Method and system for improving gravity center balance of outdoor inspection robot
A technology for inspection robots and center-of-gravity balance, applied in the field of robotics, can solve problems such as the danger of robots being prone to tipping, increase the center of gravity of outdoor inspection robots, etc., and achieve the effect of reducing the risk of tipping and enhancing stability
Pending Publication Date: 2022-01-04
山东新一代信息产业技术研究院有限公司
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[0004] The embodiment of the present application provides a method and system for increasing the balance of the center of gravity of an outdoor inspection robot to solve the technical problem that the existing outdoor inspection robot is prone to tipping danger
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[0020] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below with reference to the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
[0021] The embodiments of the present application provide a method and system for increasing the balance of the center of gravity of an outdoor inspection robot. The gyro sensor is used to determine the inclination angle of the outdoor inspection robot, and the compensation parameters corresponding to the outdoor inspection robot a...
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The invention discloses a method and system for improving gravity center balance of an outdoor inspection robot. The method and system are used for solving the technical problem that an existing outdoor inspection robot is prone to toppling over. The method comprises the steps that the current gravity center position of the outdoor inspection robot is determined through a gyroscope sensor, wherein the current gravity center position of the outdoor inspection robot is represented by the longitude and latitude; the original gravity center position of the outdoor inspection robot is determined, and the inclination angle of the outdoor inspection robot is calculated on the basis of the original gravity center position; whether the inclination angle exceeds a toppling early warning value or not is judged, if yes, the inclination angle is inputted into a dynamic balance model to be calculated so as to determine compensation parameters of the outdoor inspection robot, wherein the compensation parameters are related to a mechanical arm of the outdoor inspection robot; and on the basis of the compensation parameters, the mechanical arm of the outdoor inspection robot is adjusted through a servo motor. According to the method, the gravity center adjustment of the outdoor inspection robot is achieved, and the risk that the robot topples over is reduced.
Description
technical field [0001] The present application relates to the field of robotics, and in particular, to a method and system for increasing the balance of the center of gravity of an outdoor inspection robot. Background technique [0002] Outdoor inspection robots are now an efficient way to replace humans for outdoor inspections. With the advancement of technology, more and more outdoor inspection robots have been put into use. [0003] However, because the outdoor environment is usually complex, the ground has a certain inclination angle, and due to the large self-weight and high center of gravity of the outdoor inspection robot itself, the danger of tipping is prone to occur when the inclination angle is large. SUMMARY OF THE INVENTION [0004] The embodiments of the present application provide a method and system for increasing the balance of the center of gravity of an outdoor inspection robot, so as to solve the technical problem that the existing outdoor inspection ro...
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IPC IPC(8): B25J19/00
CPCB25J19/0008B25J19/002
Inventor 谭强王建华高明郑亮
Owner 山东新一代信息产业技术研究院有限公司