Robot-based Climbing Control Method and Control System

Abstract

The present invention discloses a climbing control method and control system based on a robot. The climbing control method based on the robot includes: obtaining the movement trajectory of the robot and recording the current speed based on the current position of the robot; monitoring the floating frequency of the robot relative to the ground based on the current speed and collecting the current of the driving motor in the robot; identifying the grooves on the ground and predicting the sinking distance of the robot based on the depth of the grooves; when the robot gradually approaches the grooves, adjusting the current of the driving motor according to the sinking distance and negatively feedbacking it to the movement speed of the robot; determining the force application points of the robot in the grooves based on the side wall contour of the grooves, and the movement speed of the robot is adjusted in levels at the force application points so that the robot climbs towards the ground; when the robot climbs to the ground, the robot adjusts its own movement speed according to its own orientation and the ground environment.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot-based climbing control method and control system. Background Art

[0002] With the development of science and technology, robots are applied in people's lives. The robots travel on the ground and cross various obstacles. Sometimes there are grooves on the ground. When the depth of the groove is large, when the robot enters the groove from the ground, the robot sinks into the groove and it is difficult to climb out of the groove at a normal speed, resulting in a low climbing ability of existing robots. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a robot-based climbing control method and control system. The current of the driving motor in the robot is collected based on the floating frequency of the robot relative to the ground, and the current of the driving motor is controlled to adjust the movement speed of the robot. At this time, when the robot gradually approaches the groove, the current of the driving motor is adjusted according to the sinking distance, and negatively fed back to the movement speed of the robot, and the force point of the robot in the groove is determined based on the side wall profile of the groove, so that the movement speed of the robot can be adjusted at the force point, thereby improving the climbing explosive power of the robot, ensuring that the robot can climb a variety of different grooves, and improving the climbing ability of the robot.

[0004] In order to solve the above technical problems, an embodiment of the present invention provides a robot-based climbing control method, including: obtaining the movement trajectory of the robot, and recording the current speed based on the current position of the robot; monitoring the floating frequency of the robot relative to the ground based on the current speed, and collecting the current of the driving motor in the robot; identifying the groove on the ground, and predicting the sinking distance of the robot based on the depth of the groove; when the robot gradually approaches the groove, adjusting the current of the driving motor according to the sinking distance, and negatively feeding back to the moving speed of the robot; determining the force point of the robot in the groove based on the side wall profile of the groove, and the moving speed of the robot is leapfrog adjusted at the force point to enable the robot to climb toward the ground; when the robot climbs to the ground, the robot adjusts its moving speed according to its own orientation and ground environment.

[0005] In addition, an embodiment of the present invention further provides a robot-based climbing control system, which includes: an acquisition module: used to acquire the movement trajectory of the robot and record the current speed based on the current position of the robot; an acquisition module: used to monitor the floating frequency of the robot relative to the ground based on the current speed, and collect the current of the driving motor in the robot; an identification module: used to identify the groove on the ground, and predict the sinking distance of the robot based on the depth of the groove; an adjustment module: used to adjust the current of the driving motor according to the sinking distance when the robot gradually approaches the groove, and negatively feedback to the moving speed of the robot; a climbing module: used to determine the force point of the robot in the groove based on the side wall profile of the groove, and the moving speed of the robot is adjusted at the force point so that the robot climbs toward the ground; a speed module: used when the robot climbs to the ground, the robot adjusts its own moving speed according to its own direction and ground environment.

[0006] In an embodiment of the present invention, through the method in the embodiment of the present invention, the current of the driving motor in the robot is collected based on the floating frequency of the robot relative to the ground, and the current of the driving motor is controlled to adjust the moving speed of the robot. At this time, when the robot gradually approaches the groove, the current of the driving motor is adjusted according to the sinking distance, and negatively fed back to the moving speed of the robot, and the force point of the robot in the groove is determined based on the side wall profile of the groove, so that the moving speed of the robot can be adjusted at the force point, thereby improving the climbing explosive power of the robot, ensuring that the robot can climb a variety of different grooves, and improving the climbing ability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0008] Figure 1 is a flow chart of a robot-based climbing control method in an embodiment of the present invention;

[0009] Figure 2 is a schematic diagram of a process of entering a groove in a robot-based climbing control method in an embodiment of the present invention;

[0010] Figure 3 is a schematic diagram of a floating frequency adjustment process of a robot-based climbing control method in an embodiment of the present invention;

[0011] Figure 4 It is a schematic flow chart for predicting the sinking distance of the climbing control method based on a robot in an embodiment of the present invention;

[0012] Figure 5 It is a schematic diagram of the structural composition of the climbing control system based on a robot in an embodiment of the present invention;

[0013] Figure 6 It is a hardware diagram of an electronic device shown according to an exemplary embodiment. Detailed implementation manners

[0014] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0015] Embodiment

[0016] Please refer to Figures 1 to 4 , a climbing control method based on a robot, the method includes:

[0017] S11: Obtain the movement trajectory of the robot, and record the current speed based on the current position of the robot;

[0018] In the specific implementation process of the present invention, the specific steps may be:

[0019] S111: Develop the movement trajectory of the robot based on the starting point, the ending point, and the orientation of the obstacle, and adjust the actual movement trajectory of the robot according to the variable obstacle;

[0020] S112: As the robot moves, record the current of the driving motor of the robot;

[0021] S113: Match the corresponding movement speed of the robot according to the current of the driving motor of the robot;

[0022] S114: Mark the positions of the respective grooves in the map, and determine the current position of the robot based on the positions of the grooves. At this time, the robot has not entered the groove;

[0023] S115: Record the current speed based on the current position of the robot.

[0024] Among them, the movement trajectory is adjusted according to the variable obstacle and fed back to the robot to change the path of the robot in real time. The current is used as the control parameter of the driving motor, and the moving speed of the corresponding robot is matched according to the current of the driving motor of the robot, so as to facilitate the adjustment of the moving speed of the robot based on the current control. For the positions of the respective grooves in the map, the current position of the robot is determined based on the positions of the grooves, and the distance of the robot from the grooves is marked, so as to facilitate the warning of the robot based on this distance, and the current speed is recorded based on the current position of the robot.

[0025] S12: Monitor the floating frequency of the robot relative to the ground based on the current speed, and collect the current of the driving motor in the robot;

[0026] In the specific implementation process of the present invention, the specific steps may be:

[0027] S121: As the robot moves, the robot moves on the ground based on the current speed, floats based on the unevenness of the ground, and measures the floating frequency of the robot relative to the ground;

[0028] S122: Determine the degree of approach of the robot relative to the groove according to the floating frequency of the robot;

[0029] S123: If the floating frequency of the robot gradually increases, the robot gradually approaches the groove, and collect the current of the driving motor in the robot;

[0030] S124: Adjust the driving motor from a uniform speed state to a variable speed state, and adjust the current, and the current decreases stage by stage as the floating frequency of the robot increases.

[0031] Among them, the robot floats based on the unevenness of the ground, and determines the degree of approach of the robot relative to the groove according to the floating frequency of the robot. At this time, the degree of approach of the robot relative to the groove is detected based on the gradual change of the terrain, and the current of the robot can be adjusted according to the floating frequency threshold. At this time, if the floating frequency of the robot gradually increases, the robot gradually approaches the groove, collect the current of the driving motor in the robot, and reduce the current of the driving motor to reduce the moving speed of the robot, so as to achieve the effect of slowly entering the groove.

[0032] When the robot gradually approaches the groove, the driving motor is adjusted from a uniform speed state to a variable speed state. At this time, the driving motor allows itself to adjust its current based on the variable speed state, while the adjustment of the current is not allowed in the uniform speed state. Among them, when adjusting the current, the current decreases periodically as the floating frequency of the robot increases, and the current decreases within a range, rather than decreasing gradually. Since the current decreases within a range, it can instantaneously affect the adjustment of the moving speed of the robot and cause the frictional force of the front moving wheels and the rear moving wheels on the ground, so as to ensure that the robot stably enters the groove under the condition of frictional force, and avoid the front moving wheels and the rear moving wheels of the robot from leaving the ground or the groove.

[0033] S13: Identify the groove on the ground and predict the sinking distance of the robot based on the depth of the groove;

[0034] In the specific implementation process of the present invention, the specific steps may be:

[0035] S131: Adjust the detection orientation of the robot based on the orientation of the groove on the ground until the orientation of the groove on the ground and the detection orientation of the robot are in the same direction;

[0036] S132: Identify the groove on the ground, collect the spatial shape of the groove, and present a 3D virtual body of the groove in the virtual brain of the robot;

[0037] S133: Perform groove scanning based on the 3D virtual body of the groove and determine the depth of the groove and the side wall contour of the groove;

[0038] S134: Predict the sinking distance of the robot based on the depth of the groove. If the sinking distance of the robot exceeds the preset sinking distance threshold, adjust the width between the moving wheels of the robot and adapt to the groove width when the preset sinking distance threshold is reached.

[0039] Among them, the robot detects the groove and ensures that the orientation of the groove on the ground and the detection orientation of the robot are in the same direction, so as to facilitate the robot to detect the groove based on the preset direction, thereby facilitating the accuracy of providing the virtual body of the groove. At this time, identify the groove on the ground, collect the spatial shape of the groove, and present a 3D virtual body of the groove in the virtual brain of the robot. In the 3D virtual body of the groove, the virtual brain of the robot performs groove scanning based on the 3D virtual body of the groove and determines the depth of the groove and the side wall contour of the groove.

[0040] In addition, the sinking distance of the robot is predicted based on the depth of the groove, and the depth of the corresponding groove is marked at the sinking distance, so as to determine the vertical distance of the groove. The width arrangement of the groove is detected along the vertical direction. If the sinking distance of the robot exceeds the preset sinking distance threshold, the width between the moving wheels of the robot is adjusted to adapt to the groove width at the preset sinking distance threshold. At this time, the moving wheels of the robot are adjusted from the positioning state to the telescopic state, and the two moving wheels move relative to each other to adjust the width between the two moving wheels.

[0041] To prevent the robot from sinking to the deepest part of the groove, the sinking depth of the robot is limited by adjusting the width between the two moving wheels. The environmental adaptability of the robot to the groove is improved based on the contact of the two moving wheels with the side walls of the groove, and the adjustment of the distance between the two moving wheels does not affect the speed of the moving wheels.

[0042] S14: When the robot gradually approaches the groove, adjust the current of the drive motor according to the sinking distance and negatively feedback it to the moving speed of the robot;

[0043] In the specific implementation process of the present invention, the specific steps may be: when the robot gradually approaches the groove, the robot is gradually adjusted from the ground driving mode to the groove climbing mode; the robot gradually enters the groove based on the groove climbing mode, and records the sinking distance of the robot; determine the climbing stage of the robot based on the change amount of the sinking distance of the robot; adjust the current of the drive motor based on the climbing stage of the robot and negatively feedback it to the moving speed of the robot, so as to adjust the moving speed of the robot based on the current of the drive motor.

[0044] Among them, when the robot gradually approaches the groove, the robot is gradually adjusted from the ground driving mode to the groove climbing mode. When in the groove climbing mode, the robot gradually enters the groove based on the groove climbing mode and records the sinking distance of the robot, so as to determine the climbing stage of the robot based on the change amount of the sinking distance of the robot. The adjustment of the current of the drive motor is realized by adjusting different climbing stages, so as to realize the adjustment of the moving speed of the robot. And the current of the drive motor and the moving speed of the robot form a negative feedback relationship, so as to adjust the moving speed of the robot based on the current of the drive motor.

[0045] S15: Determine the force application point of the robot on the groove based on the side wall contour of the groove, and the moving speed of the robot is adjusted step by step at the force application point so that the robot climbs towards the ground;

[0046] In the specific implementation process of the present invention, the specific steps include: obtaining the side wall contour of the groove, and marking a plurality of concave regions based on the side wall contour of the groove; formulating an avoidance route of the robot in the groove based on the plurality of concave regions, and determining the depth position of the robot during the travel of the avoidance route; determining the force application points of the robot in the groove based on the side wall contour of the groove, wherein when the depth position of the robot is at the force application point, the robot starts the climbing-up mode, and the moving speed of the robot is adjusted stepwise at the force application point, wherein the moving speed is divided into multiple speed levels; the moving speed of the robot is adjusted stepwise at the force application point and climbs along the upward direction, so that the robot climbs towards the ground.

[0047] Wherein, an avoidance route of the robot in the groove is formulated based on the plurality of concave regions, and the depth position of the robot is determined during the travel of the avoidance route. At this time, the force application points of the robot in the groove are determined based on the side wall contour of the groove, and when the depth position of the robot is at the force application point, the robot starts the climbing-up mode, and the moving speed of the robot is adjusted stepwise at the force application point, wherein the moving speed is divided into multiple speed levels; the moving speed of the robot is adjusted stepwise at the force application point and climbs along the upward direction, so that the robot climbs towards the ground, which improves the power output of the robot at different climbing stages and adjusts the climbing smoothness of the robot.

[0048] S16: When the robot climbs to the ground, the robot adjusts its moving speed according to its own orientation and the ground environment.

[0049] In the specific implementation process of the present invention, the specific steps include: when the robot climbs to the ground, adjusting the travel route of the robot based on the orientation of the robot; adjusting the avoidance route of the robot based on the ground environment; determining the actual travel range of the robot based on the avoidance route and the travel route, and adjusting the moving speed of the robot according to its own orientation and the ground environment.

[0050] In addition, the climbing control method based on the robot further includes: when the robot is in the groove, the speed of the rear moving wheels of the robot is greater than the speed of the front moving wheels, and the body orientation of the robot is adjusted; the body of the robot tilts forward, and the center of gravity of the robot is set at the front lower part; using the center of gravity position of the robot as a reference factor for the moving speed of the robot, and adjusting the moving speed limit value of the robot according to the center of gravity position of the robot.

[0051] In an embodiment of the present invention, by means of the method in the embodiment of the present invention, the current of the drive motor in the robot is collected based on the floating frequency of the robot relative to the ground, and the current of the drive motor is controlled to adjust the moving speed of the robot. At this time, when the robot gradually approaches the groove, the current of the drive motor is adjusted according to the sinking distance and negatively fed back to the moving speed of the robot. Moreover, the force application point of the robot on the groove is determined based on the side wall contour of the groove, so that the moving speed of the robot is adjusted in a step-up manner at the force application point, thereby improving the climbing explosive power of the robot, ensuring that the robot can climb various different grooves, and enhancing the climbing ability of the robot.

[0052] Embodiment

[0053] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of a climbing control system based on a robot in an embodiment of the present invention.

[0054] As Figure 5 shown, a climbing control system based on a robot, the climbing control system based on a robot includes:

[0055] An acquisition module 21: configured to acquire the moving trajectory of the robot and record the current speed based on the current position of the robot;

[0056] A collection module 22: configured to monitor the floating frequency of the robot relative to the ground based on the current speed and collect the current of the drive motor in the robot;

[0057] An identification module 23: configured to identify the groove on the ground and predict the sinking distance of the robot based on the depth of the groove;

[0058] An adjustment module 24: configured to adjust the current of the drive motor according to the sinking distance when the robot gradually approaches the groove and negatively feed it back to the moving speed of the robot;

[0059] A climbing module 25: configured to determine the force application point of the robot on the groove based on the side wall contour of the groove, and the moving speed of the robot is adjusted in a step-up manner at the force application point so that the robot climbs towards the ground;

[0060] A speed module 26: configured to when the robot climbs to the ground, the robot adjusts its own moving speed according to its own orientation and the ground environment.

[0061] The present invention provides a robot-based climbing control method and control system, which collects the current of a driving motor in the robot based on the floating frequency of the robot relative to the ground, and controls the current of the driving motor to adjust the movement speed of the robot. At this time, when the robot gradually approaches a groove, the current of the driving motor is adjusted according to the sinking distance, and negatively fed back to the movement speed of the robot, and the force point of the robot in the groove is determined based on the side wall profile of the groove, so that the movement speed of the robot can be adjusted at the force point, thereby improving the climbing explosive power of the robot, ensuring that the robot can climb a variety of different grooves, and improving the climbing ability of the robot.

[0062] Example

[0063] See also Figure 6 , refer to the following Figure 6 The electronic device 40 according to this embodiment of the present invention will be described. Figure 6 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0064] like Figure 6 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0065] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0066] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0067] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0068] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0069] The electronic device 40 can also communicate with one or more external devices (such as a keyboard, a pointing device, a Bluetooth device, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 40, and / or communicate with any device that enables the electronic device 40 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 45. Moreover, the electronic device 40 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 46. As Figure 6 shown, the network adapter 46 communicates with other modules of the electronic device 40 through the bus 43. It should be understood that although Figure 6 not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0070] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or can be implemented by the way of software combined with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, and the software product can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0071] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. The storage medium can include: a read-only memory (ROM, Read Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disc, etc. And it stores computer program instructions, and when the computer program instructions are executed by the computer, the computer is enabled to execute the method according to the above.

[0072] In addition, the above has introduced in detail the climbing control method and control system based on a robot provided by the embodiments of the present invention. Specific examples should have been used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation on the present invention.

Claims

1. A robot-based climbing control method, characterized in that, it includes: Obtain the movement trajectory of the robot and record the current speed based on the current position of the robot; Monitor the floating frequency of the robot relative to the ground based on the current speed, and collect the current of the drive motor in the robot; Identify the grooves on the ground and predict the sinking distance of the robot based on the depth of the grooves; When the robot gradually approaches the groove, adjust the current of the drive motor according to the sinking distance and negatively feedback it to the movement speed of the robot; Determine the force application point of the robot in the groove based on the side wall contour of the groove, and the movement speed of the robot is adjusted step by step at the force application point so that the robot climbs towards the ground; When the robot climbs to the ground, the robot adjusts its movement speed according to its own orientation and the ground environment; The identifying the grooves on the ground and predicting the sinking distance of the robot based on the depth of the grooves includes: Adjust the detection orientation of the robot based on the orientation of the grooves on the ground until the orientation of the grooves on the ground is in the same direction as the detection orientation of the robot; Identify the grooves on the ground, collect the spatial shape of the grooves, and present a 3D virtual body of the grooves in the virtual brain of the robot; Perform groove scanning based on the 3D virtual body of the grooves and determine the depth of the grooves and the side wall contour of the grooves; Predict the sinking distance of the robot based on the depth of the grooves. If the sinking distance of the robot exceeds the preset sinking distance threshold, adjust the width between the moving wheels of the robot and adapt to the groove width at the preset sinking distance threshold.

2. The robot-based climbing control method according to claim 1, characterized in that, The obtaining the movement trajectory of the robot and recording the current speed based on the current position of the robot includes: Formulate the movement trajectory of the robot based on the starting point, ending point and the orientation of the obstacle, and adjust the actual movement trajectory of the robot according to the changeable obstacle; As the robot moves, record the current of the drive motor of the robot; Match the corresponding movement speed of the robot according to the current of the drive motor of the robot; Mark the positions of each groove in the map, and determine the current position of the robot based on the positions of the grooves. At this time, the robot has not entered the groove; Record the current speed based on the current position of the robot.

3. The robot-based climbing control method according to claim 2, characterized in that, The monitoring the floating frequency of the robot relative to the ground based on the current speed and collecting the current of the drive motor in the robot includes: As the robot moves, the robot moves on the ground based on the current speed, floats based on the unevenness of the ground, and measures the floating frequency of the robot relative to the ground; Determine the proximity of the robot to the groove according to the floating frequency of the robot; If the floating frequency of the robot gradually increases, the robot gradually approaches the groove and collects the current of the driving motor in the robot; The driving motor is adjusted from a uniform speed state to a variable speed state, and the current is adjusted, and the current decreases in stages as the floating frequency of the robot increases.

4. The robot-based climbing control method according to claim 3, It is characterized in that When the robot gradually approaches the groove, the current of the driving motor is adjusted according to the sinking distance, and negatively fed back to the moving speed of the robot, including: When the robot gradually approaches the groove, the robot gradually adjusts from the ground driving mode to the groove climbing mode; The robot gradually enters the groove based on the groove climbing mode, and records the sinking distance of the robot; Determining the climbing stage of the robot based on the change in the sinking distance of the robot; The current of the driving motor is adjusted based on the climbing stage of the robot, and negatively fed back to the moving speed of the robot, so as to adjust the moving speed of the robot based on the current of the driving motor.

5. The robot-based climbing control method according to claim 4, It is characterized in that The step of determining the force point of the robot in the groove based on the sidewall profile of the groove, and adjusting the movement speed of the robot at the force point so that the robot climbs toward the ground includes: Acquire a sidewall profile of the groove, and mark a plurality of recessed areas based on the sidewall profile of the groove; Formulate an avoidance route for the robot in the groove based on the plurality of recessed areas, and determine a depth position of the robot while traveling along the avoidance route; Determining the force point of the robot in the groove based on the sidewall profile of the groove, wherein when the depth position of the robot is at the force point, the robot starts a climbing mode, and the movement speed of the robot is adjusted at the force point, wherein the movement speed is divided into multiple speed levels; The moving speed of the robot is adjusted at the force generating point, and the robot climbs in an upward direction so that the robot climbs toward the ground.

6. The robot-based climbing control method according to claim 5, It is characterized in that When the robot climbs to the ground, the robot adjusts its moving speed according to its own orientation and ground environment, and further includes: When the robot climbs to the ground, adjusting the driving route of the robot based on the orientation of the robot; adjusting the robot's avoidance route based on the ground environment; The actual driving range of the robot is determined based on the avoidance route and the driving route, and the robot's moving speed is adjusted according to its own orientation and ground environment.

7. The robot-based climbing control method according to claim 6, It is characterized in that The robot-based climbing control method also includes: When the robot is in the groove, the speed of the rear moving wheels of the robot is greater than the speed of the front moving wheels, and the direction of the robot body is adjusted; The body of the robot is tilted forward, and the center of gravity of the robot is set at the front and bottom; The center of gravity position of the robot is used as a reference factor for the moving speed of the robot, and the moving speed limit value of the robot is adjusted according to the center of gravity position of the robot.

8. A robot-based climbing control system, It is characterized in that The robot-based climbing control system includes: Acquisition module: used to acquire the movement trajectory of the robot and record the current speed based on the current position of the robot; A collection module: used for monitoring the floating frequency of the robot relative to the ground based on the current speed, and collecting the current of the driving motor in the robot; Recognition module: used for recognizing the groove of the ground and predicting the sinking distance of the robot based on the depth of the groove; An adjustment module: used for adjusting the current of the driving motor according to the sinking distance when the robot gradually approaches the groove, and providing negative feedback to the moving speed of the robot; A climbing module: used for determining the force point of the robot in the groove based on the sidewall profile of the groove, and the moving speed of the robot is adjusted at the force point so that the robot climbs toward the ground; Speed ​​module: used for adjusting the moving speed of the robot according to its orientation and ground environment when the robot climbs to the ground; The identifying of the groove on the ground and predicting the sinking distance of the robot based on the depth of the groove includes: adjusting the detection direction of the robot based on the direction of the groove on the ground until the groove on the ground is in the same direction as the detection direction of the robot; identifying the groove on the ground, collecting the spatial shape of the groove, and presenting a 3D virtual body of the groove in the virtual brain of the robot; performing groove scanning based on the 3D virtual body of the groove, and determining the depth of the groove and the side wall profile of the groove; predicting the sinking distance of the robot based on the depth of the groove, and if the sinking distance of the robot exceeds a preset sinking distance threshold, adjusting the width between the moving wheels of the robot and adapting the groove width at the preset sinking distance threshold.

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