Control system for wheeled robot to automatically walk along slope center line

Abstract

The invention belongs to the related technical field of intelligent control, and discloses a control system for a wheeled robot to automatically walk along a slope center line, which comprises a slopeedge identification module, a target distance identification module, a slope inclination angle identification module, a central controller, a self-adaptive slope inclination angle driving module andthe like. Wherein the slope edge recognition module is used for detecting the slope edge and correspondingly calculating the deviation between the current position of the trolley and the slope centerline, so that the trolley can adjust the self direction to walk along the slope center line; the slope inclination angle recognition module is used for detecting the inclination angle of the robot trolley, and correspondingly, the parameters of the driving module can be configured to enable the trolley to stably run on a slope; and when the trolley approaches the target place, the stop position mark is detected through the target distance identification module, and the trolley can be accurately controlled to realize deceleration parking. By means of the method, effective guarantee can be provided for the wheeled robot to stably crawl along the center line of the slope and accurately stop at a destination.

Description

technical field [0001] The invention belongs to the technical field related to intelligent control, and more specifically relates to a control system for a wheeled robot to automatically walk along the center line of a slope. Background technique [0002] With the development of intelligent chemical factories and intelligent warehousing and logistics, intelligent wheeled mobile robots are increasingly used in the production of intelligent chemical factories. At present, the control system of a wheeled mobile robot mainly includes a sensor module, a central controller module, a drive module, and a communication module, etc., and the control system can control the wheeled robot to track and run in the factory area according to a predetermined trajectory. However, with the emergence of various working conditions, the working environment has higher and higher requirements for the control system of wheeled robots. One of the requirements is that wheeled robots need to perform wal...

AI Technical Summary

Problems solved by technology

In this case, not only when the robot climbs up the slope, it may rush out of the slope and cause rollover because it cannot recognize the edge of the slope; but also when the control system suitable for running on a flat ground performs slope climbing control, it may also be caused by parameter setting problems. Running instability and other problems, the control system cannot automatically change the operating parameters according to the dynamics of the slope operation, which makes the wheeled robot cannot run as smoothly on the slope as on the flat ground

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