Autonomous stair climbing method for crawler-type snakelike robot

Abstract

The invention relates to an autonomous stair climbing method of a crawler-type snakelike robot. The inclination angles of the front crawler belt and the rear crawler belt are monitored in real time, the multi-joint structure of the crawler-type snake-shaped robot is designed, and the flexibility and adaptability of the crawler-type snake-shaped robot are fully utilized. During stair climbing, the stair climbing process of the tracked robot is divided into seven links according to the structure of the tracked robot, and the advantages of a multi-joint structure are shown by adjusting the angle of each power joint and the inclination angle of the front track and the rear track, optimizing the motion posture and improving the stair climbing efficiency and stability; the autonomous stair climbing function of the crawler-type snakelike robot is achieved by analyzing the posture change of the robot and sensing the stair information. Dependence on hyperskill of an operator is avoided, manual intervention is reduced, and the robot can autonomously complete tasks in a complex environment, can adapt to stairs of different heights and angles, and is high in flexibility and wide in application range.

Description

Technical Field

[0001] This application relates to the technical field of robotics, and more specifically, to a method for a tracked snake-shaped robot to autonomously climb stairs. Background Art

[0002] In the technical field of tracked robots climbing stairs, the prior art mainly adopts two solutions. One is to add a support frame in front of the robot, which hooks the stairs through the support frame and pulls the robot up the stairs. This method provides additional support force for the robot, is applicable to stairs with specific structures, but requires additional mechanical structure adjustment for the robot, increasing the complexity and weight of the robot, and is not applicable to tracked snake-shaped robots. The other is to modify the internal structure of the track so that the track can lift the robot after hitting the stairs, thus climbing the stairs. This method enables the robot to adapt to the geometry of the stairs by changing the motion characteristics of the track, but also requires complex design and adjustment of the internal structure of the track, and for tracked snake-shaped robots, the advantages of their multi-joint structure cannot be fully utilized.

[0003] The above methods solve the problem of tracked robots climbing stairs to a certain extent, but there are obvious defects and deficiencies. First, they are highly dependent on the mechanical structure of the robot, resulting in limited adaptability of the robot when facing different types of stairs or complex environments, and it is difficult to flexibly meet the changing task requirements. Second, most of these solutions require manual intervention or specific environmental conditions, and the robot cannot autonomously climb stairs in unknown environments, restricting the application scope of the robot in complex scenarios. In addition, for tracked snake-shaped robots with a multi-joint structure, the prior art cannot fully utilize their structural characteristics, resulting in the robot not being able to perform optimally when climbing stairs. Summary of the Invention

[0004] The object of the present invention is to overcome the deficiency that the method for a robot to climb stairs in the prior art is highly dependent on the robot structure and has limited adaptability when facing different types of stairs or complex environments, and to provide a method for a tracked snake-shaped robot to autonomously climb stairs, which does not require additional modification of the robot structure and realizes 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 invention is:

[0006] Provide a method for a tracked snake-shaped robot to autonomously climb stairs. The tracked snake-shaped robot includes 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; an inertial measurement unit IMU is installed on the front track. The autonomous stair climbing of the robot includes the following steps:

[0007] S1. Obtain the overall posture information of the robot in real time: obtain the acceleration of the front track in the three-axis direction in real time through the inertial measurement unit IMU, and calculate the inclination angle of the front track; calculate the inclination angle of the rear track based on the inclination angle of the front track and the rotation angle of the middle joint;

[0008] S2. The front track is lifted and starts to move forward: the robot stops in front of the stairs, starts to move forward, the first power joint starts to rotate, the front track starts to lift, and the front track lifting angle is set to θ1;

[0009] S3. The 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. The IMU is set to continuously change the angle θ2 so that the front track climbs up the stairs.

[0010] S4. The robot straightens and moves 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 is equal to the inclination angle θ of the stairs. s , the robot is parallel to the stairs;

[0011] S5. The front track leaves the last step: When the end of the front track leaves the last step, the front end of the robot falls due to gravity, and the IMU value gradually decreases. When the IMU value is set to continuously decrease by an angle of θ3, the robot stops climbing and 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;

[0012] S6. Adjust the rear track: The robot moves forward again, rotates the third power joint to an angle of θ4, and raises the rear track;

[0013] S7. The rear crawler completely climbs the last step: Keep the posture in step S6 and continue to move forward. The rear crawler gradually climbs the last step. During this process, the inclination angle of the rear crawler changes from θ s Gradually decrease, set the rear crawler track inclination angle to decrease by angle θ5, so that the rear crawler track passes the last step;

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

[0015] An autonomous stair - climbing method for a tracked snake - shaped robot of the present invention involves real - time monitoring of the tilt angles of the front track and the rear track. In view of the multi - joint structure design of the tracked snake - shaped robot, its flexibility and adaptability are fully utilized. When climbing stairs, the process of the tracked robot climbing stairs is divided into 7 links according to the structure of the tracked robot itself. By adjusting the angles of each power joint and the tilt angles of the front and rear tracks, the motion posture is optimized, the stair - climbing efficiency and stability are improved, and the advantages of the multi - joint structure are demonstrated. The present invention real - time monitors the motion posture of the robot and adjusts the posture in a timely manner according to the real - time posture during the stair - climbing process to avoid tipping over. By analyzing the change of the robot's pose and the perception of stair information, the present invention realizes the autonomous stair - climbing function of the tracked snake - shaped robot. This avoids relying on the operator's superb skills, reduces manual intervention, enables the robot to autonomously complete tasks in complex environments, can adapt to stairs of different heights and angles, has strong flexibility and a wide range of applications.

[0016] Further, in step S1, an Inertial Measurement Unit (IMU) is placed on the front track, and the X - axis of the inertial measurement unit is coaxial with the forward direction of the robot; the tilt angle of the front track is calculated by the following formula:

[0017]

[0018] 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 roll angle of the front track, and pitch represents the pitch angle of the front track.

[0019] Further, in step S1, calculating the tilt angle of the rear track according to the tilt angle of the front track and the rotation angle of the middle joint 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 by the following formula:

[0020] α4 = |α2|+|α3|-|α1|.

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

[0022] Further, the angle θ1 is 20° - 28°.

[0023] Further, the angle θ2 is 10° - 15°.

[0024] Further, the angle θ3 is one - eighth of the stair tilt angle θ s of the stair.

[0025] Further, the angle θ5 is the stair tilt angle θs One-eighth of

[0026] Furthermore, the output shafts of the first power joint, the second power joint, the third power joint, and the fourth power joint are arranged staggeredly at 90 degrees to achieve 3D deformation; and the first power joint and the third power joint are respectively used for the lifting or lowering actions of the front crawler and the rear crawler.

[0027] The present invention also provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned method are implemented.

[0028] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method are implemented.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] 1. A method for a tracked snake-shaped robot to autonomously climb stairs according to the present invention realizes the function of the tracked snake-shaped robot to autonomously climb stairs by analyzing the pose change of the robot and the perception of stair information; it avoids relying on the superb skills of the operator, reduces manual intervention, enables the robot to autonomously complete tasks in complex environments, and improves the autonomous performance of the tracked snake-shaped robot;

[0031] 2. A method for a tracked snake-shaped robot to autonomously climb stairs according to the present invention, aiming at the multi-joint structure of the tracked snake-shaped robot, makes full use of its flexibility and adaptability. When climbing stairs, by adjusting the angles of each joint and the inclination angle of the crawler, the motion posture is optimized, and the climbing efficiency and stability are improved, demonstrating the advantages of the multi-joint structure;

[0032] 3. A method for a tracked snake-shaped robot to autonomously climb stairs according to the present invention does not require the adjustment of additional mechanical structures, retains the basic structure and functional characteristics of the tracked snake-shaped robot, and the designed control strategy adapts to stairs and complex terrains with different heights and angles, with strong flexibility and wide applicability;

[0033] 4. A method for a tracked snake-shaped robot to autonomously climb stairs according to the present invention can accurately perceive stair information and adjust the pose of the robot, real-time monitor data such as the inclination angle of the crawler, timely adjust the posture, avoid rollover, and improve the stability and safety of the robot during the process of climbing stairs;

[0034] 5. The method for a tracked snake-like robot to autonomously climb stairs according to the present invention can adapt to scenarios such as outdoor exploration and rescue, enabling the robot to autonomously and safely climb stairs, enter complex buildings for search, expanding the application scope, reducing the burden on operators, and enhancing the rescue efficiency and safety. It has important practical application value and market promotion prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic flowchart of the method for a tracked snake-like robot to autonomously climb stairs;

[0036] Figure 2 It is a schematic structural diagram of the tracked snake-like robot;

[0037] Figure 3 It is a model diagram for calculating the angle of the rear track;

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

[0039] In the drawings: 1. Front track; 2. First power joint; 3. Second power joint; 4. Third power joint; 5. Fourth power joint; 6. Rear track; 7. Inertial measurement unit IMU. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] The present invention will be further described below in conjunction with the specific embodiments. Among them, the drawings are only for illustrative purposes, showing only schematic diagrams, not physical diagrams, and should not be construed as a limitation to the present invention; in order to better illustrate the embodiments of the present invention, some components in the drawings will be omitted, enlarged or reduced, and do not represent the dimensions of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0041] In the drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and should not be construed as a limitation to the present invention. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0042] Embodiment 1

[0043] As Figure 1 shown, this embodiment is the first embodiment of the method for a tracked snake-like robot to autonomously climb stairs. As Figure 2As shown in the figure, the tracked snake 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 that are connected in sequence; the output shafts of the first power joint 2, the second power joint 3, the third power joint 4, and the fourth power joint 5 are arranged with a 90-degree stagger to achieve 3D deformation; an inertial measurement unit IMU7 is installed on the front track 1, and the tilt angle of the front track 1 is obtained in real time through the inertial measurement unit IMU7. At the same time, using kinematic knowledge, combined with the tilt angle of the front track 1 and the rotation angles of the intermediate joints, the tilt angle of the rear track 6 is calculated, so as to obtain the pose information of the entire robot.

[0044] The first part: Obtain the pose information of the entire robot in real time: The accelerations of the front track 1 in the three-axis directions are obtained in real time through the inertial measurement unit IMU7, and the tilt angle of the front track 1 is calculated; according to the tilt angle of the front track 1 and the rotation angles of the intermediate joints, the tilt angle of the rear track 6 is calculated.

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

[0046] The accelerometer model in Vrep measures the accelerations of an object along the three axes of the world coordinate system. Although Vrep does not have a direct function to measure acceleration, it can be indirectly calculated by measuring the force acting on an object with a 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 directly placed 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 the X, Y, and Z directions respectively. Then, Equation (1) is used to calculate the roll angle of the front track 1, and Equation (2) is used to calculate the pitch angle of the front track 1:

[0048]

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

[0050] Through experiments on the robot climbing stairs, it is found that the angles of the second power joint and the fourth power joint hardly need to be considered during the process of climbing stairs.

[0051] The robot can be approximated as moving in a plane, so the analysis of its posture can be simplified. Assuming that the inclination angle of the front track and the rotation angles of the first power joint and the third power joint are known, the inclination angle of the rear track can be calculated using the formula for the sum of the interior angles of convex polygons. Specifically, assume that the 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 inclination angle of the rear track is α4. Depending on whether the first power joint or the third power joint is raised or lowered, the posture of the robot can be divided into four types. The posture graphs of these four modes were extracted for analysis, such as Figure 3 Use "up" or "down" to indicate whether a joint is rising or falling. For example, [up, down] means that the first dynamic joint is rising and the third dynamic joint is falling; Figure 3 As shown, it is assumed that the angle is positive when the joint is raised and negative when the joint is lowered. By adding the correct auxiliary lines, the original image can be divided into multiple convex polygons, and then the expression of can be easily derived through the formula of the sum of the internal angles of the convex polygons. Equation (5) is derived to satisfy all postures:

[0052] α4=|α2|+|α3|-|α1| (5)

[0053] Part 2: The process of stair climbing of a tracked snake robot is divided into seven steps. Figure 1 shown.

[0054] Step 1: Lift the front track and start moving forward.

[0055] First, stop the robot in front of the stairs, start the robot, and start moving forward. The first power joint 2 starts to rotate, and the front track 1 starts to rise. The front track 1 is set to rise at an angle of θ1. As the center of gravity of the robot moves backward and upward as the front track 1 rises, the greater the elevation angle, the more the center of gravity shifts, the lower the stability, and excessive elevation will collide with the middle joint, so the elevation angle needs to be moderate. As long as the elevation angle of the front track 1 is greater than 0°, it can climb by virtue of the friction with the stairs, but it cannot be too low to prevent the robot head from colliding with the stairs for a long time, causing damage and energy loss. In this embodiment, θ1 can be selected in the range of 20° to 28°.

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

[0057] When the current track 1 touches the first - level step, the robot tilts, and the IMU values start to change continuously. Set the continuous change angle θ2 of the IMU so that the front track 1 can climb the stairs. When the IMU continuously changes by the angle θ2, it can be determined that the front track 1 has climbed the stairs. θ2 is positively correlated with the height h1 of the first - level step. Considering the conventional specifications of the stairs, it can be set to 10 degrees. If the first - level step is too high, it can be appropriately increased. In this embodiment, the value range of θ2 is from 10° to 15°.

[0058] Step 3: The robot straightens and moves forward 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 state and continues to move forward. The robot gradually becomes parallel to the stairs, and the IMU values continue to increase until the IMU value is equal to the inclination angle s of the stairs, and the robot is parallel to the stairs.

[0060] Step 4: The front track 1 leaves the last - level step.

[0061] When the end of the current track 1 leaves the last - level step, the front end of the robot drops due to gravity, and the IMU value gradually decreases. When the IMU value continuously decreases by the angle θ3, the robot stops climbing, rotates the first power joint 2 to lower the front track 1 until the IMU value returns to zero and the front track 1 is parallel to the ground. It is s positively correlated with the stair inclination angle θ. To avoid colliding with the middle joint, it should be as small as possible, and at the same time, it should be sensitive enough to recognize the angle change. After multiple tests, in this embodiment, θ3 is set to one - eighth of θ. s One - eighth.

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

[0063] The robot moves forward again. To avoid colliding with the joints, rotate the third power joint 4 by the angle θ4 to raise the rear track 6 and lower the front track 1.

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

[0065] Keep the posture in Step 5 and continue to move forward. The rear track 6 gradually climbs the last - level step. During this process, the inclination angle of the rear track 6 decreases from θ. s Gradually decrease, set the decreasing angle θ5 of the inclination angle of the rear track 6. When the robot almost passes the last - level stair, it enters a stable state. It is s positively correlated with the stair inclination angle θ. In this embodiment, θ5 is approximately taken to be equal to one - eighth of θ. s At this time, the center of gravity of the robot is relatively high and it is easy to roll over. Therefore, when the rear track 6 decreases the angle, Step 7 needs to be started.

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

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

[0068] A method for a tracked snake-like robot to autonomously climb stairs provided in this embodiment realizes autonomous stair climbing based on the self-pose change of the tracked snake-like robot and the perception of stair information. The method provided in this embodiment does not require additional modification to the robot structure, fully utilizes the multi-joint advantages of the tracked snake-like robot, realizes autonomous and stable stair climbing of the robot in a complex environment, overcomes problems such as high operation difficulty and poor adaptability in the prior art, and provides a more efficient and reliable solution for the application of the tracked snake-like robot in outdoor exploration, rescue and other fields.

[0069] In view of the multi-joint structural characteristics of the tracked snake-like robot in this embodiment, a special control strategy is designed to enable the robot to better maintain balance and stability during the stair-climbing process, fully utilize its structural advantages, and improve the efficiency and reliability of stair climbing.

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

[0071] In this embodiment, the process of the robot climbing stairs is divided into seven links, and according to the change of the inclination angles of the front track 1 and the rear track 6 in each link, a motion model specifically for the tracked snake-like robot is proposed - splitting the stair-climbing process into 7 links, and a control strategy formulated based on this model is used to realize the attitude adjustment and stable control of the robot during the stair-climbing process.

[0072] Embodiment Two

[0073] This embodiment is the second embodiment of a method for a tracked snake-like robot to autonomously climb stairs. This embodiment is similar to Embodiment One, and the difference lies in that in this embodiment, a filtering operation is added. Due to various vibrations during the movement of the robot, there is noise in the IMU values, so it is necessary to filter the original data. This embodiment uses two common signal smoothing methods: the moving average filter (MAF) and the 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 the time window around each data point. The basic idea is: for each data point, calculate the average value of this point and the data points in its surrounding neighborhood. See 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 for reducing high-frequency noise in signals. 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 moment, thereby smoothing the signal. See 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 α is the filtering coefficient that controls the smoothing effect. When α is small, the filtering effect is smoother but the response is slower; when α is large, the filter reacts faster.

[0077] y new = α·x new +(1 - α)·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 Figure 4 shown, it shows the change curve of the IMU when the robot climbs the stairs.

[0079] Example Three

[0080] This example is an example of a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method described in Example One or Example Two.

[0081] Example Four

[0082] This example is an example of a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of the method described in Example One or Example Two.

[0083] In the specific content of the above specific implementation manner, each technical feature can be combined arbitrarily without contradiction. For the sake of concise description, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features does not exist in contradiction, it should be considered as the scope recorded in this specification.

[0084] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A method for autonomous stair climbing of a crawler-type snake-like robot, wherein the crawler-type snake-like robot comprises a front crawler, a first power joint, a second power joint, a third power joint, a fourth power joint and a rear crawler connected in sequence; characterized in that: An inertial measurement unit (IMU) is installed on the front crawler, and the robot autonomously climbs stairs including the following steps: S1. Obtain the overall posture information of the robot in real time: obtain the acceleration of the front track in the three-axis direction in real time through the inertial measurement unit IMU, and calculate the inclination angle of the front track; calculate the inclination angle of the rear track based on the inclination angle of the front track and the rotation angle of the middle joint; S2. The front track is lifted and starts to move forward: the robot stops in front of the stairs, starts to move forward, the first power joint starts to rotate, the front track starts to lift, and the front track lifting angle is set to θ1; S3. The 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. The IMU is set to continuously change the angle θ2 so that the front track climbs up the stairs. S4. The robot straightens and moves 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 is equal to the inclination angle θ of the stairs. s , the robot is parallel to the stairs; S5. The front track leaves the last step: When the end of the front track leaves the last step, the front end of the robot falls due to gravity, and the IMU value gradually decreases. When the IMU value is set to continuously decrease by an angle of θ3, the robot stops climbing and 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 an angle of θ4, and raises the rear track; S7. The rear crawler completely climbs the last step: Keep the posture in step S6 and continue to move forward. The rear crawler gradually climbs the last step. During this process, the inclination angle of the rear crawler changes from θ s Gradually decrease, set the rear crawler track inclination angle to decrease by angle θ5, so that the rear crawler track passes the last step; S8. The robot returns to the straight state: the first power joint and the third power joint are rotated to zero, the center of gravity of the robot is lowered, and the robot stably completes the ladder climbing task.

2. The autonomous stair climbing method of a crawler snake-like 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 forward direction of the robot; the inclination angle of the front track is calculated by the following formula: Where accel[1], accel[2] and accel[3] are the acceleration components in the 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.

3. The autonomous stair climbing method of a crawler snake-like robot according to claim 1, characterized in that: 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 α1, the rotation angle of the first power joint is α2, the rotation angle of the third power joint is α3, and the inclination angle of the rear track is α4, the inclination angle of the rear track is calculated by the following formula: α4＝|α2|+|α3|-|α1|。 4. The autonomous stair climbing method of a crawler snake-like 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 autonomous stair climbing method of a crawler snake-like robot according to claim 4, characterized in that: The angle θ1 is 20° to 28°.

6. The autonomous stair climbing method of a crawler snake-like robot according to claim 4, characterized in that: The angle θ2 is 10° to 15°.

7. The autonomous stair climbing method of a crawler snake-like robot according to claim 4, characterized in that: The angle θ3 is the inclination angle θ of the stairs s One eighth of .

8. The autonomous stair climbing method of a crawler snake-like robot according to claim 4, characterized in that: The angle θ5 is the inclination angle θ of the stairs s One eighth of .

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, the steps of the method according to any one of claims 1 to 8 are implemented.

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

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