The load of the bridge deck is transmitted to the cables through the main girders, and then transmitted to the cable towers by the cables. This reasonable load distribution structure and its economical construction cost make it widely used. [0003] Existing inspections on cables of cable-stayed bridges are generally completed by wheeled robots. Wheeled robots are provided with hubs corresponding to the diameter of the cables. B...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 丁宁郑振粮张文超
Owner SHENZHEN INST OF ARTIFICIAL INTELLIGENCE & ROBOTICS FOR SOC
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