Autonomous obstacle surmounting and avoiding walking control method for six-track and four-swing-arm rescue robot

Abstract

The invention discloses an autonomous obstacle surmounting and avoiding walking control method for a six-track and four-swing-arm rescue robot. The six-track and four-swing-arm rescue robot comprises a robot control system, two walking track assemblies and four swing arm track assemblies, wherein the two walking track assemblies comprise a left walking track assembly and a right walking track assembly; the left walking track assembly and the right walking track assembly are identical in structure and both comprise driving walking wheels positioned at the front end of the rescue robot and driven walking wheels positioned at the rear end of the rescue robot; the four swing arm track assemblies comprise a left-front swing arm track assembly, a left-rear swing arm track assembly, a right-front swing arm track assembly and a right-rear swing arm track assembly. The autonomous obstacle surmounting and avoiding walking control method comprises the following steps: firstly, acquiring and transmitting data; secondly, analyzing and processing the data; thirdly, controlling operation of the robot. The method disclosed by the invention has the advantages of simple steps, novel and reasonable design, high working reliability, high practicality and convenience in popularization and application; smooth passing on a plurality of terrains can be realized.

Description

Technical field

[0001] The invention belongs to the technical field of robots, and specifically relates to an autonomous obstacle-crossing and obstacle-avoiding walking control method of a six-track four-swing arm rescue robot. Background technique

[0002] my country is one of the countries with the most disasters and accidents in the world, such as underground coal mine gas explosions, landslide accidents, ground fires, earthquake landslides, and similar types of man-made accidents, which cause great harm to the safety of people's lives and property. After gas explosions, landslides and other accidents occur in coal mines or under other disaster environments, the surrounding environment is severely damaged, and the disaster-affected environment information cannot be directly transmitted to the rescue command center, rescuers cannot perform rescue operations, which seriously affects rescue efficiency, and rescuers bear Great risk to life. Then there is an urgent need for rescue...

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