Title:
PATH PLANNING METHOD FOR WALL-CLIMBING ROBOT
Document Type and Number:
WIPO Patent Application WO/2023/130673
Kind Code:
A1
Abstract:
A path planning method for a wall-climbing robot, the method comprising the following steps: step 1, establishing a spatial pose model of a wall-climbing robot during a working process; step 2, performing statics analysis on the wall-climbing robot, and decomposing a resultant force G of the gravity of the wall-climbing robot itself and the gravity of a load borne by the wall-climbing robot; step 3, performing kinetics analysis on the wall-climbing robot, and analyzing the crawling capability and steering capability thereof; and step 4, performing path planning according to analysis results of the crawling capability and the steering capability. The method is used for solving the problems of a traditional robot being controlled by an operator using a wireless remote to control the movement, lane changing and straight walking of the robot, and the operator being required to continuously operate the robot during the whole process of operating same, which greatly consumes the time and energy of personnel and increases labor costs. By means of the present application, automated operation for path planning, straight walking and lane changing of a wall-climbing robot is implemented, so that an operator is freed from frequently operating a remote and performing real-time monitoring, and the robot is more intelligent.
Inventors:
XU HUAYANG (CN)
REN LUCHANG (CN)
SONG ZHANGJUN (CN)
LIU HAILONG (CN)
ZHANG GUOQING (CN)
LIU YANYU (CN)
GUO CHAOQIONG (CN)
REN LUCHANG (CN)
SONG ZHANGJUN (CN)
LIU HAILONG (CN)
ZHANG GUOQING (CN)
LIU YANYU (CN)
GUO CHAOQIONG (CN)
Application Number:
PCT/CN2022/098581
Publication Date:
July 13, 2023
Filing Date:
June 14, 2022
Export Citation:
Assignee:
BEIJING TIMERIVER TECH CO LTD (CN)
International Classes:
G05D1/02
Domestic Patent References:
| WO2019024739A1 | 2019-02-07 |
Foreign References:
| CN114019986A | 2022-02-08 | |||
| CN108413976A | 2018-08-17 | |||
| US20170123435A1 | 2017-05-04 | |||
| CN110667719A | 2020-01-10 | |||
| CN203019367U | 2013-06-26 | |||
| CN113844221A | 2021-12-28 |
Attorney, Agent or Firm:
BEIJING ZZFY INTELLECTUAL PROPERTY AGENCY LTD. (CN)
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