Stairs climbing control method for crawler moving robot with guide arm

Abstract

The invention relates to a stair-climbing method for a crawler-type mobile robot with guide arms, which is characterized by comprising the following steps: step one: the robot moves near the stair, the guide arms rotate downward; the robot is lifted after being contacted with the stair step and climbs the stair forward; when an ultrasonic and infrared distance-measuring sensor on the robot measures that the distance between the robot and the object at the front is larger than the width of the stair step and judges that the robot climbs to the top of the stair, the robot can stop climbing; step two: the guide arms rotate downward till the front ends of the guide arms are contacted with the ground; when the rotating shafts of the guide arms generate torque M which is larger than the set value, the guide arms stop rotating, the robot climbs upward continuously, the guide arms are separated from the ground with the climbing of the robot, the torque M disappears and the robot stops climbing; step three: the step two is repeated, a two-dimensional attitude sensor measures that the inclined angle Phi between the body and the horizontal plane is reduced with the climbing of the robot, and when the robot climbs continuously till the inclined angle Phi is not reduced, the robot stops climbing, the guide arms rotate backward and stop rotating when the inclined angle Theta between the guide arms and the body is 45 degrees.

Description

technical field [0001] The invention belongs to the technical field of robots, and is a new control method proposed aiming at the problem of how a crawler-type mobile robot with a guide arm encounters stairs and climbs them autonomously during movement. Background technique [0002] Robotics has become one of the most cutting-edge technological hotspots in the world today because it covers mechanics, computer science, artificial intelligence, biology and other fields. Mobile robots are an important branch of the field of robotics. Mobile robots are usually an extension of human body and perception, replacing humans to work in dangerous environments, and humans remotely control robots through wireless or wired methods. Because of its "mobility" that other robots do not have, it is being more and more used in dangerous environment monitoring, unknown area detection, planetary detection, rescue search, explosive disposal and other fields. In various applications, the problem o...

AI Technical Summary

Problems solved by technology

In the remote operation control mode, the movement of the robot depends entirely on the control of the operator, which is simply an extension of the operator's limbs. Since the operator can only rely on the environmental information collected by the sensor on the robot to make judgments to control the robot, the sense of presence is poor. , often give wrong control commands

At the same time, in the remote operation mode, the operator always has to observe and process the environmental information sent back by the robot and manipulate the robot. He is highly concentrated and easily fatigued physically and mentally. Usually, he cannot work for a long time.

With the development of artificial intelligence technology and computer technology, the intelligence and autonomy of mobile robots have become the current development trend in this field, but climbing stairs for mobile robots is a complicated process with many uncertain factors, making various algorithms Both have their huge limitations. At the same time, due to the non-fixed and unstructured working environment of mobile robots, the reliability of autonomous algorithms needs to be improved.

Images