Turning method of walking robot and control device
A walking robot and equipment technology, applied in two-dimensional position/channel control, non-electric variable control, control/adjustment system and other directions, can solve the problems of non-circular chassis robots such as difficulty in turning and turning around, and reduce walking time, The effect of increasing range of motion and improving mobility
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Embodiment 1
[0073] The invention provides a method for realizing the turning and turning of a non-circular chassis robot in a narrow environment. This method is mainly realized through the following technical solutions, such as figure 1 Shown:
[0074] S10: According to the scanning result of the surrounding environment, judge whether the walking robot can turn around; when the walking robot cannot turn around, execute step S50;
[0075] S20: When the walking robot can turn around, control the walking robot to walk;
[0076] S40: judging whether the walking robot has turned around successfully; when the walking robot has turned around successfully, execute step S60;
[0077] S50: When the walking robot cannot turn around or fails to turn around, determine that the walking robot is in a narrow space, and control the walking robot to retreat;
[0078] S60: After the walking robot reaches the U-turn position and attitude, end the turning and U-turn control of the walking robot.
[0079] I...
Embodiment 2
[0106] U-turn demonstration with the tail as the axis, such as Figure 5 It is necessary to realize the non-circular robot turning around in the corridor. Scene a in the figure represents the initial orientation of the robot; scene b rotates according to steps S21, S22, and S28; scene c moves forward according to steps S26, S27, and S28; d rotates according to step S21, step S22, step S28; scene e advances and rotates according to step S23, step S24, step S28; scene f, scene g and scene h rotate according to step S21, step S22, step S28; scene h Complete the U-turn.
[0107] U-turn demonstration with the head as the axis, such as Figure 6It is necessary to realize the non-circular robot turning around in the corridor. Scene a in the figure represents the initial orientation of the robot, and scene b rotates according to steps S21, S22, and S28; scene c moves backwards according to steps S26, S27, and S28; d rotates according to step S21, step S22, step S28; scene e advances...
Embodiment 3
[0121] Exit the narrow space, then turn around and demonstrate: if Figure 7 It is necessary to realize the non-circular robot turning around in the alley. Scene a in the figure indicates the initial orientation of the robot, and scene b rotates and retreats according to steps S51 to S56; scene c moves backwards according to steps S54 to S56; scene d follows steps S56 , step S57, step S58 and step S59 rotate; scene e rotates according to step S57, step S58 and step S59; scene f completes the turning and U-turn.
[0122] Such as Figure 7 As shown, in a very narrow environment (larger than the width of the vehicle and shorter than the longest body), the non-circular chassis robot can only rely on the body to retreat to an open area. In the open area, the body rotates to align the body position. It can effectively avoid the situation that the robot cannot get out after entering a dead end, increases the range of activities of the robot, and improves the activity ability of the ...
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