Walking control method for autonomous obstacle surmounting and avoidance of a rescue robot with six tracks and four swing arms

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 in particular relates to a walking control method for an autonomous obstacle-surmounting and avoiding obstacle of a rescue robot with six tracks and four swing arms. Background technique [0002] my country is one of the countries with the most disasters and accidents in the world, such as underground gas explosions in coal mines, landslide accidents, fires on the ground, earthquake landslides, and similar types of man-made accidents, which have caused great harm to the safety of people's lives and property. After gas explosions, landslides and other accidents in coal mines or other disaster environments, the surrounding environment is severely damaged, and the disaster-affected environment information cannot be directly transmitted to the rescue command center, and rescuers cannot engage in rescue operations, which seriously affects rescue efficiency. Great risk to life. Then there is an urg...

AI Technical Summary

Problems solved by technology

[0003] But at the same time, the disaster environment is very complicated. The rescue robot uses wireless communication to detect the environment, which is often disturbed by the environment, resulting in the loss of the robot signal, and making the rescue robot trapped in the disaster environment. At this time, the robot needs to perform autonomous control based on environmental information. Find the source of the signal, and transmit the disaster environment information to the rescue command personnel

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