Tunnel detection robot three-dimensional hovering control method, device, equipment and medium

The invention relates to the technical field of robot control, and provides a tunnel detection robot three-dimensional hovering control method and device, computer equipment and a storage medium. The method comprises the steps that real-time operation parameters and environmental resistance of the tunnel detection robot are obtained, output control parameters of the tunnel detection robot are obtained, and hovering control over the tunnel detection robot is achieved. In a complex tunnel environment, under the condition of fully considering environmental resistance, real-time monitoring and detection and real-time adjustment control of the tunnel detection robot are realized so as to realize hovering, and the reliability and safety of hovering control in tunnel detection are improved. 本申请涉及机器人控制技术领域，提供了一种隧洞检测机器人三维悬停控制方法、装置、计算机设备和存储介质。该方法包括：通过获取隧洞检测机器人的实时运行参数和环境阻力，得到该隧洞检测机器人的输出控制参数，实现对隧洞检测机器人的悬停控制。在隧洞复杂环境中，在充分考虑环境阻力的情况下，实现对隧洞检测机器人的实时监检测和实时调整控制以实现悬停，提高了隧洞检测中悬停控制的可靠性和安全性。