A multi-stage caterpillar swing-arm type unmanned obstacle-crossing robot and obstacle-crossing method

Abstract

The application provides a multi-stage caterpillar swing arm type unmanned obstacle-crossing robot and an obstacle-crossing method, and relates to the technical field of robots.The multi-stage caterpillar swing arm type unmanned obstacle-crossing robot comprises a caterpillar chassis, a first swing arm, a second swing arm, a first driving mechanism and a second driving mechanism, the four corners of the caterpillar chassis are respectively provided with the first swing arm, each first swing arm is respectively connected with the second swing arm, the first driving mechanism is drivingly connected with the first swing arm, and the second driving mechanism is drivingly connected with the second swing arm; the caterpillar chassis comprises a third driving mechanism, a chassis structure and a first caterpillar arranged on both sides of the chassis structure, the two ends of the first caterpillar are respectively provided with a first driving wheel and a first driven wheel which are in meshing transmission with the first caterpillar, and the third driving mechanism is drivingly connected with the first driving wheel. Compared with the prior art, the multi-stage caterpillar swing arm type unmanned obstacle-crossing robot has better terrain adaptability and can meet different requirements of different working conditions.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a multi-stage tracked swing-arm unmanned obstacle-crossing robot and an obstacle-crossing method. Background Technology

[0002] Tracked robots primarily refer to robots equipped with tracked chassis mechanisms. Tracked mobile robots have advantages such as high traction, low slippage rate, and good off-road performance. Tracked robots can carry various loads and are widely used in various industries such as inspection, reconnaissance, collaborative transportation, firefighting, and municipal services. They are highly versatile and have a wide range of applications.

[0003] However, tracked robots face extremely complex terrains, such as man-made structural steps, stairs, and ditches. Currently, the locomotion mechanisms of tracked robot chassis are limited in form, resulting in poor terrain adaptability and an inability to meet the diverse needs of different working conditions. Summary of the Invention

[0004] The present invention aims to improve the terrain adaptability of tracked robots.

[0005] This invention provides a multi-stage tracked swing-arm unmanned obstacle-crossing robot, comprising: a tracked chassis, a first-stage swing arm, a second-stage swing arm, a first drive mechanism, and a second drive mechanism. The first-stage swing arms are respectively disposed at the four corners of the tracked chassis, and each first-stage swing arm is connected to a second-stage swing arm. The first drive mechanism is driven by the first-stage swing arm to drive the first-stage swing arm to deflect relative to the tracked chassis. The second drive mechanism is driven by the second-stage swing arm to drive the second-stage swing arm to deflect relative to the first-stage swing arm. The tracked chassis includes a third drive mechanism, a chassis structure, and first tracks disposed on both sides of the chassis structure. A first driving wheel and a first driven wheel are respectively disposed at both ends of the first track and mesh with it. The third drive mechanism is driven by the first driving wheel, wherein the first driving wheel drives the first track to rotate.

[0006] The present invention provides a multi-stage tracked swing-arm unmanned obstacle-crossing robot, which, compared with the prior art, has, but is not limited to, the following beneficial effects:

[0007] The multi-stage tracked swing-arm unmanned obstacle-crossing robot of this invention can autonomously traverse obstacles such as smooth ground or low obstacles via its tracked chassis. This is achieved by a third drive mechanism driving the first drive wheel, which in turn rotates the first track, enabling movement across smooth ground or over low obstacles. It is important to note that during the movement of the tracked chassis, the first and second drive mechanisms must maintain a certain angle between the first and second swing arms and the ground to avoid collisions. When encountering obstacles such as steps or tall objects, the first drive mechanism first drives the first swing arm to deflect relative to the tracked chassis, lifting the chassis to a height higher than the obstacle. Then, the second drive mechanism drives the second swing arm to rotate relative to the first swing arm, effectively using the second swing arm as a wheel to complete the obstacle-crossing operation. Compared to existing technologies, the multi-stage tracked swing-arm unmanned obstacle-crossing robot of this invention exhibits better terrain adaptability and can meet the diverse needs of different working conditions.

[0008] Optionally, the first-stage swing arm includes a first frame, a second drive wheel, a second driven wheel, and a second track. The second drive wheel and the second driven wheel are respectively disposed at both ends of the first frame. The second track is driven between the second drive wheel and the second driven wheel. The first drive mechanism includes a first motor and a second motor. The first motor is disposed within the chassis structure and is drivenly connected to the first frame. The second motor is disposed on the first frame and is drivenly connected to the second drive wheel. The second drive wheel is used to drive the second track to rotate.

[0009] Optionally, the secondary swing arm includes a second frame, a third drive wheel, a third driven wheel, and a third track. The third drive wheel and the third driven wheel are respectively disposed at both ends of the second frame. The third track is driven between the third drive wheel and the third driven wheel. The second drive mechanism includes a third motor and a fourth motor. The third motor is disposed at the end of the first frame away from the chassis structure and is drivenly connected to the second frame. The fourth motor is disposed on the second frame and is drivenly connected to the third drive wheel. The third drive wheel is used to drive the third track to rotate.

[0010] Optionally, this multi-stage tracked swing-arm unmanned obstacle-crossing robot also includes a main control system, a motion control system, and an information acquisition system mounted on the tracked chassis. The motion control system and the information acquisition system are electrically connected to the main control system. The main control system is used to receive information from the information acquisition system to control the actions of the first drive mechanism and the second drive mechanism.

[0011] Optionally, the information acquisition system includes a binocular vision sensor, a lidar sensor, an attitude sensor, an infrared ranging sensor, and a sensor acquisition module, wherein the binocular vision sensor, the lidar sensor, the attitude sensor, and the infrared ranging sensor are electrically connected to the sensor acquisition module, and the sensor acquisition module is electrically connected to the main control system.

[0012] In addition, the present invention also provides an obstacle-crossing method based on the multi-stage tracked swing-arm unmanned obstacle-crossing robot as described above, the obstacle-crossing method comprising:

[0013] Acquire image information of obstacles at preset locations;

[0014] The obstacle type of the obstacle is determined based on the image information;

[0015] Depending on the type of obstacle, obstacle crossing is carried out using the corresponding obstacle crossing method.

[0016] Optionally, the step of performing obstacle-crossing operations according to different obstacle types and corresponding obstacle-crossing methods includes:

[0017] When the obstacle type is a step-type obstacle, it is determined whether the multi-stage tracked swing arm unmanned obstacle-crossing robot can complete the obstacle crossing work. If it can, the first drive mechanism drives the first-stage swing arm to deflect relative to the tracked chassis to lift the tracked chassis. Then, the second drive mechanism drives the second-stage swing arm to rotate relative to the first-stage swing arm to complete the obstacle crossing work.

[0018] Optionally, determining whether the multi-stage tracked swing-arm unmanned obstacle-crossing robot can complete the obstacle-crossing task includes:

[0019] Whether the multi-stage tracked swing-arm unmanned obstacle-crossing robot can complete the obstacle-crossing task is determined by whether it satisfies the following formula:

[0020]

[0021] Where d1 represents the length of the secondary swing arm, x G h represents the distance between the center of gravity of the tracked chassis and the first-stage swing arm located at the rear. n b represents the height of a single step. n This indicates the distance between two adjacent steps.

[0022] Optionally, determining whether the multi-stage tracked swing-arm unmanned obstacle-crossing robot can complete the obstacle-crossing task includes:

[0023] Whether the multi-stage tracked swing-arm unmanned obstacle-crossing robot can complete the obstacle-crossing task is determined by whether it satisfies the following formula:

[0024]

[0025] Where d1 represents the length of the second-stage swing arm, d2 represents the distance between two adjacent first-stage swing arms, and h n b represents the height of a single step. n This indicates the distance between two adjacent steps.

[0026] Optionally, before acquiring image information of the obstacle at the preset location, the obstacle-crossing method further includes:

[0027] Obtain the relative distance information between the tracked chassis and obstacles at the current location;

[0028] The tracked chassis is moved to a preset position based on the relative distance information. Attached Figure Description

[0029] Figure 1 This is a structural schematic diagram of a multi-stage tracked swing-arm unmanned obstacle-crossing robot according to an embodiment of the present invention;

[0030] Figure 2 Motion analysis of the multi-stage tracked swing-arm unmanned obstacle-crossing robot according to an embodiment of the present invention. Figure 1 ;

[0031] Figure 3 Motion analysis of the multi-stage tracked swing-arm unmanned obstacle-crossing robot according to an embodiment of the present invention. Figure 2 ;

[0032] Figure 4 Motion analysis of the multi-stage tracked swing-arm unmanned obstacle-crossing robot according to an embodiment of the present invention. Figure 3 ;

[0033] Figure 5 Motion analysis of the multi-stage tracked swing-arm unmanned obstacle-crossing robot according to an embodiment of the present invention. Figure 4 ;

[0034] Figure 6 Motion analysis of the multi-stage tracked swing-arm unmanned obstacle-crossing robot according to an embodiment of the present invention. Figure 5 ;

[0035] Figure 7 Motion analysis of the multi-stage tracked swing-arm unmanned obstacle-crossing robot according to an embodiment of the present invention. Figure 6 ;

[0036] Figure 8 This is a flowchart of an obstacle-crossing method according to an embodiment of the present invention.

[0037] Explanation of reference numerals in the attached figures:

[0038] 1. First-stage swing arm; 11. First frame; 12. Second track; 2. Second-stage swing arm; 21. Second frame; 22. Third track; 3. Tracked chassis; 31. Chassis structure; 32. First track. Detailed Implementation

[0039] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0040] In the description of this invention, the orientations or positional relationships indicated by terms such as "up," "down," "left," "right," "top," "bottom," "front," "back," "inner," and "outer" are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this invention. They are not intended to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this invention.

[0041] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0042] In the description of this specification, references to terms such as "embodiment," "one embodiment," and "one implementation" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or implementation of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0043] Furthermore, in the attached diagram, the Z-axis represents the vertical direction, that is, the up-down position, and the positive direction of the Z-axis (that is, the direction the arrow points to) represents up, and the negative direction of the Z-axis (that is, the direction opposite to the positive direction of the Z-axis) represents down; in the attached diagram, the X-axis represents the longitudinal direction, that is, the front-back position, and the positive direction of the X-axis (that is, the direction the arrow points to) represents forward, and the negative direction of the X-axis (that is, the direction opposite to the positive direction of the X-axis) represents backward; in the attached diagram, the Y-axis represents the horizontal direction, that is, the left-right position, and the positive direction of the Y-axis (that is, the direction the arrow points to) represents left, and the negative direction of the Y-axis (that is, the direction opposite to the positive direction of the Y-axis) represents right.

[0044] It should also be noted that the meanings of the aforementioned Z-axis, X-axis and Y-axis are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0045] like Figures 1 to 2 As shown, the multi-stage tracked swing-arm unmanned obstacle-crossing robot of this invention includes: a tracked chassis 3, a first-stage swing arm 1, a second-stage swing arm 2, a first drive mechanism, and a second drive mechanism. The first-stage swing arms 1 are respectively disposed at the four corners of the tracked chassis 3, and each first-stage swing arm 1 is connected to a second-stage swing arm 2. The first drive mechanism is driven by the first-stage swing arm 1 to drive the first-stage swing arm 1 to deflect relative to the tracked chassis 3. The second drive mechanism is driven by the second-stage swing arm 2 to drive the second-stage swing arm 2 to deflect relative to the first-stage swing arm 1. The tracked chassis 3 includes a third drive mechanism, a chassis structure 31, and first tracks 32 disposed on both sides of the chassis structure 31. The first tracks 32 have a first driving wheel and a first driven wheel respectively disposed at both ends, engaging with them. The third drive mechanism is driven by the first driving wheel, wherein the first driving wheel drives the first track 32 to rotate.

[0046] In this embodiment, in conjunction with the appendix Figure 1 As shown, when encountering smooth ground or low obstacles, the tracked chassis 3 can autonomously traverse the obstacles. This is achieved by the third drive mechanism driving the first drive wheel, which in turn rotates the first track 32, enabling movement across smooth ground or over low obstacles. It's important to note that during the movement of the tracked chassis 3, the first and second drive mechanisms must maintain a certain angle between the primary swing arm 1 and the secondary swing arm 2 and the ground to avoid collisions. When encountering steps or higher obstacles, the first drive mechanism first drives the primary swing arm 1 to deflect relative to the tracked chassis 3, for example, to a position perpendicular to the tracked chassis 3, thus lifting the tracked chassis to its maximum lifting height (higher than the obstacle). Then, the second drive mechanism drives the secondary swing arm 2 to rotate relative to the primary swing arm 1, effectively using the secondary swing arm 2 as a wheel to complete the obstacle crossing. The multi-stage tracked swing-arm unmanned obstacle-crossing robot of the present invention has better terrain adaptability than the prior art and can meet different needs under different working conditions.

[0047] It should be noted that the motor control of the four primary swing arms 1 and the four secondary swing arms 2 (first drive mechanism and second drive mechanism) can adopt different control strategies such as cross-coupling synchronous control strategy, and the tracked vehicle's motion trajectory can adopt different control methods such as robust adaptive control, adaptive MPC control, and model reference adaptive control.

[0048] Optionally, the first-stage swing arm 1 includes a first frame 11, a second drive wheel, a second driven wheel, and a second track 12. The second drive wheel and the second driven wheel are respectively disposed at both ends of the first frame 11. The second track 12 is drivenly connected between the second drive wheel and the second driven wheel. The first drive mechanism includes a first motor and a second motor. The first motor is disposed within the chassis structure 31 and is drivenly connected to the first frame 11. The second motor is disposed on the first frame 11 and is drivenly connected to the second drive wheel. The second drive wheel is used to drive the second track 12 to rotate.

[0049] In this embodiment, in conjunction with the appendix Figure 1 As shown, the extension direction of the output shaft of the first motor is as follows: Figure 1 In the Y-axis direction, the output shaft of the first motor can be connected to the first frame 11 of the first-stage swing arm 1 via a key to drive the first-stage swing arm 1 to rotate around the output shaft of the first motor. When the four first-stage swing arms 1 rotate to be perpendicular to the chassis structure 31, the tracked chassis 3 can be lifted to its maximum height. Then, the second drive mechanism drives the second-stage swing arm 2 to deflect relative to the first-stage swing arm 1 until it contacts the ground. Then, the second motor drives the second drive wheel to rotate. The second drive wheel can drive the second track 12 to rotate, thereby driving the robot to move as a whole. This movement mode can cross higher obstacles.

[0050] Optionally, the secondary swing arm 2 includes a second frame 21, a third drive wheel, a third driven wheel, and a third track 22. The third drive wheel and the third driven wheel are respectively disposed at both ends of the second frame 21. The third track 22 is drivenly connected between the third drive wheel and the third driven wheel. The second drive mechanism includes a third motor and a fourth motor. The third motor is disposed at the end of the first frame 11 away from the chassis structure 31 and is drivenly connected to the second frame 21. The fourth motor is disposed on the second frame 21 and is drivenly connected to the third drive wheel. The third drive wheel is used to drive the third track 22 to rotate.

[0051] In this embodiment, in conjunction with the appendix Figure 1As shown, the third motor is installed at the end of the first frame 11 away from the chassis structure 31. The output shaft of the third motor passes through the center of the second driven wheel. The output shaft of the third motor is connected to the second frame 21 of the secondary swing arm 2 via a key to drive the secondary swing arm 2 to rotate relative to the primary swing arm 1. The secondary swing arm 2 can move as a wheel. In addition, the third motor can rotate the primary swing arm 1 to contact the ground (see attached diagram). Figure 1 (as shown in the diagram), and then the third drive wheel is driven to rotate by the fourth motor, so as to drive the third track 22 to rotate, thereby realizing the overall movement of the robot.

[0052] Optionally, this multi-stage tracked swing-arm unmanned obstacle-crossing robot also includes a main control system, a motion control system, and an information acquisition system mounted on the tracked chassis 3. The motion control system and the information acquisition system are electrically connected to the main control system. The main control system is used to receive information from the information acquisition system to control the actions of the first drive mechanism and the second drive mechanism.

[0053] In this embodiment, the information acquisition system can collect relevant information about the surrounding environment of obstacles through sensors and transmit it to the main control system. The main control system receives the sensor information and controls the relevant motor drives to complete walking, climbing, and obstacle crossing functions, thereby completing the relevant obstacle crossing tasks. The motion control system receives instructions from the main control system to control the drive of the corresponding motors.

[0054] In other embodiments, the multi-stage tracked swing-arm unmanned obstacle-crossing robot may also include a power system for supplying power to the electrical equipment on the robot, ensuring the robot's continuous operation.

[0055] Optionally, the information acquisition system includes a binocular vision sensor, a lidar sensor, an attitude sensor, an infrared ranging sensor, and a sensor acquisition module, wherein the binocular vision sensor, the lidar sensor, the attitude sensor, and the infrared ranging sensor are electrically connected to the sensor acquisition module, and the sensor acquisition module is electrically connected to the main control system.

[0056] In this embodiment, the sensor acquisition module can collect various information about obstacles through binocular vision sensors, lidar sensors, attitude sensors, and infrared ranging sensors, and feed it back to the main control system.

[0057] Specifically, the information acquisition system detects obstacles, and the robot's position is determined by the distance information of the obstacles and the positioning module built into the main control system. First, an infrared ranging sensor measures the relative distance between the robot and the obstacle. Then, a binocular vision sensor collects images of the obstacle, obtaining its size, volume, and height, as well as its overall and partial slope. This information is transmitted to the main control system via the sensor acquisition module. The main control system processes the information from the sensor acquisition module to determine if the robot can overcome the obstacle by climbing. If so, it moves directly in front of the obstacle and adjusts the extension angles of the first-stage swing arm 1 and the second-stage swing arm 2 based on the overall slope collected by the binocular vision sensor. When the slope of the obstacle changes, the robot adjusts the direction of the first-stage and second-stage swing arms 1 to find the swing arm angle that matches the slope of that section of the obstacle, thus completing the climbing operation.

[0058] In addition, such as Figure 8 As shown, the present invention also provides an obstacle-crossing method based on the multi-stage tracked swing-arm unmanned obstacle-crossing robot described above. The obstacle-crossing method includes:

[0059] S1, acquire image information of the obstacle at the preset position;

[0060] S2, determine the obstacle type of the obstacle based on the image information;

[0061] S3, according to the different types of obstacles, perform obstacle crossing work according to the corresponding obstacle crossing method.

[0062] In this embodiment, when encountering smooth ground or low obstacles, the tracked vehicle chassis will automatically traverse the obstacles, while the primary swing arm 1 and the secondary swing arm 2 maintain a certain angle with the ground to avoid collision. When the chassis malfunctions, causing a walking failure, the control system can control the drive motors of the primary and secondary swing arms to drive the swing arms to move.

[0063] Combined with appendix Figure 2 As shown, this multi-stage tracked swing-arm unmanned obstacle-crossing robot will also encounter trench-like obstacles during its operation. This multi-stage tracked swing-arm unmanned obstacle-crossing robot can employ additional... Figure 2 The described method ensures that when the driving wheel of the first-stage swing arm 1 leaves the left edge of the trench, the driven wheel of the second-stage swing arm should be just on the right edge of the trench. Provided the driving torque provided by the motor is large enough, the tracked chassis 3 can smoothly cross the trench in this situation. Here, d1 represents the horizontal distance between the center of the driving wheel of the first-stage swing arm 1 and the center of the driven wheel of the second-stage swing arm 2, and L1 represents the width of the trench. Therefore, d1 > L1, meaning the robot can cross a trench at least L1 wide.

[0064] Combined with appendix Figure 3 and attached Figure 4 As shown, when encountering a tall object, the information acquisition system measures the object's dimensions and height, transmits the information to the main control system, and controls the corresponding motors to rotate, thereby driving the primary swing arm 1 and the secondary swing arm 2 to swing. For example, the primary swing arm 1 is rotated to form a 90° angle with the ground and fixed, at which point the secondary swing arm 2 is driven to swing forward or backward to move the entire multi-stage tracked swing arm unmanned obstacle-crossing robot. Figure 3 Alternatively, it can drive the second track 12 of the first-stage swing arm 2 to rotate, thereby achieving forward and backward movement, such as... Figure 4 .

[0065] Optionally, the step of performing obstacle-crossing operations according to different obstacle types and corresponding obstacle-crossing methods includes:

[0066] When the obstacle type is a step-type obstacle, it is determined whether the multi-stage tracked swing arm unmanned obstacle-crossing robot can complete the obstacle crossing work. If it can, the first drive mechanism drives the first-stage swing arm to deflect relative to the tracked chassis to lift the tracked chassis. Then, the second drive mechanism drives the second-stage swing arm to rotate relative to the first-stage swing arm to complete the obstacle crossing work.

[0067] The determination of whether the multi-stage tracked swing-arm unmanned obstacle-crossing robot can complete the obstacle-crossing task includes:

[0068] Whether the multi-stage tracked swing-arm unmanned obstacle-crossing robot can complete the obstacle-crossing task is determined by whether it satisfies the following formula:

[0069]

[0070] Where d1 represents the length of the secondary swing arm, x G h represents the distance between the center of gravity of the tracked chassis and the first-stage swing arm located at the rear. n b represents the height of a single step. n This indicates the distance between two adjacent steps.

[0071] The determination of whether the multi-stage tracked swing-arm unmanned obstacle-crossing robot can complete the obstacle-crossing task includes:

[0072] Whether the multi-stage tracked swing-arm unmanned obstacle-crossing robot can complete the obstacle-crossing task is determined by whether it satisfies the following formula:

[0073]

[0074] Where d1 represents the length of the second-stage swing arm, d2 represents the distance between two adjacent first-stage swing arms, and h nb represents the height of a single step. n This indicates the distance between two adjacent steps.

[0075] Combined with appendix Figure 5 and 6 As shown, when encountering obstacles like steps, the secondary swing arm 2 begins to contact the obstacle, while the primary swing arm 1 continues to move forward, providing thrust. When the secondary swing arm 2, in front of the primary swing arm 1, traverses the obstacle, it slowly lifts upwards, providing pull to the primary swing arm 1. At this time, the tracked chassis 3 begins to slowly lift, and the primary swing arm 1 is at the same angle as the step. This multi-stage tracked swing arm unmanned obstacle-crossing robot continues to move forward. When performing tasks on stairs, this multi-stage tracked swing arm unmanned obstacle-crossing robot has a high probability of encountering stair obstacles. Stair obstacles can be seen as a combination of low-height steps and ramps. The climbing of stairs by this multi-stage tracked swing arm unmanned obstacle-crossing robot can be divided into two stages: climbing a single step and climbing consecutive steps. The first stage is the same as the obstacle-crossing mechanism for climbing low-height steps, and the second stage is as follows... Figure 5 As shown, the tracks are in contact with multiple steps at this point. The following conditions must be met simultaneously to ensure the tracked vehicle can smoothly climb the stairs:

[0076]

[0077] Where d1 represents the length of the secondary swing arm, x G h represents the distance between the center of gravity of the tracked chassis and the first-stage swing arm located at the rear. n b represents the height of a single step. n This indicates the distance between two adjacent steps.

[0078]

[0079] Where d1 represents the length of the second-stage swing arm, d2 represents the distance between two adjacent first-stage swing arms, and h n b represents the height of a single step. n This indicates the distance between two adjacent steps.

[0080] Combined with appendix Figure 7 As shown, to facilitate the analysis of the force state of this multi-stage tracked swing-arm unmanned obstacle-crossing robot, as follows: Figure 6As shown in the diagram. O1 and O2 are the intersection points of the drive wheel axes of the rear and front first-stage swing arms 1 and the tracked chassis 3, respectively. G0 is the center of mass of the main body of this multi-stage tracked swing arm unmanned obstacle-crossing robot, and the mass of the tracked chassis 3 is m0. l1 and h0 are the horizontal distance from G0 to O1 and the vertical distance from G0 to O1O2, respectively. G1 to G4 are the centers of mass of the four swing arms, and the mass of each swing arm unit is m1. l1 is the distance between the center of mass of the swing arm and points O1 and O2 in the direction of the center line of the swing arm, and h1 is the vertical distance between the center of mass of the swing arm and its center line. Since the structure of this multi-stage tracked swing arm unmanned obstacle-crossing robot is symmetrical, the total center of mass of the chassis must be located on its cross section. Therefore, for ease of calculation, a coordinate system xO1y is established with O1 as the origin and the line connecting O1 and O2 as the x-axis. The positive direction of the x-axis is defined as the forward direction of this multi-stage tracked swing arm unmanned obstacle-crossing robot. θ1, θ2, θ3, and θ4 are the angles between the centerlines of the right rear first-stage swing arm, the right front first-stage swing arm, the left rear first-stage swing arm, and the left front first-stage swing arm and the x-axis, respectively. It is stipulated that the angle is 0° when the centerline of the swing arm coincides with the x-axis; the angle between the first two first-stage swing arms and the positive x-axis is positive when rotating counterclockwise; and the angle between the last two first-stage swing arms and the negative x-axis is positive when rotating clockwise. The angle variation range of each swing arm is [0°, 360°].

[0081] The coordinates of the total centroid of each primary swing arm 1 and secondary swing arm 2 can be obtained as follows:

[0082]

[0083]

[0084] The coordinates of the center of mass (x) of this multi-stage tracked swing-arm unmanned obstacle-crossing robot can be obtained. G ,y G )for:

[0085]

[0086] Optionally, before acquiring image information of the obstacle at the preset location, the obstacle-crossing method further includes:

[0087] Obtain the relative distance information between the tracked chassis and obstacles at the current location;

[0088] The tracked chassis is moved to a preset position based on the relative distance information.

[0089] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0090] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An obstacle-crossing method, based on a multi-stage tracked swing-arm unmanned obstacle-crossing robot, characterized in that, The multi-stage tracked swing arm unmanned obstacle-crossing robot includes: a tracked chassis (3), a first-stage swing arm (1), a second-stage swing arm (2), a first drive mechanism, and a second drive mechanism. The first-stage swing arms (1) are respectively arranged at the four corners of the tracked chassis (3), and the second-stage swing arms (2) are respectively connected to each first-stage swing arm (1). The first drive mechanism is driven to drive the first-stage swing arm (1) to drive the first-stage swing arm (1) to deflect relative to the tracked chassis (3). The second drive mechanism is driven to drive the second-stage swing arm (2) to drive the second-stage swing arm (2) to deflect relative to the first-stage swing arm (1). The tracked chassis (3) includes a third drive mechanism, a chassis structure (31), and a first track (32) arranged on both sides of the chassis structure (31). The first track (32) has a first driving wheel and a first driven wheel that mesh with it at both ends. The third drive mechanism is driven to drive the first driving wheel. The first driving wheel is used to drive the first track (32) to rotate. The obstacle-crossing method includes: Acquire image information of obstacles at preset locations; The obstacle type of the obstacle is determined based on the image information; According to the different types of obstacles, obstacle crossing operations are carried out using the corresponding obstacle crossing methods; The step of performing obstacle-crossing operations according to different obstacle types and corresponding obstacle-crossing methods includes: When the obstacle type is a step-type obstacle, it is determined whether the multi-stage tracked swing arm unmanned obstacle-crossing robot can complete the obstacle-crossing work. If it can, the first drive mechanism drives the first-stage swing arm to deflect relative to the tracked chassis to lift the tracked chassis. Then, the second drive mechanism drives the second-stage swing arm to rotate relative to the first-stage swing arm to complete the obstacle-crossing work. The determination of whether the multi-stage tracked swing-arm unmanned obstacle-crossing robot can complete the obstacle-crossing task includes: Whether the multi-stage tracked swing-arm unmanned obstacle-crossing robot can complete the obstacle-crossing task is determined by whether it satisfies the following formula: ， in, This indicates the length of the secondary swing arm. This indicates the distance between the center of gravity of the tracked chassis and the first-stage swing arm located at the rear. Indicates the height of a single step. Indicates the distance between two adjacent steps; Alternatively, whether the multi-stage tracked swing-arm unmanned obstacle-crossing robot can be judged based on whether it satisfies the following formula: ， in, This indicates the length of the secondary swing arm. This indicates the distance between two adjacent first-stage swing arms. Indicates the height of a single step. This indicates the distance between two adjacent steps.

2. The obstacle-crossing method according to claim 1, characterized in that, The first-stage swing arm (1) includes a first frame (11), a second drive wheel, a second driven wheel, and a second track (12). The second drive wheel and the second driven wheel are respectively disposed at both ends of the first frame (11). The second track (12) is driven between the second drive wheel and the second driven wheel. The first drive mechanism includes a first motor and a second motor. The first motor is disposed in the chassis structure (31) and is drivenly connected to the first frame (11). The second motor is disposed on the first frame (11) and is drivenly connected to the second drive wheel. The second drive wheel is used to drive the second track (12) to rotate.

3. The obstacle-crossing method according to claim 2, characterized in that, The secondary swing arm (2) includes a second frame (21), a third drive wheel, a third driven wheel, and a third track (22). The third drive wheel and the third driven wheel are respectively disposed at both ends of the second frame (21). The third track (22) is driven between the third drive wheel and the third driven wheel. The second drive mechanism includes a third motor and a fourth motor. The third motor is disposed at one end of the first frame (11) away from the chassis structure (31) and is driven connected to the second frame (21). The fourth motor is disposed on the second frame (21) and is driven connected to the third drive wheel. The third drive wheel is used to drive the third track (22) to rotate.

4. The obstacle-crossing method according to claim 1, characterized in that, The multi-stage tracked swing-arm unmanned obstacle-crossing robot also includes a main control system, a motion control system, and an information acquisition system mounted on the tracked chassis (3). The motion control system and the information acquisition system are electrically connected to the main control system. The main control system is used to receive information from the information acquisition system to control the actions of the first drive mechanism and the second drive mechanism.

5. The obstacle-crossing method according to claim 4, characterized in that, The information acquisition system includes a binocular vision sensor, a lidar sensor, an attitude sensor, an infrared ranging sensor, and a sensor acquisition module. The binocular vision sensor, the lidar sensor, the attitude sensor, and the infrared ranging sensor are electrically connected to the sensor acquisition module, and the sensor acquisition module is electrically connected to the main control system.

6. The obstacle-crossing method according to claim 1, characterized in that, Before acquiring image information of the obstacle at the preset location, the obstacle-crossing method further includes: Obtain the relative distance information between the tracked chassis and obstacles at the current location; The tracked chassis is moved to a preset position based on the relative distance information.

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