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Self-climbing control method of tracked mobile robot with double-rod arm

A mobile robot and control method technology, applied in the field of mobile robots, can solve problems such as the inability to use a crawler-type mobile robot control method, and achieve the effect of avoiding time delay problems and improving control accuracy

Inactive Publication Date: 2015-09-02
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But for relatively small (relative to the height of the stairs) small crawler-type mobile robot, due to the limitation of its own size, the control method of ordinary crawler-type mobile robot climbing stairs cannot be adopted. Therefore, the present invention aims at small crawler-type mobile robot A mobile robot that proposes a control method for autonomous stair climbing

Method used

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  • Self-climbing control method of tracked mobile robot with double-rod arm
  • Self-climbing control method of tracked mobile robot with double-rod arm
  • Self-climbing control method of tracked mobile robot with double-rod arm

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Embodiment

[0038] Example: Reference figure 1 , the overall system of this example includes a control terminal and a small crawler-type mobile robot with a double-rod arm, wherein the wireless communication between the control terminal and the small track-type mobile robot is carried out through WIFI. refer to figure 2 , the small-sized tracked mobile robot that this example adopts has double lever arm to be made up of car body 1, drive wheel 2-3, support wheel 4-5, lever arm 6-7, camera 8, infrared sensor 9-10, Crawler belt 11-12 etc. are formed. The dimensions of the robot are 200 mm in length, 180 mm in width, and 60 mm in height, and the length of the lever arm is 150 mm. This example has a maximum climbable height of 157mm.

[0039] The stairs used in this embodiment are linear stairs that meet the national standard. According to the "General Rules for Civil Building Design", the step width of indoor and outdoor steps in public buildings should not be less than 30 cm, and the st...

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Abstract

The invention discloses a stair-climbing control method of a tracked mobile robot. The tracked mobile robot comprises a front wheel, a rear wheel and a track coating the front wheel and the rear wheel, and is characterized in that the front wheel is provided with a double-rod arm with a controllable rotating angle; the centre-of-gravity position of the tracked mobile robot is elevated step by step through adjusting the rotating angle of the double-rod arm to finish the climbing. The invention provides a step climbing control method which is suitable for a small-sized tracked mobile robot which is relatively small in size and cannot realize step self-climbing by a traditional control method. The new control method provided by the invention can realize the function that the small-sized tracked mobile robot climbs the stairs. During the process that the robot climbs the stairs, the robot realizes self control through a self carried sensor and can effectively avoid the time delay problem, and the control precision is improved.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a control method for autonomous climbing of stairs by a small crawler-type mobile robot with a double-rod arm. Background technique [0002] A mobile robot is a comprehensive system that integrates multiple functions such as environment perception, dynamic decision-making and planning, behavior control and execution. At present, mobile robots are widely used in various complex environments, especially crawler mobile robots are more widely used. Tracked mobile robots are different from ordinary wheeled mobile robots. They can pass through various complex terrains, and can work in harsh environments such as fires, natural disasters, anti-terrorism and explosion-proof, military operations, and nuclear facility inspections. Hazardous work. These applications require that the robot has the characteristics of small size, strong mobility, and flexible steering, and it must be able to have...

Claims

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Application Information

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IPC IPC(8): B62D55/075
Inventor 宋光明刘杰彭璜韦中宋爱国
Owner SOUTHEAST UNIV
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