Ladder climbing method and system based on quadruped robot

Abstract

The invention provides a ladder climbing method and system based on a quadruped robot, and the quadruped robot comprises a quadruped robot body, an SLAM navigation positioning module, a visual marking positioning module and a stair climbing module, the quadruped robot body is provided with a depth camera, and the depth camera is provided with a camera. The stair climbing module is composed of an exploration unit, a climbing unit, an alignment unit and a platform steering unit. The stair climbing method comprises the steps that S1, a stair platform marking dictionary is created; s2, making a multi-floor inspection route; s3, an exploration module explores a first stair, recognizes and navigates to a stair ascending and descending point; s4, the climbing module and the alignment module work synchronously, and stair climbing is conducted; and S5, when the robot climbs to a stair platform layer, a platform steering module controls the robot to move, an exploration module explores a second stair and recognizes stair ascending and descending points, and the step S4 is switched to start climbing. According to the invention, multi-layer switching type inspection of the quadruped robot in the high-rise building is realized, and the working efficiency is improved.

Description

【Technical field】 [0001] The present application relates to the technical field of quadruped robots, in particular to a ladder climbing method and system based on quadruped robots. 【Background technique】 [0002] Compared with wheeled robots and tracked robots, quadruped robots have the biggest advantage of being able to move on all terrains, adapt to almost all kinds of complex terrains, and be able to cross obstacles. With the continuous acceleration of the urbanization process, there are more and more high-rise buildings and multi-storey factory buildings. In order for the robot to handle the inspection tasks of such indoor environments, the climbing ladder will be one of the typical complex terrains faced by quadruped robots. The ability to go up and down stairs will be one of the key capabilities of inspection robots. At present, there are few control methods and systems for quadruped robots that go up and down stairs autonomously in China. 【Content of invention】 [...

AI Technical Summary

Problems solved by technology

With the continuous acceleration of the urbanization process, there are more and more high-rise buildings and multi-storey factory buildings. In order for the robot to handle the inspection tasks of such indoor environments, the climbing ladder will be one of the typical complex terrains faced by quadruped robots. The ability to go up and down stairs will be one of the key capabilities of inspection robots. At present, there are few control methods and systems for quadruped robots that go up and down stairs autonomously in China.

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