阅读说明：本技术 一种多智能体攀爬机器人系统及其控制方法 (Multi-agent climbing robot system and control method thereof ) 是由 刘丽 刘禹 魏庆来 于 2021-07-28 设计创作，主要内容包括：本发明提供一种多智能体攀爬机器人系统及其控制方法,包括爬梯机器人和梯式攀爬机器人,梯式框架组件上设有供抓握组件攀爬的路径；路径上设有多个支撑点,抓握组件与梯式框架组件可拆卸连接；在爬梯框架攀爬时,抓握组件与支撑点连接,吸附支撑组件脱开幕墙；梯式框架组件通过吸附攀爬组件吸附墙面；在梯式框架组件攀爬时,抓握组件脱开,爬梯框架吸附在墙面。本发明提供的多智能体攀爬机器人系统,爬梯机器人和梯式攀爬机器人互相配合交替移动,在单一系统中设置了爬梯机器人和梯式攀爬机器人,提高了系统的负载能力。并且多个爬梯机器人可以同时进行作业,不仅使整个系统更加灵活方便地按需进行作业,而且满足不同需要,扩大了使用范围。(The invention provides a multi-agent climbing robot system and a control method thereof, wherein the multi-agent climbing robot system comprises a ladder climbing robot and a ladder climbing robot, wherein a ladder frame assembly is provided with a path for a gripping assembly to climb; a plurality of supporting points are arranged on the path, and the gripping assembly is detachably connected with the ladder type frame assembly; when the ladder climbing frame climbs, the gripping assembly is connected with the supporting point, and the adsorption supporting assembly is separated from the curtain wall; the ladder-type frame assembly adsorbs the wall surface through the adsorption climbing assembly; when the ladder type frame assembly climbs, the grabbing assembly is disengaged, and the ladder frame is adsorbed on the wall surface. According to the multi-agent climbing robot system provided by the invention, the ladder climbing robot and the ladder climbing robot are mutually matched to move alternately, and the ladder climbing robot are arranged in a single system, so that the load capacity of the system is improved. And a plurality of cat ladder robots can carry out the operation simultaneously, not only make entire system carry out the operation as required more nimble conveniently, satisfy different needs moreover, enlarged application range.)

1. A multi-agent climbing robot system, comprising:

a ladder climbing robot, the ladder climbing robot comprising: the ladder stand comprises a ladder stand frame, and a gripping assembly and an adsorption supporting assembly which are arranged on the ladder stand frame;

ladder climbing robot, ladder climbing robot includes: an adsorption climbing assembly and a ladder type frame assembly; wherein a path for the gripping assembly to climb is arranged on the ladder frame assembly; a plurality of supporting points are arranged on the path, and the grasping assembly is detachably connected with the ladder type frame assembly through the supporting points; when the ladder climbing frame climbs through the grabbing components, the grabbing components are connected with the corresponding supporting points, and the adsorption supporting components are separated from the curtain wall; the ladder-type frame assembly adsorbs the curtain wall through the adsorption climbing assembly; when the ladder type frame assembly climbs through the adsorption climbing assembly, the grasping assembly is disengaged from the supporting point, and the ladder type frame is adsorbed on the curtain wall through the adsorption supporting assembly.

2. The multi-agent climbing robot system of claim 1, wherein the gripping assembly comprises:

a gripping articulated arm, a first end of the gripping articulated arm being articulated with the ladder stand frame;

a grasping device having a first end hingedly connected to the second end of the grasping articulated arm and a second end detachably connected to the support point.

3. The multi-agent climbing robot system according to claim 2, wherein the gripping device comprises: a first gas jaw assembly and a second gas jaw assembly;

the first gas claw assembly and the second gas claw assembly have the same structure and both comprise: pneumatic claws and hook claws; the claw is arranged on the pneumatic claw, and the pneumatic claw is used for driving the claw to open and close.

4. The multi-agent climbing robot system of claim 1, wherein the adsorption support assembly comprises:

a support articulated arm, a first end of which is articulated with the ladder stand frame;

and the first end of the first suction disc device is hinged with the second end of the support joint arm, and the second end of the first suction disc device adsorbs or separates the curtain wall.

5. The multi-agent climbing robot system according to claim 4, wherein the first suction cup device comprises: the device comprises a first connecting rod, a first sucking disc and a first vacuum pump;

the first suction disc is hinged to the second end of the support joint arm through the first connecting rod, and the first suction disc is communicated with the first vacuum pump.

6. The multi-agent climbing robot system of claim 1, wherein the adsorption climbing assembly comprises:

a climbing articulated arm, a first end of the climbing articulated arm being articulated with the ladder frame assembly;

and the first end of the second sucker device is hinged with the second end of the climbing joint arm, and the second end of the second sucker device adsorbs or separates from the curtain wall.

7. The multi-agent climbing robot system according to claim 6, wherein the second suction cup device comprises: the second connecting rod, the second sucker and the second vacuum pump;

the second sucker is hinged to the second end of the climbing joint arm through the second connecting rod, and the second sucker is communicated with the second vacuum pump.

8. The multi-agent climbing robot system of claim 1, wherein the ladder climbing robot further comprises: a ladder control assembly; the cat ladder control assembly includes:

the first vision device is arranged on the ladder climbing frame and used for acquiring line data of the ladder climbing robot;

the first navigation device is arranged on the grasping assembly and used for acquiring the route plan of the ladder climbing robot according to the route data;

the first pressure detection device is arranged on the adsorption support assembly and used for judging the working state of the ladder climbing robot in the line planning according to the pressure between the adsorption support assembly and the curtain wall;

and the pressure sensation detection device is arranged on the grasping assembly and used for judging the working state of the ladder climbing robot in the route planning according to the pressure between the grasping assembly and the supporting point.

9. The multi-agent climbing robot system of claim 8, wherein the ladder climbing robot further comprises: a ladder control assembly; the ladder control assembly includes:

the second vision device is arranged on the ladder type frame assembly and used for acquiring the line data of the ladder type climbing robot;

the second navigation device is arranged on the adsorption climbing assembly and used for acquiring the line plan of the ladder climbing robot according to the line data;

and the second pressure detection device is arranged on the adsorption climbing assembly and used for judging the working state of the ladder-type climbing robot in the route planning according to the pressure between the adsorption climbing assembly and the curtain wall.

10. A control method for a multi-agent climbing robot system according to any one of claims 1-9, comprising:

establishing an absolute coordinate system by using a fixed point and establishing a relative coordinate system by using a certain point on the ladder-type climbing robot, and determining the absolute coordinate of the ladder-type climbing robot and the relative coordinate of each ladder-type climbing robot;

determining a target position, calculating the optimal route and displacement of the ladder climbing robot according to scanning data under an absolute coordinate system, and calculating the relative optimal route and displacement of the ladder climbing robot and the ladder climbing robot;

moving the ladder climbing robot to the position which is optimally matched with the ladder climbing robot, starting climbing on the ladder climbing robot by the ladder climbing robot, and stopping moving and adsorbing a curtain wall when the ladder climbing robot reaches the upper limit of a relative coordinate threshold of the ladder climbing robot; calculating the displacement of the ladder-type climbing robot relative to the target position and moving the ladder-type climbing robot; when the ladder-type climbing robot moves to reach the lower limit of the relative coordinate threshold of the ladder-type climbing robot, the ladder-type climbing robot stops moving; and controlling the ladder climbing robot to climb on the ladder climbing robot, wherein the ladder climbing robot and the ladder climbing robot move alternately to reach a target position.

Technical Field

The invention relates to the field of robots, in particular to a multi-agent climbing robot system and a control method thereof.

Background

The climbing robot is widely applied to various fields such as military and civil industrial production, building manufacturing, detection and maintenance, rescue and relief work and the like, and can complete tasks which are difficult to complete manually. But accomplish high-risk operation task in high altitude environment and extreme environment, traditional climbing robot hardly satisfies actual need completely. For example, high-rise buildings (glass curtain walls) with high intensity are in fire, under a series of severe environments such as high altitude, high temperature, dense smoke and toxic gas, the traditional climbing robot is difficult to implement a fire-fighting and rescue task due to the problems of small load, single function and the like, and meanwhile, under the condition that the self safety of a fireman is ensured, the fire-fighting aerial ladder is difficult to carry out effective fire-fighting operation.

The traditional climbing robot works independently, so that the traditional climbing robot has the defects of small load, single function, small application range, poor obstacle crossing capability and the like, and is difficult to adapt to a complex environment. Therefore, a multi-agent climbing robot system is needed. The multifunctional fire-fighting rescue robot can climb a high-rise building to bring people in danger to the ground or carry various fire-fighting appliances such as a camera, a water gun, protective equipment and the like to climb to the high altitude, and accurately and effectively carry out fire-fighting rescue operation in various aspects under severe environments such as dense smoke, toxic gas and the like.

Disclosure of Invention

The embodiment of the invention provides a multi-agent climbing robot system and a control method thereof, and solves the problems of small load, single function, small application range and poor obstacle crossing capability of a climbing robot in the prior art.

The embodiment of the invention provides a multi-agent climbing robot system, which comprises:

a ladder climbing robot, the ladder climbing robot comprising: the ladder stand comprises a ladder stand frame, and a gripping assembly and an adsorption supporting assembly which are arranged on the ladder stand frame;

ladder climbing robot, ladder climbing robot includes: an adsorption climbing assembly and a ladder type frame assembly; wherein a path for the gripping assembly to climb is arranged on the ladder frame assembly; a plurality of supporting points are arranged on the path, and the grasping assembly is detachably connected with the ladder type frame assembly through the supporting points; when the ladder climbing frame climbs through the grabbing components, the grabbing components are connected with the corresponding supporting points, and the adsorption supporting components are separated from the curtain wall; the ladder-type frame assembly adsorbs the curtain wall through the adsorption climbing assembly; when the ladder type frame assembly climbs through the adsorption climbing assembly, the grasping assembly is disengaged from the supporting point, and the ladder type frame is adsorbed on the curtain wall through the adsorption supporting assembly.

According to one embodiment of the present invention, there is provided a multi-agent climbing robot system, the gripping assembly comprising:

a gripping articulated arm, a first end of the gripping articulated arm being articulated with the ladder stand frame;

a grasping device having a first end hingedly connected to the second end of the grasping articulated arm and a second end detachably connected to the support point.

According to one embodiment of the invention, a multi-agent climbing robot system is provided, the gripping device comprising: a first gas jaw assembly and a second gas jaw assembly;

the first gas claw assembly and the second gas claw assembly have the same structure and both comprise: pneumatic claws and hook claws; the claw is arranged on the pneumatic claw, and the pneumatic claw is used for driving the claw to open and close.

According to one embodiment of the invention, a multi-agent climbing robot system is provided, wherein the adsorption support assembly comprises:

a support articulated arm, a first end of which is articulated with the ladder stand frame;

and the first end of the first suction disc device is hinged with the second end of the support joint arm, and the second end of the first suction disc device adsorbs or separates the curtain wall.

According to one embodiment of the invention, a multi-agent climbing robot system is provided, wherein the first sucker device comprises: the device comprises a first connecting rod, a first sucking disc and a first vacuum pump;

the first suction disc is hinged to the second end of the support joint arm through the first connecting rod, and the first suction disc is communicated with the first vacuum pump.

According to one embodiment of the invention, a multi-agent climbing robot system is provided, wherein the adsorption climbing assembly comprises:

a climbing articulated arm, a first end of the climbing articulated arm being articulated with the ladder frame assembly;

and the first end of the second sucker device is hinged with the second end of the climbing joint arm, and the second end of the second sucker device adsorbs or separates from the curtain wall.

According to an embodiment of the present invention, there is provided a multi-agent climbing robot system, the second suction cup device including: the second connecting rod, the second sucker and the second vacuum pump;

the second sucker is hinged to the second end of the climbing joint arm through the second connecting rod, and the second sucker is communicated with the second vacuum pump.

According to an embodiment of the present invention, there is provided a multi-agent climbing robot system, wherein the ladder climbing robot further includes: a ladder control assembly; the cat ladder control assembly includes:

the first vision device is arranged on the ladder climbing frame and used for acquiring line data of the ladder climbing robot;

the first navigation device is arranged on the grasping assembly and used for acquiring the route plan of the ladder climbing robot according to the route data;

the first pressure detection device is arranged on the adsorption support assembly and used for judging the working state of the ladder climbing robot in the line planning according to the pressure between the adsorption support assembly and the curtain wall;

and the pressure sensation detection device is arranged on the grasping assembly and used for judging the working state of the ladder climbing robot in the route planning according to the pressure between the grasping assembly and the supporting point.

According to an embodiment of the present invention, there is provided a multi-agent climbing robot system, wherein the ladder climbing robot further includes: a ladder control assembly; the ladder control assembly includes:

the second vision device is arranged on the ladder type frame assembly and used for acquiring the line data of the ladder type climbing robot;

the second navigation device is arranged on the adsorption climbing assembly and used for acquiring the line plan of the ladder climbing robot according to the line data;

and the second pressure detection device is arranged on the adsorption climbing assembly and used for judging the working state of the ladder-type climbing robot in the route planning according to the pressure between the adsorption climbing assembly and the curtain wall.

The invention also provides a control method of the multi-agent climbing robot system, which comprises the following steps:

establishing an absolute coordinate system by using a fixed point and establishing a relative coordinate system by using a certain point on the ladder-type climbing robot, and determining the absolute coordinate of the ladder-type climbing robot and the relative coordinate of each ladder-type climbing robot;

determining a target position, calculating the optimal route and displacement of the ladder climbing robot according to scanning data under an absolute coordinate system, and calculating the relative optimal route and displacement of the ladder climbing robot and the ladder climbing robot;

moving the ladder climbing robot to the position which is optimally matched with the ladder climbing robot, starting climbing on the ladder climbing robot by the ladder climbing robot, and stopping moving and adsorbing a curtain wall when the ladder climbing robot reaches the upper limit of a relative coordinate threshold of the ladder climbing robot; calculating the displacement of the ladder-type climbing robot relative to the target position and moving the ladder-type climbing robot; when the ladder-type climbing robot moves to reach the lower limit of the relative coordinate threshold of the ladder-type climbing robot, the ladder-type climbing robot stops moving; and controlling the ladder climbing robot to climb on the ladder climbing robot, wherein the ladder climbing robot and the ladder climbing robot move alternately to reach a target position.

The invention provides a multi-agent climbing robot system and a control method thereof.A ladder climbing robot and a ladder climbing robot are mutually matched to move alternately, when a ladder climbing frame climbs through a grasping component, the grasping component is connected with a supporting point, and an adsorption supporting component is separated from a curtain wall; the ladder-type frame assembly adsorbs the wall surface through the adsorption climbing assembly; when ladder frame subassembly climbed through adsorbing the climbing subassembly, the gripping subassembly is thrown off, has set up cat ladder robot and ladder climbing robot in single system, has improved the load capacity of system. The ladder climbing robot can be separated from the ladder climbing robot, independently operates, a plurality of ladder climbing robots can also operate simultaneously, different requirements are met, the ladder climbing robot can provide supporting points for different ladder climbing robots as required, not only is the whole system flexible and convenient to operate as required, but also different requirements are met, and the application range is enlarged.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a multi-agent climbing robot system provided by an embodiment of the invention;

FIG. 2 is a schematic structural diagram of a ladder climbing robot according to another embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a ladder climbing robot according to another embodiment of the present invention;

reference numerals: 100. a ladder climbing robot; 111. a first articulated arm; 112. a second articulated arm; 113. a support bar; 114. a pneumatic claw; 115. a hook claw; 116. a pressure sensation detection device; 117. a first navigation device; 118. a third joint arm; 119. a fourth articulated arm; 120. a fifth articulated arm; 121. a first suction cup; 122. a first pressure detection device; 123. a first connecting rod; 124. a first vacuum pump; 125. a ladder control assembly; 126. a mechanical arm connecting piece; 127. a ladder climbing frame; 128. a first overturn detecting device; 129. a first vision device; 200. a ladder climbing robot; 211. a sixth articulated arm; 212. a seventh articulated arm; 213. a second connecting rod; 214. a second navigation device; 215. a second suction cup; 216. a second vacuum pump; 217. a second pressure detecting device; 218. a mechanical arm connecting rod; 219. a second vision device; 220. a second overturn detecting device; 221. a ladder control assembly; 222. a ladder frame assembly.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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 present invention provides a multi-agent climbing robot system, as shown in fig. 1 to 3, comprising: a ladder climbing robot 100 and a ladder climbing robot 200. The ladder climbing robot 100 and the ladder climbing robot 200 are alternately moved in cooperation with each other. Meanwhile, the ladder climbing robot 200 may also be used to mount the ladder climbing robot 100 to move together with the ladder climbing robot 100.

Wherein, cat ladder robot 100 mainly includes: a ladder frame 127 and a gripping assembly, a suction support assembly, disposed on the ladder frame 127. The ladder climbing robot 200 mainly includes: an adsorption climbing assembly and a ladder frame assembly 222. The ladder frame assembly 222 defines a path for the gripping assembly to climb. The path is provided with a plurality of support points by which the gripping assembly is removably connected to the ladder frame assembly 222. The ladder frame assembly 222 employs a ladder structure for the ladder climbing robot 100 to climb.

The cat ladder robot and ladder climbing robot cooperate the alternating movement mutually, and when cat ladder frame 127 climbs through the gripping subassembly, the gripping subassembly is connected with corresponding strong point, adsorbs the supporting component and breaks away from the curtain, and ladder frame subassembly 222 adsorbs the curtain through adsorbing the climbing subassembly. When the ladder frame assembly 222 is climbing by the adsorption climbing assembly, the gripping assembly is disengaged from the support point and the ladder frame 127 is adsorbed to the curtain wall by the adsorption support assembly.

In the working process of the multi-agent climbing robot system, a single ladder type climbing robot can be provided with a plurality of ladder climbing robots. The cat ladder robot can freely scramble on ladder climbing robot, and a plurality of cat ladder robots can scramble on ladder climbing robot simultaneously, and ladder climbing machine can provide the strong point for different cat ladder robots on corresponding route as required simultaneously. When the ladder climbing robot 100 climbs through the grasping assembly, the ladder climbing robot 200 is fixed on the curtain wall through the adsorption climbing assembly. When ladder climbing robot 200 removed on the curtain wall through adsorbing the climbing subassembly, in order to avoid the load on ladder climbing robot 200 too big, can break away from ladder climbing robot 100 with ladder climbing robot, fix ladder climbing robot motionless on the curtain wall through adsorbing the supporting component. After moving in place, the ladder climbing robot 200 is adsorbed on the curtain wall through the adsorption climbing component and is fixed, and the ladder climbing robot 100 climbs on the ladder climbing robot by reusing the grabbing component. Therefore, the load capacity of the system can be greatly improved in the moving process of the whole multi-agent climbing robot system.

Each multi-agent climbing robot system can be provided with a plurality of ladder climbing robots 100, an absolute coordinate system is established by a fixed point and a relative coordinate system is established by a certain point on the ladder climbing robot 200 during the movement process, and the absolute coordinate of the ladder climbing robot 200 and the relative coordinate of each ladder climbing robot 100 are determined. And determining the target position, and calculating the optimal route and displacement of the ladder climbing robot 200 and the relative optimal route and displacement of the ladder climbing robot 200 and the ladder climbing robot 100 according to the scanning data in the absolute coordinate system. Moving the ladder climbing robot 200 to a best fit position with the ladder climbing robot 100, the ladder climbing robot 100 begins to climb on the ladder climbing robot 200.

When the ladder climbing robot 100 reaches the upper limit of the relative coordinate threshold value of the ladder climbing robot 200, synchronously controlling each ladder climbing robot to stop moving and adsorb the curtain wall, and controlling the ladder climbing robot 200 to move towards the target position, namely, each ladder climbing robot 100 is separated from the ladder climbing robot 200, the ladder climbing robot 200 moves on the curtain wall through an adsorption climbing component, and each ladder climbing robot 100 is fixed on the curtain wall through a corresponding adsorption supporting component. Calculating the displacement of the ladder-type climbing robot 200 and moving the ladder-type climbing robot relative to the target position; when the ladder climbing robot 200 moves to reach the lower limit of the relative coordinate threshold of the ladder climbing robot 100, the ladder climbing robot 200 stops moving; the control cat ladder robot 100 scrambles on ladder climbing robot 200, and control ladder climbing robot 200 adsorbs the curtain to each cat ladder robot 100 of synchro control moves towards the target position on ladder climbing robot 200, and each cat ladder robot 100 scrambles through the gripping subassembly promptly, and ladder climbing robot 200 adsorbs through adsorbing the climbing subassembly and is immovable on the curtain. The ladder climbing robot 200 and the ladder climbing robot 100 alternately move to reach the target position.

The multi-agent climbing robot system provided by the embodiment of the invention utilizes the mutual matching and alternate movement of the ladder climbing robot and the ladder climbing robot, when a ladder climbing frame climbs through the grasping component, the grasping component is connected with the supporting point, and the adsorption supporting component is separated from a curtain wall; the ladder-type frame assembly adsorbs the wall surface through the adsorption climbing assembly; when ladder frame subassembly climbed through adsorbing the climbing subassembly, the gripping subassembly is thrown off, has set up cat ladder robot and ladder climbing robot in single system, has improved the load capacity of system. The ladder climbing robot can be separated from the ladder climbing robot, independently operates, a plurality of ladder climbing robots can also operate simultaneously, different requirements are met, the ladder climbing robot can provide supporting points for different ladder climbing robots as required, not only is the whole system flexible and convenient to operate as required, but also a plurality of ladder climbing robots can operate simultaneously, different requirements are met, and the application range is enlarged.

As shown in figures 1 and 2, to facilitate movement of the ladder climbing robot 100 on the ladder climbing robot 200, the ladder climbing robot 100 is provided with four gripping members symmetrically distributed around the ladder frame 127. Each gripping assembly comprises: a grasping articulated arm and a grasping device. The first end of the gripping knuckle arm is hinged to the ladder frame 127, the first end of the gripping device is hinged to the second end of the gripping knuckle arm, and the second end of the gripping device is detachably connected to the support point.

According to the use requirement, a multi-joint arm can be arranged in the grabbing joint arm, in this embodiment, a first joint arm 111 and a second joint arm 112 are arranged, the grabbing device is hinged with the ladder climbing frame 127 through the second joint arm 112, the first joint arm 111 and the mechanical arm connecting piece 126 in sequence, and the grabbing components are mutually matched to realize the ladder climbing operation on the ladder climbing robot 200.

Wherein, the gripping device includes: a first gas jaw assembly, a second gas jaw assembly and a support rod 113. The first end of the support bar 113 is hinged to the second end of the grasping articulated arm. A second end of the support bar 113 is hinged to the second articulated arm 112. First gas claw subassembly and second gas claw subassembly's structure is the same, all is equipped with: gas claw 114 and hook claw 115. The claw 115 is arranged on the air claw 114, and the air claw 114 is used for driving the claw 115 to open and close. The connection relationship between the two fingers 115 and the supporting point can be adjusted by controlling the position of the air gripper 114.

As shown in fig. 1 and 2, the ladder climbing robot 100 is provided with two adsorption support assemblies symmetrically distributed on left and right sides of a ladder climbing frame 127, and the adsorption support assemblies include: supporting the articulated arm and the first suction cup device. The first end of the support articulated arm is articulated to a ladder frame 127. The first end of the first suction disc device is hinged with the second end of the supporting joint arm, and the second end of the first suction disc device adsorbs or separates from the curtain wall. When the ladder climbing robot 100 climbs by the grasping assembly, the first suction cup device is disengaged from the curtain wall. When the ladder-type climbing robot 200 moves on the curtain wall through the adsorption climbing assembly, the first suction cup device is connected with the curtain wall.

According to the use requirement, the supporting joint arm can be provided with a multi-joint arm, in this embodiment, three joint arms are provided, namely a third joint arm 118, a fourth joint arm 119 and a fifth joint arm 120. The first suction cup device is hinged with the ladder climbing frame 127 through a fifth joint arm 120, a fourth joint arm 119 and a third joint arm 118 in sequence, and the joint arms are matched with each other to realize the connection between the ladder climbing robot 100 and a curtain wall.

The first suction cup device comprises: a first connecting rod 123, a first suction cup 121, and a first vacuum pump 124. The first suction cup 121 is hinged to the second end of the support articulated arm by a first connecting rod 123, and the first suction cup 121 is communicated with a first vacuum pump 124.

When the ladder climbing robot 100 climbs through the grasping assembly, the first vacuum pump 124 is turned off, the first suction disc 121 is separated from the curtain wall, and the ladder climbing robot 200 is adsorbed on the curtain wall through the adsorption climbing assembly and is fixed. When ladder climbing robot 200 moves on the curtain wall through adsorbing the climbing subassembly, in order to avoid the load on ladder climbing robot 200 too big, can break away from ladder climbing robot 100 with ladder climbing robot, first vacuum pump 124 is with first sucking disc 121 evacuation, fixes ladder climbing robot 100 on the curtain wall motionless through adsorbing the supporting component. After the ladder climbing robot is moved in place, the ladder climbing robot 200 is adsorbed on the curtain wall through the adsorption climbing assembly and is fixed, the first vacuum pump 124 is turned off, the first suction disc 121 is separated from the curtain wall, and the ladder climbing robot 100 climbs on the ladder climbing robot by reusing the grasping assembly.

As shown in fig. 1 and 3, the ladder climbing robot 200 is provided with four adsorption climbing components symmetrically distributed around the ladder frame component 222. Adsorb climbing subassembly includes: a climbing articulated arm and a second suction cup device. A first end of the climbing articulated arm is articulated to a ladder frame assembly 222. The first end of the second sucker device is hinged with the second end of the climbing joint arm, and the second end of the second sucker device adsorbs or separates from the curtain wall. When the ladder climbing robot 100 climbs by the grasping assembly, the ladder climbing robot 200 adsorbs the curtain wall by the second suction cup device. When the ladder climbing robot 200 moves on the curtain wall, the second suction cup device cooperates with the action to periodically adsorb or separate from the curtain wall.

According to the use requirement, the climbing joint arm can be provided with a multi-joint arm, in this embodiment, two joint arms are provided, namely a sixth joint arm 211 and a seventh joint arm 212. Ladder frame assembly 222 includes a ladder frame and a robotic arm linkage. The second suction cup device is hinged to the ladder frame sequentially through a seventh joint arm 212, a sixth joint arm 211 and a robot arm connecting rod 218. The articulated arms cooperate with each other to achieve the action of the ladder climbing robot 200 and the curtain wall.

The second suction cup device includes: a second connecting rod 213, a second suction cup 215 and a second vacuum pump 216. The second suction cup 215 is hinged to the second end of the climbing articulated arm by means of a second connecting rod 213, the second suction cup 215 being in communication with a second vacuum pump 216. In this embodiment, the single second suction cup device includes: three second suction cups 215 and correspondingly three second vacuum pumps 216. The second vacuum pump 216 generates negative pressure to make the second suction cup 215 adhere to the curtain wall, so as to realize fixing action.

When the ladder climbing robot 100 climbs through the grabbing component, the second suction cups 215 are opened, the second suction cups 215 adsorb the curtain wall, and the ladder climbing robot 200 adsorbs the curtain wall through the second suction cups 215 and is fixed. When ladder climbing robot 200 moved on the curtain through adsorbing the climbing subassembly, periodic control second sucking disc 215 adsorbs or breaks away from the curtain, and for avoiding the load on ladder climbing robot 200 too big, can break away from ladder climbing robot 100 with ladder climbing robot, fix ladder climbing robot 100 motionless on the curtain through adsorbing the supporting component. After moving in place, the ladder climbing robot 200 is fixed on the curtain wall by the second suction cup 215, and the ladder climbing robot 100 climbs on the ladder climbing robot by the grabbing component again.

As shown in fig. 1 and 2, in order to facilitate the control of the ladder climbing robot 100, the ladder climbing robot 100 further includes: a ladder control assembly 125 for controlling the operation of the ladder climbing robot 100.

Wherein the ladder control assembly 125 comprises: a first vision device 129, a first navigation device 117, a first pressure detection device 122, a pressure sensation detection device 116. The first vision device 129 is provided on the ladder frame 127, the first vision device 129 is provided toward the traveling direction of the ladder climbing robot 100, and the first vision device 129 is used to acquire line data of the ladder climbing robot 100. The first navigation device 117 is disposed on the grip assembly, and the first navigation device 117 is configured to obtain a route plan of the ladder climbing robot 100 according to the route data, and cooperate with the first vision device 129 to determine a position of the ladder climbing robot 100 in the route plan. The first pressure detection device 122 is disposed on the adsorption support component, and the first pressure detection device 122 is configured to determine a working state of the ladder climbing robot 100 in the route planning according to a pressure between the adsorption support component and the curtain wall. For example, when the first pressure detecting device 122 detects that the pressure reaches the preset pressure, it is determined that the first suction cup 121 is adsorbed on the curtain wall, and when the first pressure detecting device 122 detects that the pressure is less than the preset pressure, it is determined that the first suction cup 121 is detached from the curtain wall. The pressure sensation detection device 116 is arranged on the gripping component, and the pressure sensation detection device 116 is used for judging the working state of the ladder climbing robot in the line planning according to the pressure between the gripping component and the supporting point.

As shown in fig. 1 and 3, to facilitate the control of the ladder climbing robot 200, the ladder climbing robot 200 further includes: a ladder control assembly 221 for controlling the ladder climbing robot 200. The ladder control assembly 221 includes: a second vision device 219, a second navigation device 214 and a second pressure detection device 217.

The second vision device 219 is disposed on the ladder frame assembly 222, the second vision device 219 is disposed in a traveling direction of the ladder climbing robot 200, and the second vision device 219 is configured to obtain line data of the ladder climbing robot 200 and is used to determine a position of the ladder climbing robot 200 in a line plan in cooperation with the second vision device 219. A second navigation device 214 is provided on the adsorption climbing assembly, the second navigation device 214 being used to climb the route plan of the robot according to the route data. The second pressure detection device 217 is arranged on the adsorption climbing assembly, and the second pressure detection device 217 is used for judging the working state of the ladder-type climbing robot in the line planning according to the pressure between the adsorption climbing assembly and the curtain wall. For example, when the second pressure detecting device 217 detects that the pressure reaches the preset pressure, it is determined that the second suction cup 215 is attached to the curtain wall, and when the first pressure detecting device 122 detects that the pressure is less than the preset pressure, it is determined that the second suction cup 215 is detached from the curtain wall.

For the state when monitoring cat ladder robot 100 climbing, cat ladder control assembly still includes: a first overturn detection device 128. The first overturn detecting means 128 is provided at the centre of gravity of the ladder stand frame 127 and the first overturn detecting means 128 is used to detect the angle of inclination of the ladder climbing robot 100 as a whole in order to control the climbing of the ladder climbing robot 100.

Correspondingly, the ladder control assembly 221 further includes: a second overturn detecting device 220. The second overturning detection device 220 is disposed at the center of gravity of the ladder frame assembly 222, and the second overturning detection device 220 is used for detecting the overall inclination angle of the ladder climbing robot 200, so as to control the climbing of the ladder climbing robot 200.

The invention also provides a control method of the multi-agent climbing robot system, which comprises the following steps:

step S1: establishing an absolute coordinate system by a fixed point and establishing a relative coordinate system by a certain point on the ladder climbing robot, and determining the absolute coordinate of the ladder climbing robot and the relative coordinate of each ladder climbing robot.

Step S2: and determining the target position, calculating the optimal route and displacement of the ladder climbing robot according to the scanning data under the absolute coordinate system, and simultaneously calculating the relative optimal route and displacement of the ladder climbing robot and the ladder climbing robot.

Step S3: moving the ladder climbing robot to the position which is optimally matched with the ladder climbing robot, starting climbing on the ladder climbing robot by the ladder climbing robot, and stopping moving and adsorbing a curtain wall when the ladder climbing robot reaches the upper limit of a relative coordinate threshold of the ladder climbing robot; calculating the displacement of the ladder-type climbing robot relative to the target position and moving the ladder-type climbing robot; when the ladder-type climbing robot moves to reach the lower limit of the relative coordinate threshold of the ladder-type climbing robot, the ladder-type climbing robot stops moving; and controlling the ladder climbing robot to climb on the ladder climbing robot, wherein the ladder climbing robot and the ladder climbing robot move alternately to reach a target position.

Specifically, as shown in fig. 1 to 3, the multi-agent climbing robot system establishes an absolute coordinate system with one fixed point and a relative coordinate system with a certain point on the ladder climbing robot 200 during operation, and determines the absolute coordinates of the ladder climbing robot 200 and the relative coordinates of each ladder climbing robot 100. And determining the target position, and calculating the optimal route and displacement of the ladder climbing robot 200 and the relative optimal route and displacement of the ladder climbing robot 200 and the ladder climbing robot 100 according to the scanning data in the absolute coordinate system. Moving the ladder climbing robot 200 to a best fit position with the ladder climbing robot 100, the ladder climbing robot 100 begins to climb on the ladder climbing robot 200.

When the ladder climbing robot 100 reaches the upper limit of the relative coordinate threshold value of the ladder climbing robot 200, synchronously controlling each ladder climbing robot to stop moving and adsorb the curtain wall, and controlling the ladder climbing robot 200 to move towards the target position, namely, each ladder climbing robot 100 is separated from the ladder climbing robot 200, the ladder climbing robot 200 moves on the curtain wall through an adsorption climbing component, and each ladder climbing robot 100 is fixed on the curtain wall through a corresponding adsorption supporting component. Calculating the displacement of the ladder-type climbing robot 200 and moving the ladder-type climbing robot relative to the target position; when the ladder climbing robot 200 moves to reach the lower limit of the relative coordinate threshold of the ladder climbing robot 100, the ladder climbing robot 200 stops moving; the control cat ladder robot 100 scrambles on ladder climbing robot 200, and control ladder climbing robot 200 adsorbs the curtain to each cat ladder robot 100 of synchro control moves towards the target position on ladder climbing robot 200, and each cat ladder robot 100 scrambles through the gripping subassembly promptly, and ladder climbing robot 200 adsorbs through adsorbing the climbing subassembly and is immovable on the curtain. The ladder climbing robot 200 and the ladder climbing robot 100 alternately move to reach the target position.

The control method of the multi-agent climbing robot system provided by the embodiment of the invention utilizes the mutual matching and alternate movement of the ladder climbing robot and the ladder climbing robot, when a ladder climbing frame climbs through the grasping component, the grasping component is connected with the supporting point, and the adsorption supporting component is separated from a curtain wall; the ladder-type frame assembly adsorbs the wall surface through the adsorption climbing assembly; when ladder frame subassembly climbed through adsorbing the climbing subassembly, the gripping subassembly is thrown off, has set up cat ladder robot and ladder climbing robot in single system, has improved the load capacity of system. The ladder climbing robot can be separated from the ladder climbing robot, independently operates, a plurality of ladder climbing robots can also operate simultaneously, different requirements are met, the ladder climbing robot can provide supporting points for different ladder climbing robots as required, not only is the whole system flexible and convenient to operate as required, but also different requirements are met, and the application range is enlarged.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.