An autonomous stair climbing method for a tracked serpentine robot

Abstract

The application relates to an autonomous stair climbing method of a caterpillar snake robot. By monitoring the inclination angles of front and rear caterpillars in real time, the flexibility and adaptability of the multi-joint structure of the caterpillar snake robot are fully utilized. When climbing stairs, the process of the caterpillar robot climbing stairs is divided into seven links according to the structure of the caterpillar robot, the angles of the power joints and the inclination angles of the front and rear caterpillars are adjusted, the motion posture is optimized, the stair climbing efficiency and stability are improved, and the advantages of the multi-joint structure are exhibited; through analysis of the robot pose change and perception of the stair information, the autonomous stair climbing function of the caterpillar snake robot is realized. This avoids the dependence on the superb skills of the operator, reduces the manual intervention, enables the robot to autonomously complete the task in a complex environment, can adapt to stairs with different heights and angles, has high flexibility, and has wide applicability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and more particularly, to an autonomous stair climbing method for a tracked snake robot. BACKGROUND

[0002] In the field of tracked robot stair climbing, existing technologies mainly adopt two schemes. One is to add a support frame in front of the robot, which hooks the stairs to pull the robot up the stairs. This method provides additional support for the robot, which is suitable for stairs with specific structures, but requires additional mechanical structure adjustment for the robot, increasing the complexity and weight of the robot, and is not suitable for tracked snake robots. The other is to modify the internal structure of the tracked robot, so that the robot can be lifted up when it encounters stairs, thereby climbing the stairs. This method changes the motion characteristics of the tracked robot to adapt to the geometry of the stairs, but also requires complex design and adjustment of the internal structure of the tracked robot, and for tracked snake robots, it cannot fully utilize the advantages of its multi-joint structure.

[0003] The above methods solve the problem of tracked robot stair climbing to some extent, but have obvious defects and shortcomings. First, they are strongly dependent on the mechanical structure of the robot, limiting the adaptability of the robot to different types of stairs or complex environments, and making it difficult to flexibly respond to changing task requirements. Second, most of these schemes require human intervention or specific environmental conditions, and cannot achieve autonomous stair climbing of the robot in unknown environments, limiting the application range of the robot in complex scenarios. In addition, for tracked snake robots with multi-joint structure, the existing technology cannot fully utilize the structural characteristics of the robot, resulting in suboptimal performance of the robot when climbing stairs. SUMMARY

[0004] The present application aims to overcome the shortcomings of the prior art robot stair climbing method, which is strongly dependent on the structure of the robot and has limited adaptability to different types of stairs or complex environments. The present application provides an autonomous stair climbing method for a tracked snake robot, which does not require additional modification of the robot structure and achieves autonomous and stable stair climbing of the robot in complex environments.

[0005] To solve the above technical problems, the technical solution adopted by the present application is as follows:

[0006] An autonomous stair climbing method for a tracked snake robot is provided, which includes a front tracked robot, a first power joint, a second power joint, a third power joint, a fourth power joint, and a rear tracked robot connected in sequence. An inertial measurement unit (IMU) is installed on the front tracked robot. The autonomous stair climbing method for the robot includes the following steps:

[0007] S1. Real-time acquisition of the overall pose information of the robot: the acceleration of the front crawler belt in three-axis direction is acquired in real time through an inertial measurement unit (IMU), and the inclination angle of the front crawler belt is calculated; the inclination angle of the rear crawler belt is calculated according to the inclination angle of the front crawler belt and the rotation angle of the middle joint;

[0008] S2. The front crawler belt is lifted and starts to move forward: the robot is stopped in front of the stairs, the robot is started, and the robot starts to move forward, the first power joint starts to rotate, the front crawler belt starts to be lifted, and the lifting angle of the front crawler belt is set to θ1;

[0009] S3. The front crawler belt is tilted due to the contact with the stairs: when the front crawler belt contacts the first step, the robot is tilted, the IMU value starts to continuously change, and the continuous change θ2 angle of the IMU value is set to make the front crawler belt climb the stairs;

[0010] S4. The robot is straightened and moves to be parallel to the stairs: the first power joint is rotated to 0 degree, the robot returns to the straight state and continues to move forward, the robot gradually tends to be parallel to the stairs, the IMU value continuously increases, and the robot is parallel to the stairs when the IMU value is equal to the inclination angle θ s of the stairs;

[0011] S5. The front crawler belt leaves the last step: when the end of the front crawler belt leaves the last step, the front end of the robot falls due to gravity, the IMU value gradually decreases, and the robot stops climbing when the IMU value continuously decreases by θ3 angle, the first power joint is rotated to lower the front crawler belt, and the IMU value is returned to zero and the front crawler belt is parallel to the ground;

[0012] S6. Adjust the rear crawler belt: the robot moves forward again, the third power joint is rotated by θ4 angle to lift the rear crawler belt;

[0013] S7. The rear crawler belt completely climbs the last step: the posture in step S6 is maintained to continue moving forward, the rear crawler belt gradually climbs the last step, and in this process, the inclination angle of the rear crawler belt gradually decreases from θ s , and the inclination angle of the rear crawler belt is set to decrease by θ5 angle to make the rear crawler belt pass through the last step;

[0014] S8. The robot returns to the straight state: the first power joint and the third power joint are rotated to make the first power joint and the third power joint rotate to zero, the center of gravity of the robot is lowered, and the robot is stable to complete the climbing task.

[0015] The application discloses an autonomous stair climbing method of a tracked serpentine robot, real-time monitoring of the inclination angles of front and rear tracks, full use of flexibility and adaptability of a multi-joint structure of the tracked serpentine robot, according to the structure of the tracked serpentine robot, the process of the tracked serpentine robot climbing stairs is divided into seven links, the motion posture is optimized by adjusting the angles of each power joint and the inclination angles of the front and rear tracks, the stair climbing efficiency and stability are improved, and the advantages of the multi-joint structure are exhibited; the application realizes real-time monitoring of the motion posture of the robot, timely adjustment of the posture according to the real-time posture during the process of climbing stairs, and avoidance of side turning; the application realizes the autonomous stair climbing function of the tracked serpentine robot by analyzing the changes of the robot posture and the perception of the stair information. This avoids the dependence on superb skills of an operator, reduces manual intervention, enables the robot to autonomously complete a task in a complex environment, can adapt to stairs with different heights and angles, has high flexibility, and has wide applicability.

[0016] Further, in step S1, the inertial measurement unit IMU is placed on the front track, and the X axis of the inertial measurement unit is coaxial with the advancing direction of the robot; the inclination angle of the front track is calculated through the following formula:

[0017]

[0018] In the formula, accel[1], accel[2] and accel[3] are acceleration components in X, Y and Z axis directions respectively, roll represents the roll angle of the front track, and pitch represents the pitch angle of the front track.

[0019] Further, in step S1, the inclination angle of the rear track is calculated according to the inclination angle of the front track and the rotation angle of the middle joint, including: assuming that the inclination angle of the front track is alpha 1, the rotation angle of the first power joint is alpha 2, the rotation angle of the third power joint is alpha 3, and the inclination angle of the rear track is alpha 4, the inclination angle of the rear track is calculated through the following formula:

[0020] Alpha 4 = | alpha 2 | + | alpha 3 | - | alpha 1 |.

[0021] Further, a moving filter and a first-order low-pass filter are used to filter the IMU values.

[0022] Further, the theta 1 angle is 20°-28°.

[0023] Further, the theta 2 angle is 10°-15°.

[0024] Further, the theta 3 angle is one eighth of the stair inclination angle theta. s

[0025] Further, the theta 5 angle is the stair inclination angle theta​s one-eighth.

[0026] Further, the output shafts of the first power joint, the second power joint, the third power joint and the fourth power joint are arranged staggered by 90 degrees to realize 3D deformation, and the first power joint and the third power joint are respectively used for lifting or lowering action of the front crawler belt and the rear crawler belt.

[0027] The application further provides a computer device, including a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor realizes the steps of the above method when executing the computer program.

[0028] The application further provides a computer readable storage medium, which stores a computer program, and the computer program realizes the steps of the above method when executed by a processor.

[0029] Compared with the prior art, the application has the following beneficial effects:

[0030] 1. The self-climbing stair method of the crawler-type snake robot realizes the self-climbing stair function of the crawler-type snake robot by analyzing the robot pose change and the stair information perception, avoids the dependence on the superb skills of the operator, reduces the manual intervention, enables the robot to autonomously complete the task in a complex environment, and improves the autonomous performance of the crawler-type snake robot.

[0031] 2. The self-climbing stair method of the crawler-type snake robot fully utilizes the flexibility and adaptability of the multi-joint structure of the crawler-type snake robot, optimizes the motion posture, improves the climbing stair efficiency and stability, and exhibits the advantages of the multi-joint structure by adjusting the joint angles and the crawler inclination angle when climbing stairs.

[0032] 3. The self-climbing stair method of the crawler-type snake robot does not need to adjust the additional mechanical structure, retains the basic structure and functional characteristics of the crawler-type snake robot, and the designed control strategy is suitable for different height and angle stairs and complex terrains, has strong flexibility, and has wide application.

[0033] 4. The self-climbing stair method of the crawler-type snake robot can accurately perceive the stair information and adjust the robot pose, monitor the crawler inclination angle and other data in real time, timely adjust the posture, avoid the rollover, and improve the stability and safety of the robot climbing stair process.

[0034] 5、The caterpillar snake robot autonomous stair climbing method can adapt to outdoor exploration, rescue and other scenes, enable the robot to autonomously and safely climb stairs, enter the complex building interior to search, expand the application range, reduce the operator burden, improve the rescue efficiency and safety, and has important practical application value and market promotion prospect. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is a flowchart of a caterpillar snake robot autonomous stair climbing method;

[0036] Figure 2 It is a caterpillar snake robot structure schematic diagram;

[0037] Figure 3 It is a rear caterpillar angle calculation model diagram;

[0038] Figure 4 It is an IMU change curve when the robot climbs stairs.

[0039] In the drawings: 1, front caterpillar; 2, first power joint; 3, second power joint; 4, third power joint; 5, fourth power joint; 6, rear caterpillar; 7, inertial measurement unit IMU. DETAILED DESCRIPTION

[0040] The application will be further described below in conjunction with specific embodiments. Among them, the drawings are only used for example description, and the representation is only a schematic diagram, not a physical diagram, and cannot be understood as a limitation on the application; in order to better illustrate the embodiments of the application, some components in the drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it can be understood that some well-known structures in the drawings and their descriptions can be omitted.

[0041] The same or similar reference numerals in the drawings of the embodiments of the application correspond to the same or similar components; in the description of the application, it should be understood that if the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right" and the like are based on the orientations or positional relationships shown in the drawings, they are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationship in the drawings are only used for example description, and cannot be understood as a limitation on the application, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific situation.

[0042] Embodiment one

[0043] As shown in the drawings, the present embodiment is a first embodiment of a caterpillar snake robot autonomous stair climbing method, as shown in the drawings, Figure 1 Figure 2 ​As shown, the tracked serpentine robot includes a front track 1, a first power joint 2, a second power joint 3, a third power joint 4, a fourth power joint 5 and a rear track 6 connected in sequence; the output shafts 90 of the first power joint 2, the second power joint 3, the third power joint 4 and the fourth power joint 5 are staggered arranged to realize 3D deformation; an inertial measurement unit IMU 7 is installed on the front track 1, and the inclination angle of the front track 1 is obtained in real time through the inertial measurement unit IMU 7, and at the same time, the inclination angle of the rear track 6 is calculated by using kinematics knowledge combined with the inclination angle of the front track 1 and the rotation angle of each joint in the middle, so as to obtain the pose information of the whole robot.

[0044] First part: real-time acquisition of robot overall pose information: the acceleration of the front track 1 in three-axis direction is obtained in real time through the inertial measurement unit IMU 7, and the inclination angle of the front track 1 is calculated; the inclination angle of the rear track 6 is calculated according to the inclination angle of the front track 1 and the rotation angle of the middle joint.

[0045] 1. Calculate the inclination angle of the front track:

[0046] The accelerometer model in Vrep measures the acceleration of an object along the three axes of the world coordinate system. Although Vrep does not have a direct acceleration measurement function, it can be calculated indirectly by measuring the force acting on an object of known mass. The mass of the accelerometer is 1g. By using the provided function to read the force measured by the force sensor, the acceleration of the object can be calculated. In this embodiment, the accelerometer is placed directly above the front track 1, and the X axis of the accelerometer is collinear with the forward direction of the robot.

[0047] In the accelerometer model code, accel[1], accel[2] and accel[3] can be obtained, which are the acceleration components in X, Y and Z directions respectively. Then, the roll angle of the front track 1 is calculated using equation (1), and the pitch angle of the front track 1 is calculated using equation (2):

[0048]

[0049] 2. Calculate the inclination angle of the rear track:

[0050] Through the experiment of the robot climbing stairs, it is found that the angles of the second power joint and the fourth power joint need not be considered in the process of climbing stairs.

[0051] The robot can be approximated as moving in a plane, so the analysis of its pose can be simplified. Assuming the tilt angle of the front track and the rotation angles of the first and third power joints are known, the tilt angle of the rear track can be calculated using the formula for the sum of the interior angles of a convex polygon. Specifically, let the angle of the front track be a1, the rotation angle of the first power joint be a2, the rotation angle of the third power joint be a3, and the tilt angle of the rear track be a4. Depending on whether the first or third power joint is being raised or lowered, the robot’s pose can be divided into four types. The pose graphs for these four modes are extracted for analysis, as shown in FIG. 3. Figure 3 “up” or “down” to indicate whether the joint is being raised or lowered. For example, [up, down] indicates that the first power joint is being raised and the third power joint is being lowered, as shown in FIG. 3. Figure 3 By adding the correct auxiliary lines, the original image can be divided into multiple convex polygons, and then the expression can be easily derived by the formula for the sum of the interior angles of a convex polygon. Equation (5) is derived to satisfy all poses:

[0052] a4 = |a2| + |a3| - |a1| (5)

[0053] Second part: The process of the tracked snake robot climbing stairs is divided into seven steps. As shown in FIG. 4. Figure 1

[0054] Step 1: The front track is raised and begins to move forward.

[0055] First, stop the robot in front of the stairs, start the robot, and begin moving forward. The first power joint 2 begins to rotate, and the front track 1 begins to raise. The front track 1 is set to a raise angle of 0. As the robot’s center of gravity moves upward and backward as the front track 1 is raised, the greater the raise angle, the more the center of gravity is offset, and the lower the stability. Moreover, excessive raising can collide with the middle joint, so the raise angle needs to be moderate. As long as the front track 1 is raised to an angle greater than 0°, it can climb the stairs with the help of friction, but it cannot be too low, or the robot’s head will collide with the stairs for a long time, causing damage and energy loss. In this embodiment, 0 can be selected within the range of 20° to 28°.

[0056] Step 2: The front track 1 is raised due to contact with the stairs.

[0057] ​When track 1 touches the first step, the robot tilts, and the IMU value begins to change continuously. The IMU is set to continuously change angle θ2 to allow track 1 to climb the stairs. When the IMU continuously changes angle θ2, it can be determined that track 1 has climbed the stairs. θ2 is positively correlated with the height h1 of the first step. Considering the standard staircase dimensions, it can be set to 10 degrees. If the first step is too high, it can be appropriately increased. In this embodiment, the value of θ2 ranges from 10° to 15°.

[0058] Step 3: The robot straightens and moves until it is parallel to the stairs.

[0059] After completing step 2, rotate the first power joint 2 to 0 degrees, the robot returns to a straight line and continues to move forward. The robot gradually becomes parallel to the stairs, and the IMU value continues to increase until the IMU value is equal to the tilt angle s of the stairs, and the robot becomes parallel to the stairs.

[0060] Step 4: Front track 1 leaves the last step.

[0061] As the end of track 1 leaves the last step, the robot's front end falls due to gravity, and the IMU value gradually decreases. When the IMU value continues to decrease at an angle θ3, the robot stops climbing and rotates the first power joint 2 to lower track 1 until the IMU value reaches zero and track 1 is parallel to the ground. (This is related to the stair inclination θ.) s The correlation is positive; to avoid collisions with intermediate joints, it should be as small as possible, while being sensitive enough to detect angle changes. After multiple tests, in this embodiment, θ3 is set as θ. s One-eighth.

[0062] Step 5: Adjust the rear track 6.

[0063] The robot moves forward again. To avoid colliding with the joints, it rotates the third power joint 4 by an angle θ4, raising the rear track 6 and lowering the front track 1.

[0064] Step 6: The rear track 6 climbs completely up the last step.

[0065] Maintaining the posture from step 5, continue forward, with rear track 6 gradually climbing the final step. During this process, the tilt angle of rear track 6 changes from θ. s Gradually decreasing the angle, the robot's tilt angle θ5 was reduced after setting the rear track 6 tilt angle. The robot almost passed the last step of the stairs and entered a stable state. (This is related to the stair tilt angle θ.) s They are positively correlated; in this embodiment, θ5 is approximately equal to θ. s One-eighth of the original value. At this point, the robot's center of gravity is high, making it prone to tipping over. Therefore, when the rear track 6 decreases its angle, step 7 needs to be initiated.

[0066] Step 7: The robot returns to a straight line.

[0067] After completing the sixth step, the robot almost completely climbs the last step of the stairs. At this time, gradually rotate the first power joint 2 and the third power joint 4 back to zero position, lower the robot's center of gravity, and make it safely and stably complete the final climbing task.

[0068] The autonomous stair climbing method for the tracked snake robot provided in this embodiment is based on the pose change of the tracked snake robot itself and the perception of stair information to achieve autonomous stair climbing. The method provided in this embodiment does not require additional modification of the robot structure, fully utilizes the multi-joint advantage of the tracked snake robot, realizes autonomous and stable stair climbing of the robot in complex environments, and overcomes the problems of large operation difficulty and poor adaptability in the prior art, thereby providing a more efficient and reliable solution for the application of the tracked snake robot in outdoor exploration, rescue and other fields.

[0069] This embodiment designs a special control strategy for the multi-joint structure characteristics of the tracked snake robot, so that the robot can better maintain balance and stability during stair climbing, fully utilize its structural advantages, and improve the efficiency and reliability of stair climbing.

[0070] The method provided in this embodiment provides a more efficient and reliable solution for the application of the tracked snake robot in outdoor exploration, rescue and other fields. By realizing autonomous stair climbing, the robot can better complete tasks in complex environments, such as search and rescue work in disaster sites, complex terrains and other scenes, thereby reducing the burden on the operator and improving rescue efficiency and safety.

[0071] In this embodiment, the robot's stair climbing process is divided into seven links, and a special motion model for the tracked snake robot is proposed based on the inclination angle changes of the front track 1 and the rear track 6 in each link. The stair climbing process is divided into seven links, and the control strategy based on this model is used to realize the posture adjustment and stability control of the robot during stair climbing.

[0072] Embodiment Two

[0073] This embodiment is a second embodiment of a method for autonomous stair climbing of a tracked snake robot. This embodiment is similar to Embodiment One, except that in this embodiment, a filtering operation is added. Due to various vibrations of the robot during movement, there is noise in the IMU value, so the original data needs to be filtered. This embodiment uses two common signal smoothing methods: moving average filter (MAF) and first-order low-pass filter (FLF). The combination of these two methods effectively reduces the noise in the original data, making the data smoother and more stable.

[0074] MAF is a simple linear filtering method that reduces the impact of short-term fluctuations by calculating the average value of a time window around each data point. The basic idea is: for each data point, calculate the average value of the point and its surrounding neighborhood data points. Referring to formula (3), y i is the filtered data, x j is the original data, and N is the size of the sliding window.

[0075]

[0076] FLF is a commonly used filtering method to reduce high-frequency noise in the signal. The core idea of the low-pass filter is to update the current output based on the current input data point and the output value at the previous time step, thereby smoothing the signal. Referring to formula (4), where y new is the current filtered output value, x new is the current original input data, y old is the output value at the previous time step, and a is the filter coefficient that controls the smoothing effect. When a is small, the filtering effect is smoother, but the response is slower; when a is large, the filter reacts faster.

[0077] y new = a x new + (1-a) y old (4).

[0078] After multiple experimental tests, when N is set to 5 and the low-pass filter parameter is set to 0.1, the effect is good. As shown in FIG. 2, the IMU change curve when the robot climbs stairs is shown. Figure 4

[0079] Embodiment Three

[0080] This embodiment is an embodiment of a computer device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described in Embodiment One or Embodiment Two.

[0081] Embodiment Four

[0082] This embodiment is an embodiment of a computer-readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the steps of the method described in Embodiment One or Embodiment Two.

[0083] In the specific content of the above specific embodiments, any combination of technical features can be made without contradiction. In order to make the description concise, not all possible combinations of the above technical features are described, but as long as the combination of these technical features does not exist contradiction, it should be considered as the scope of the present disclosure.

[0084] ​Obviously, the above embodiments of the present application are merely exemplary but not intended to limit the embodiments of the present application. Based on the above description, any other variations or changes can be made by those skilled in the art without departing from the spirit and principles of the present application. It is not necessary to list all the embodiments here. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the protection scope of the claims of the present application.

Claims

1. A method for an autonomous stair-climbing method for a tracked snake robot, the tracked snake robot comprising a front track, a first power joint, a second power joint, a third power joint, a fourth power joint, and a rear track connected in sequence; characterized in that, An inertial measurement unit (IMU) is installed on the front track, and the robot autonomously climbs stairs, including the following steps: S1. Real-time acquisition of robot overall pose information: The acceleration of the front track in the three-axis direction is acquired in real time through the inertial measurement unit (IMU), and the tilt angle of the front track is calculated; the tilt angle of the rear track is calculated based on the tilt angle of the front track and the rotation angle of the intermediate joint. S2. Front track lifts and begins to move forward: Stop the robot in front of the stairs, start the robot and begin to move forward. The first power joint begins to rotate and the front track begins to lift. Set the front track lifting angle to θ1. S3. Front track tilts up due to touching the stairs: When the front track touches the first step, the robot tilts and the IMU value starts to change continuously. Set the IMU to continuously change the angle θ2 so that the front track can climb the stairs. S4. The robot straightens and moves until it is parallel to the stairs: The first power joint rotates to 0 degrees, the robot returns to a straight line and continues to move forward. The robot gradually becomes parallel to the stairs, and the IMU value continues to increase until the IMU value equals the inclination angle θ of the stairs. s The robot is parallel to the stairs; S5. Front track leaves the last step: When the end of the front track leaves the last step, the front of the robot falls due to gravity, and the IMU value gradually decreases. When the IMU value continues to decrease by an angle θ3, the robot stops climbing, rotates the first power joint to lower the front track, until the IMU value returns to zero and the front track is parallel to the ground. S6. Adjust the rear track: The robot moves forward again, rotates the third power joint to rotate by an angle θ4, and raises the rear track; S7. Rear track fully climbs the last step: Maintaining the posture from step S6, continue moving forward, with the rear track gradually climbing the last step. During this process, the rear track tilt angle changes from θ. s Gradually decrease the rear track tilt angle by θ5 to allow the rear track to pass the last step. S8. The robot returns to a straight line: Rotate the first and third power joints to bring their rotation to zero, lowering the robot's center of gravity, and the robot can then stably complete the ladder climbing task.

2. The method for autonomous stair climbing by a tracked snake robot according to claim 1, characterized in that, In step S1, the inertial measurement unit (IMU) is placed on the front track, and the X-axis of the IMU is coaxial with the robot's forward direction; the tilt angle of the front track is calculated using the following formula: In the formula: accel[1], accel[2] and accel[3] are the acceleration components in the X, Y and Z axis directions, respectively; roll represents the side roll angle of the front track; and pitch represents the pitch angle of the front track.

3. The method for autonomous stair climbing by a tracked snake robot according to claim 1, characterized in that, In step S1, the tilt angle of the rear track is calculated based on the tilt angle of the front track and the rotation angle of the intermediate joint. This includes assuming the tilt angle of the front track is α1, the rotation angle of the first power joint is α2, the rotation angle of the third power joint is α3, and the tilt angle of the rear track is α4. The tilt angle of the rear track is calculated using the following formula: α4＝|α2|+|α3|-|α1|。 4. The method for autonomous stair climbing by a tracked snake robot according to any one of claims 1 to 3, characterized in that, The IMU values ​​are filtered using a moving filter and a first-order low-pass filter.

5. The method for autonomous stair climbing by a tracked snake robot according to claim 4, characterized in that, The angle θ1 is 20° to 28°.

6. The method for autonomous stair climbing by a tracked snake robot according to claim 4, characterized in that, The θ2 angle is 10° to 15°.

7. The method for autonomous stair climbing by a tracked snake robot according to claim 4, characterized in that, The angle θ3 is the inclination angle of the staircase. s One-eighth.

8. The method for autonomous stair climbing by a tracked snake robot according to claim 4, characterized in that, The angle θ5 is the inclination angle of the staircase. s One-eighth.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

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