Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Self-adaptive adjustment method of main cable robot and main cable robot
The invention discloses a self-adaptive adjusting method of a main cable robot and the main cable robot. The method comprises the steps that two lateral crawling mechanisms are controlled to move relatively in the width direction of the main cable robot; the distances between the two lateral crawling mechanisms and the corresponding main cable handrail ropes are obtained, so that the distance change condition between each lateral crawling mechanism and the corresponding main cable handrail rope is determined; if the distance between the lateral crawling mechanism and the corresponding main cable handrail rope is switched from decreasing to increasing, whether the lateral crawling mechanism moves in place relative to the main cable handrail rope or not is determined; and if it is determined that the two lateral crawling mechanisms move in place, the two lateral crawling mechanisms of the main cable robot are placed on the two main cable handrail ropes correspondingly. It can be understood that when the main cable robot is placed downwards, the position of the lateral crawling mechanism is adjusted in the width direction, and it is determined that the lateral crawling mechanism is roughly adjusted to the proper position by detecting the change of the distance between the lateral crawling mechanism and the main cable handrail rope.
本发明公开一种主缆机器人的自适应调节方法及主缆机器人，方法包括：控制两个侧向爬行机构沿主缆机器人的宽度方向相对运动；获取两个侧向爬行机构与对应的主缆扶手绳之间的距离，以确定各个侧向爬行机构与相应的主缆扶手绳之间的间距变化情况；若侧向爬行机构与相应的主缆扶手绳之间的间距从减小切换为增大，以确定侧向爬行机构相对于主缆扶手绳是否运动到位；若确定两个侧向爬行机构均运动到位，将主缆机器人的两个侧向爬行机构分别置放于两根主缆扶手绳上。可以理解的是，主缆机器人在向下置放时，沿宽度方向调节侧向爬行机构的位置，并通过检测侧向爬行机构与主缆扶手绳的间距变化，从而确定侧向爬行机构被大致调整至合适的位置。
Self-adaptive adjustment method of main cable robot and main cable robot
The invention discloses a self-adaptive adjusting method of a main cable robot and the main cable robot. The method comprises the steps that two lateral crawling mechanisms are controlled to move relatively in the width direction of the main cable robot; the distances between the two lateral crawling mechanisms and the corresponding main cable handrail ropes are obtained, so that the distance change condition between each lateral crawling mechanism and the corresponding main cable handrail rope is determined; if the distance between the lateral crawling mechanism and the corresponding main cable handrail rope is switched from decreasing to increasing, whether the lateral crawling mechanism moves in place relative to the main cable handrail rope or not is determined; and if it is determined that the two lateral crawling mechanisms move in place, the two lateral crawling mechanisms of the main cable robot are placed on the two main cable handrail ropes correspondingly. It can be understood that when the main cable robot is placed downwards, the position of the lateral crawling mechanism is adjusted in the width direction, and it is determined that the lateral crawling mechanism is roughly adjusted to the proper position by detecting the change of the distance between the lateral crawling mechanism and the main cable handrail rope.
本发明公开一种主缆机器人的自适应调节方法及主缆机器人，方法包括：控制两个侧向爬行机构沿主缆机器人的宽度方向相对运动；获取两个侧向爬行机构与对应的主缆扶手绳之间的距离，以确定各个侧向爬行机构与相应的主缆扶手绳之间的间距变化情况；若侧向爬行机构与相应的主缆扶手绳之间的间距从减小切换为增大，以确定侧向爬行机构相对于主缆扶手绳是否运动到位；若确定两个侧向爬行机构均运动到位，将主缆机器人的两个侧向爬行机构分别置放于两根主缆扶手绳上。可以理解的是，主缆机器人在向下置放时，沿宽度方向调节侧向爬行机构的位置，并通过检测侧向爬行机构与主缆扶手绳的间距变化，从而确定侧向爬行机构被大致调整至合适的位置。
Self-adaptive adjustment method of main cable robot and main cable robot
一种主缆机器人的自适应调节方法及主缆机器人
DING NING (Autor:in) / LIN ZHIYOU (Autor:in) / YUAN XIAOQIANG (Autor:in) / HU SHAOBO (Autor:in) / WANG CHAO (Autor:in) / HE XUCHUN (Autor:in) / WANG PENG (Autor:in)
22.11.2024
Patent
Elektronische Ressource
Chinesisch
IPC:
E01D
BRIDGES
,
Brücken
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