Planetary wheel type obstacle crossing robot stair climbing control method

Abstract

The invention discloses a planetary wheel type obstacle crossing robot stair climbing control method. The planetary wheel type obstacle crossing robot stair climbing control method comprises the following steps that (1) an obstacle crossing robot keeps moving forwards at a constant speed linearly, the distance between two planetary wheel sets of the same driving set and a step in the front as well as the rotating speed of the planetary wheel sets are measured, and the deflection angle is calculated; (2) the theoretical rotating speed of both the planetary wheel sets is calculated, and the planetary wheel sets move at the calculated rotating speed; (3) the L1 and the L2 in the current are detected, and the current deflection angle theta is calculated; (4) whether the current deflection angle theta exceeds the preset value or not is judged, if yes, the step (2) is executed again, and if not, the robot is controlled to continue to move forward at the constant speed linearly; (5) whether the two planetary wheel sets arrive at the step or not is judged, if not, the robot continues to move forward at the constant speed linearly, and if yes, the two planetary wheel sets turns over together to cross the step; and (6) whether the two planetary wheel sets arrive at the destination or not is judged, if yes, the steps from (1) to (5) are repeated, and if yes, the robot is stopped moving. The planetary wheel type obstacle crossing robot stair climbing control method has the advantages that control operation is simple, and the steering precision is high.

Description

technical field [0001] The invention belongs to the field of robot control, and more specifically relates to a method for controlling the climbing of stairs by a planetary wheel type obstacle-surmounting robot. Background technique [0002] With the development of science and technology, people increasingly need robots to work in many harsh environments, such as planetary surface exploration, firefighting, fire detection, detection of toxic, flammable and explosive places, and unmanned battlefields. The complex, unknown, and changeable unstructured environment puts high demands on the robot's ability to overcome obstacles. The obstacle-breaking robot should have good adaptability, stability and flexibility. Therefore, the research and development of the control of the obstacle-breaking robot has extensive Application prospects. [0003] Existing types of obstacle-crossing robots have their own advantages and disadvantages: wheeled obstacle-crossing robots are simple in stru...

AI Technical Summary

Problems solved by technology

[0003] Existing types of obstacle-crossing robots have their own advantages and disadvantages: wheeled obstacle-crossing robots are simple in structure, easy to control, high in load-to-weight ratio, and high in energy efficiency. Its obstacle-crossing performance is poor under terrain. For example, heavy-duty vehicles have strong load-bearing capacity and fast travel speed, but they need a flat road surface; crawler-type obstacle-crossing robots have a large support area, small subsidence, and strong terrain adaptability, but their structure The complex mass is large and the energy utilization rate is low. For example, tanks have strong obstacle-crossing ability, but they are large in size and mass, so they are generally not used to carry loads. Relatively low, such as the BigDog robot proposed by R.Playter, M.Buehler and M.Raibert of Boston Dynamics in the article "BigDog", with a self-weight of 90kg, a load of 50kg, a length of 1m, and a maximum speed of 0.7m / s

[0004] Huazhong University of Science and Technology's master's thesis "Design and Development of a New Obstacle-Crossing Robot" introduced an obstacle-crossing robot, which is small in size and light in weight. ability, but the driving group of the robot has no degree of freedom in the yaw direction. When climbing stairs with a turning arc, the planetary gear sets on the left and right sides cannot be flipped at the same time. Above, that is, the left and right front ends of the vehicle body are at different heights, and the vehicle body is seriously skewed, which may easily lead to rollover

Images