Overturn-preventing method for swing arm crawler-type operation robot

Abstract

The invention discloses an anti-overturning method for a swing-arm crawler-type operation robot, which is characterized in that the position of the mass center of the robot is changed by adjusting the postures of a crawler swing arm and a mechanical arm, so that anti-overturning control is realized. According to the main technical scheme, the anti-overturning method for the swing arm crawler-type operation robot comprises the steps that posture information of a robot platform, mechanical arm angle information and crawler swing arm angle information are obtained; the overall mass center of the robot is calculated according to the mechanical arm angle information and the crawler swing arm angle information; according to the posture information of the robot platform and the angle information of the track swing arm, calculating contact vertexes of the track swing arm in contact with the ground, and determining overturning axes connecting the adjacent contact vertexes; the overturning margin is calculated according to the relative position of the overall mass center of the robot and the overturning axis; and when the overturning margin is smaller than the margin threshold value, the posture of the mechanical arm or the caterpillar band swing arm is adjusted so as to stabilize the swing arm caterpillar band type operation robot. The anti-overturning device is mainly used for preventing the swing arm crawler-type operation machine from overturning.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robot control, and in particular to an anti-overturning method for a swing-arm crawler operating robot. Background Art

[0002] Swing-arm crawler robots integrate a robotic arm with a mobile robot, combining the operational capabilities of a robotic arm with the on-site accessibility of a mobile robot. The coordinated use of front and rear swing arms allows these robots to overcome obstacles more effectively, making them widely used in complex and harsh environments for on-site maintenance, remote operations, and emergency rescue.

[0003] Due to the increased degrees of freedom of the mobile robot's crawler swing arm and robotic arm, the center of gravity position of the swing-arm crawler operation robot will change significantly with the different working environments and work loads. In cases where the working environment has a large slope or the working load is large, it may even overturn, resulting in operation failure, economic losses and a series of safety issues.

[0004] Prior art solutions for mobile robot rollover control typically employ sensor monitoring and feedback to alert operators. Due to the limitations of the mobile robot platform's hardware capabilities, there are few active anti-rollover control methods. Prior art solutions exist for wheeled mobile robots that restore them to a stable state by controlling their angular and linear velocities. However, these solutions are limited to wheeled mobile robots and have limited control effectiveness. Summary of the Invention

[0005] In view of this, in order to solve at least one of the above-mentioned technical problems, the present invention provides an anti-rollover method for a swing-arm crawler working robot. For the swing-arm crawler working robot, the center of mass position of the robot is changed by adjusting the crawler swing arm and the posture of the mechanical arm, thereby achieving anti-rollover control.

[0006] To achieve the above objectives, the present invention mainly provides the following technical solutions:

[0007] The present invention provides an anti-overturning method for a swing-arm crawler operating robot, which is used for the swing-arm crawler operating robot. The swing-arm crawler operating robot includes at least a robot platform, a mechanical arm, and a plurality of crawler swing arms. The method includes:

[0008] Obtain the robot platform's posture information, robotic arm angle information, and track swing arm angle information;

[0009] Calculating the robot's overall center of mass based on at least the robot arm angle information and the track swing arm angle information;

[0010] According to the posture information of the robot platform and the angle information of the track swing arm, the contact vertices of the track swing arm contacting the ground are calculated, and the overturning axis connecting adjacent contact vertices is determined;

[0011] The rollover margin is calculated based on the relative position of the robot's overall center of mass and the rollover axis;

[0012] Determine whether the rollover margin is less than a margin threshold. If so, adjust the posture of the robotic arm or crawler swing arm to stabilize the swing-arm crawler operation robot.

[0013] The robot arm angle information includes the rotation angle data of each joint obtained by a mechanical, optical or magnetic induction encoder of the rotation joint of the robot arm;

[0014] And / or, the track swing arm angle information includes the rotation angle data of each joint obtained through a mechanical, optical or magnetic induction encoder of the rotating joint of the track swing arm.

[0015] The step of calculating the center of mass of the robot as a whole based on at least the robot arm angle information and the track swing arm angle information specifically includes:

[0016] The position of the manipulator's center of mass in the robot platform's center of mass coordinate system is calculated using the manipulator's joint angle data and the manipulator's geometric information. The influence of the manipulator's weight on the robot's overall center of mass is also calculated.

[0017] The position of the center of mass of each track swing arm in the robot platform center of mass coordinate system is calculated based on the angle data of each joint of the track swing arm and the geometric information of the track swing arm. The influence of the weight of each track swing arm on the position of the overall center of mass of the robot is also calculated to obtain the coordinates of the overall center of mass of the robot in the robot platform center of mass coordinate system.

[0018] The origin of the robot platform's center of mass coordinates is the robot platform's center of mass.

[0019] The step of calculating the robot's overall center of mass based on at least the robot arm angle information and the track swing arm angle information further includes:

[0020] The weight of the workload is obtained through the mechanical sensor of the clamping mechanism at the end of the robot arm, the position of the center of mass of the workload in the center of mass coordinate system of the robot platform is calculated, and the influence of the workload weight on the position of the overall center of mass of the robot is calculated.

[0021] The steps of calculating the vertices of the track swing arm contacting the ground and determining the overturning axis connecting adjacent vertices based on the posture information of the robot platform and the angle information of the track swing arm are as follows:

[0022] Determine the pitch angle and roll angle of the robot platform according to the posture information of the robot platform;

[0023] According to the pitch angle, roll angle and angle information of the track swing arm, the coordinates of the contact vertices where the track swing arm contacts the ground are calculated, and the line connecting the contact vertices is used as the overturning axis.

[0024] Among them, the three-axis angular velocity data and three-axis acceleration data of the robot platform are obtained through the inertial measurement unit sensor as the posture information of the robot platform, and the sensor data fusion algorithm is used to calculate the pitch angle and roll angle.

[0025] The step of calculating the rollover margin based on the relative position of the robot's overall center of mass and the rollover axis specifically includes:

[0026] Calculate the normal vector of the overturning axis through the coordinates of the robot's overall center of mass through the coordinates of the contact vertex;

[0027] Calculate the angle between the normal vector of each overturning axis and the normal vector of the gravity direction in the basic coordinate system, and the smallest angle is taken as the overturning margin;

[0028] The base coordinate system is a coordinate system fixed to the horizontal ground.

[0029] The steps of calculating the angle between the normal vector of each overturning axis and the normal vector of the gravity direction in the basic coordinate system, and taking the smallest angle as the overturning margin, are as follows:

[0030] Determine the overturning margin factor;

[0031] Calculate the angle between the normal vector of each overturning axis and the normal vector of the gravity direction in the basic coordinate system, and the product of the smallest angle and the overturning margin coefficient is taken as the overturning margin;

[0032] The overturning margin factor has an inverse correlation with the operating load weight.

[0033] The steps of adjusting the posture of the mechanical arm or crawler swing arm to stabilize the swing-arm crawler operation robot specifically include:

[0034] The overturning axis corresponding to the overturning margin is taken as the target overturning axis;

[0035] Determine whether the track swing arm located on the other side of the target overturning axis has space to be adjusted in the opposite direction of gravity and is located below the horizontal line. If so, control the track swing arm to rotate in the opposite direction of gravity; if not, determine whether the center of mass position of the robotic arm can be moved away from the target overturning axis and closer to the center of mass of the robot platform. If so, control the robotic arm away from the target overturning axis and closer to the center of mass of the robot platform; if not, stop the operation.

[0036] Among them, the speed at which the crawler swing arm is controlled to rotate in the direction opposite to gravity is inversely proportional to the overturning margin.

[0037] The present invention proposes an anti-rollover method for a swing-arm crawler work robot. This method estimates the center of mass and determines the rollover axis. The rollover margin is determined based on the relative positional relationship between the center of mass and the rollover axis. When the rollover margin falls below a threshold, the robot actively adjusts the posture of the robot arm and crawler swing arm, achieving an anti-rollover function and preventing dangerous situations. This method fills a gap in rollover detection and active anti-rollover technology for swing-arm crawler work robots. The anti-rollover method provided by the present invention utilizes only low-cost sensors commonly used in the robotics field and controls only existing and easily controllable objects on the robot, achieving excellent results and achieving low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic structural diagram of a swing-arm crawler operating robot provided by an embodiment of the present invention;

[0039] Figure 2 A flowchart of an anti-overturning method for a swing-arm crawler operating robot provided by an embodiment of the present invention;

[0040] Figure 3 A flowchart of another anti-overturning method for a swing-arm crawler operating robot provided by an embodiment of the present invention;

[0041] Figure 4 A schematic diagram of calculating the overturning margin provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the following, in combination with the accompanying drawings and preferred embodiments, describes in detail the specific implementation method, structure, characteristics and effects of the anti-overturning method of the swing-arm crawler working robot proposed in the present invention.

[0043] The embodiment of the present invention provides a method for preventing an arm-swing crawler operation robot from overturning, which is used for an arm-swing crawler operation robot, such as Figure 1As shown, the swing-arm crawler robot primarily consists of a robot platform 100, a robotic arm 200, and multiple track swing arms 300, which can be four as shown. The robot platform 100 is approximately a cube, but can also have other irregular shapes. The four track swing arms 300 are located near the four corners of the robot platform 100. The track swing arms 300 can rotate relative to the robot platform 100. When the end of the track swing arm 300, away from the rotation axis, rotates toward gravity, it interacts with the ground, lifting the corner of the robot platform 100 corresponding to the track swing arm 300. When the end of the track swing arm 300, away from the rotation axis, rotates away from gravity, the corner of the robot platform 100 corresponding to the track swing arm 300 drops. The robotic arm 200, located at the top of the robot platform 100, can include multiple rotatable joints, making the robotic arm 200 more flexible. The robotic arm 200 can rotate relative to the robotic platform 100 and change its posture by controlling the relative movement of joints.

[0044] like Figure 2 As shown, the method includes:

[0045] S1-1: Obtain the robot platform's posture information, robotic arm angle information, and track swing arm angle information.

[0046] An inertial measurement unit (IMU) is provided in the robot platform 100 for measuring three-axis angular velocity data and three-axis acceleration data of the robot platform 100 as posture information of the robot platform.

[0047] The robot arm angle information includes the rotation angle data of each joint obtained through mechanical, optical, or magnetic induction encoders at the robot arm's rotating joints. The robot arm 200 may include multiple robot arm joints, and an encoder is installed at each joint connection. Then, when the joint rotates, the encoder code value will be fed back, and the rotation angle data of each joint can be obtained. From the joint angle data, the posture of the robot arm can be calculated.

[0048] The angle information of the track swing arm includes the angle data of each joint obtained through the mechanical, optical or magnetic induction encoder of the rotating joint of the track swing arm. For any track swing arm 300, it can include only a single joint connected to the robot platform 100, or it can include multiple joints. An encoder is set at each joint connection of the track swing arm, and then when the joint rotates, the code value of the encoder will be fed back, and then the angle data of each joint can be obtained. From the angle data of the joint, the position of the track swing arm 300 or each part of the track swing arm 300 can be calculated. In the following text, the track swing arm 300 is taken as an example in which only a single joint connected to the robot platform 100 is included.

[0049] S1-2: Calculate the overall center of mass of the robot based on at least the robot arm angle information and the track swing arm angle information.

[0050] For example, the robot's overall center of mass can be calculated based on the angle, geometry, and weight information of each manipulator arm joint, the angle, geometry, and weight information of each track arm, and the center of mass position and weight of the robot platform. Later in this article, a robot platform center of mass coordinate system based on the robot platform's center of mass position as its origin is proposed. This allows calculation of the robot's overall center of mass without the need for the platform's center of mass position and weight information, making the calculation more concise.

[0051] The actual position of each component of the robotic arm 200 can be determined based on the robotic arm angle information, and the position of the center of mass of each component of the robotic arm 200 relative to the center of mass of the robot platform 100 can be determined based on the geometric information of the robotic arm 200. Similarly, the actual position of the track arm 300 can be determined based on the angle information of the track arm, and the position of the center of mass of the track arm 300 relative to the center of mass of the robot platform 100 can be determined based on the geometric information of the track arm 300. The weight information of the robotic arm 200 and the track arm 300, combined with the center of mass position, can be used to determine the effect of weight on the center of mass of the robot platform, and thus the center of mass of the entire robot.

[0052] It is worth noting that before step S1-1, coordinate systems are also established for the robot platform 100, the robotic arm 200, and the track swing arm 300 respectively. In this step, the position of the center of mass of each part of the robotic arm 200 relative to the center of mass of the robot platform 100 refers to the position of the center of mass of each part of the robotic arm 200 in the robot platform coordinate system, and the position of the center of mass of the track swing arm 300 relative to the center of mass of the robot platform 100 refers to the position of the center of mass of the track swing arm 300 in the robot platform coordinate system. The center of mass of the entire robot refers to the coordinates of the center of mass of the entire robot in the robot platform coordinate system. The conversion of the coordinate system involved is a conventional technology in the field and will not be repeated in this application. The geometric information and weight of each part of the robotic arm 200 and the geometric information and weight of the track swing arm 300 are all stored in advance.

[0053] S1-3: Based on the posture information of the robot platform and the angle information of the track swing arm, the contact vertices of the track swing arm contacting the ground are calculated, and the overturning axis connecting adjacent contact vertices is determined.

[0054] When there are four crawler swing arms 300, the vertices of the crawler swing arms contacting the ground are formed as follows: Figure 4The quadrilateral shown in FIG. This quadrilateral is not necessarily a planar figure; it can also be a distorted spatial figure. It is understood that the vertex where the track swing arm contacts the ground is a hypothesis, and the track swing arm 300 may also be suspended in the air. This can be understood as the theoretical position of the end point of the track swing arm 300 for contacting the ground. The overturning axis is the line connecting adjacent contact vertices. The overturning axis can be considered the axis around which the robot, or robot platform 100, flips when the robot overturns.

[0055] S1-4: Calculate the rollover margin based on the relative position of the robot's overall center of mass and the rollover axis.

[0056] The closer the robot's center of mass is to horizontal relative to the rollover axis, the more stable the robot is. The closer it is to vertical, the more prone to tipping. The calculation of the rollover margin will be explained later in more specific examples. The rollover margin can be calculated in a variety of ways, aiming to measure the relationship between the relative position of the robot's center of mass and at least one of the four rollover axes and the vertical direction, or the direction of gravity.

[0057] S1-5: Determine whether the rollover margin is less than the margin threshold. If so, adjust the posture of the robotic arm or crawler swing arm to stabilize the swing-arm crawler operation robot.

[0058] If the rollover margin is less than the margin threshold, the robot's center of mass is relatively close to vertical relative to at least one of the four rollover axes, posing a risk of tipping over if disturbed. This can be accomplished by adjusting the robot arm 200 or the track swing arm 300. This adjustment aims to shift the center of mass, shifting its relative position to the rollover axis toward horizontality and thereby stabilizing the robot.

[0059] The proposed anti-rollover method for a swing-arm crawler work robot combines methods for estimating the center of mass, estimating the rollover margin, and actively adjusting the posture to achieve rollover prevention, thus preventing dangerous situations. This method fills a gap in rollover detection and active rollover prevention technology for swing-arm crawler work robots. The proposed anti-rollover method utilizes only low-cost sensors commonly used in the robotics field and controls only existing, easily controllable objects on the robot, achieving excellent results at a low cost.

[0060] On the other hand, Figure 3 As shown, the present application also provides another anti-overturning method for a swing-arm crawler operation robot, comprising:

[0061] S2-1: Divide the entire swing-arm crawler working robot into a robot platform 100, a robotic arm 200 and a crawler swing arm 300, and establish coordinate systems under the robot platform 100, the robotic arm 200 and the crawler swing arm 300 respectively, and establish a basic coordinate system fixed on the horizontal ground.

[0062] The robot platform coordinate system takes its own center of mass as the origin and establishes the coordinate system O b (x, y, z), hereinafter referred to as the robot platform center of mass coordinate system. The basic coordinate system is O g (x,y,z).

[0063] S2-2: Obtain the robot platform's posture information, robotic arm angle information, and track swing arm angle information.

[0064] The three-axis angular velocity data and three-axis acceleration data of the robot platform 100 are obtained through the inertial measurement unit (IMU) sensor; the joint angle data of each joint is obtained through the mechanical, optical or magnetic induction encoder of the robot arm rotation joint; the joint angle data is obtained through the mechanical, optical or magnetic induction encoder of the track swing arm rotation joint.

[0065] S2-3: Calculate the overall center of mass of the robot based on at least the robot arm angle information and the track swing arm angle information.

[0066] The position of the center of mass of the robot arm in the robot platform coordinate system is calculated using the rotation angle data of each joint of the robot arm and the geometric information of the robot arm, and the influence of the weight of the robot arm on the position of the center of mass of the robot as a whole is calculated;

[0067] Through the track swing arm joint angle data and track swing arm geometric information, the position of the center of mass of each track swing arm in the robot platform center of mass coordinate system is calculated, and the influence of the weight of each track swing arm on the overall center of mass position of the robot is calculated, and the coordinates of the overall center of mass position of the robot in the robot platform center of mass coordinate system are obtained.

[0068] For example, the positions of the mass center of each part of the manipulator and the mass center of each track swing arm in the mass center coordinate system of the mobile robot platform are (x j ,y j ,z j ), the robot's overall center of mass position coordinates C(x c ,y c , z c )for:

[0069]

[0070] Wherein, j=1, 2...n, n is the total number of the robot arm parts and the track swing arm, and mj is the weight of the robot arm joint or the weight of the track swing arm.

[0071] In some embodiments, S2-3 can specifically be to obtain the workload weight through the mechanical sensor of the clamping mechanism at the end of the robot arm, and calculate the overall center of mass of the robot based on the robot arm angle information and structural information, the track swing arm angle information and structural information, the robot arm angle information and the workload weight.

[0072] This involves taking into account the impact of the robot's tipping over when the robotic arm 200 is carrying a load. The position of the load's center of mass in the robot platform's center of mass coordinate system is calculated, along with the impact of the load's weight on the robot's overall center of mass. This comprehensive determination of the robot's overall center of mass is done by using the rotation angle data of each joint of the robotic arm 200 and the robotic arm's geometric information to determine the center of mass of the load structure held by the robotic arm 200 in the robot platform's center of mass coordinate system.

[0073] Furthermore, the inertial forces caused by the acceleration of the robot platform 100, the robotic arm 200, and the track swing arm 300 in transient conditions can also be considered to further calculate a more accurate center of mass position. Specifically, S2-3 can also include obtaining the workload weight through the mechanical sensor of the robotic arm's end clamping mechanism, and calculating the robot's overall center of mass based on the robotic arm's angle information and structural information, the track swing arm's angle information and structural information, the robotic arm's angle information and workload weight, and the inertial forces of the robotic arm 200 and track swing arm 300.

[0074] S2-4: Determine the pitch angle and roll angle of the robot platform according to the posture information of the robot platform.

[0075] The pitch angle and roll angle of the robot platform can be calculated by using the three-axis angular velocity data and three-axis acceleration data of the robot platform and a sensor data fusion algorithm.

[0076] S2-5: Calculate the coordinates P of the contact vertex where the track swing arm contacts the ground based on the pitch angle, roll angle, and track swing arm angle information. si (x pi ,y pi ,z pi ), where i represents the i-th crawler swing arm 300. Figure 4 As shown, when there are four crawler swing arms 300, the four vertices are P s1 、P s2 、P s3 、P s4 The line between the contact vertices is used as the overturning axis, which constitutes four overturning axes: V s1.s2 、V s2.s3 、V s3.s4 、V s4.s1 .

[0077] S2-6: Calculate the normal vector of the overturning axis through the coordinates of the robot's overall center of mass position using the contact vertex coordinates. Figure 4 Only the tilting axis V is shown s4.s1 The corresponding normal vector U s4.s1 , the normal vector of the overturning axis must pass through the center of mass C of the robot and be perpendicular to the overturning axis.

[0078] S2-7: Calculate the angle between the normal vector of each overturning axis and the normal vector of the gravity direction in the basic coordinate system. The gravity direction G in the basic coordinate system is the vertical downward direction. That is, calculate the angle between the normal vector of the four overturning axes and the vertical direction. The smallest angle is used as the overturning margin. Figure 4 The normal vector U is shown in s4.s1 The angle with the direction of gravity G is the smallest, that is, α s4.s1 is the minimum angle, that is, α s4.s1 As a capsizing margin.

[0079] Considering the increase in the overall weight of the robot caused by the weight of the workload, the overall rollover margin of the robot should be smaller under the same angle between the normal vector of the rollover axis and the weight direction. In some embodiments, the steps of calculating the angle between the normal vector of each rollover axis and the normal vector of the gravity direction in the base coordinate system, where the smallest angle is used as the rollover margin, are specifically as follows: determining the rollover margin coefficient k; calculating the angle between the normal vector of each rollover axis and the normal vector of the gravity direction in the base coordinate system, where the product of the smallest angle and the rollover margin coefficient is used as the rollover margin, that is, in the aforementioned α s4.s1 In the embodiment where kα is the minimum angle, s4.s1 As the rollover margin, the rollover margin coefficient k has an inverse correlation with the operating load weight.

[0080] S2-8: Take the overturning axis corresponding to the overturning margin as the target overturning axis, that is, V s4.s1 as the target overturning axis.

[0081] S2-9: Determine whether the track swing arm located on the other side of the target overturning axis has space to be adjusted in the opposite direction of gravity and is located below the horizontal line. If so, control the track swing arm to rotate in the opposite direction of gravity; if not, determine whether the center of mass position of the robot arm can be moved away from the target overturning axis and closer to the center of mass of the robot platform. If so, control the robot arm to move away from the target overturning axis and closer to the center of mass of the robot platform; if not, stop the operation.

[0082] The track swing arm on the other side of the target overturning axis refers to the other two track swing arms that are different from the track swing arm corresponding to the contact vertex corresponding to the target overturning axis. Figure 4 In, V s4.s1 As the target overturning axis, Ps2 、P s3 The corresponding track swing arm posture adjustment. Among them, whether the track swing arm has space to adjust in the opposite direction of gravity and is located below the horizontal line means that the end of the track swing arm used to contact the ground has space to move upward and is located below the horizontal line. The horizontal line refers to the horizontal axis passing through the connection position of the track swing arm and the robot platform 100, or it can also be the edge axis of the bottom surface of the robot platform 100 close to the side of the track swing arm. The track swing arm is below the horizontal line, which means that the track swing arm supports the robot platform 100 at this time, rather than the bottom surface of the robot platform 100 supporting the robot platform 100, and then the position of the robot platform 100 can be adjusted by adjusting the track swing arm. As Figure 1 As shown in , the track swing arm is located above the horizontal axis, and the track swing arm is not adjusted. Controlling the track swing arm to rotate in the direction opposite to gravity means controlling the end of the track swing arm that contacts the ground to move upward, thereby lowering the support height of the robot platform 100 at that position, thereby adjusting the center of mass position.

[0083] The center of mass of the manipulator moves away from the target overturning axis and moves closer to the center of mass of the robot platform, thereby changing the influence of the weight of the manipulator on the overall center of mass of the robot, causing the overall center of mass of the robot to move toward the horizontal side relative to the target overturning axis, thereby reducing the risk of overturning.

[0084] In one embodiment, the speed at which the track swing arm is controlled to rotate in the direction opposite to gravity is inversely proportional to the rollover margin. This allows for rapid adjustment of the track swing arm when the rollover margin is small, further reducing the risk of rollover by rapidly moving the track swing arm.

[0085] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for preventing an arm-swing crawler robot from overturning, characterized in that: For a swing-arm crawler operating robot, the swing-arm crawler operating robot comprises at least a robot platform, a robotic arm, and a plurality of crawler swing arms, the method comprising: Obtain the robot platform's posture information, robotic arm angle information, and track swing arm angle information; Calculating the robot's overall center of mass based on at least the robot arm angle information and the track swing arm angle information; Calculating, based on the posture information of the robot platform and the angle information of the track swing arm, the contact vertices where the track swing arm contacts the ground, and determining a rollover axis connecting adjacent contact vertices; Calculating the rollover margin according to the relative position of the robot's overall center of mass and the rollover axis; Determine whether the overturning margin is less than a margin threshold; if so, adjust the posture of the robotic arm or the crawler swing arm to stabilize the swing-arm crawler working robot.

2. The anti-overturning method of the swing-arm crawler working robot according to claim 1, characterized in that: The robotic arm angle information includes the rotation angle data of each joint obtained by a mechanical, optical or magnetic induction encoder of the rotary joint of the robotic arm; And / or, the track swing arm angle information includes joint angle data obtained through a mechanical, optical or magnetic induction encoder of the rotating joint of the track swing arm.

3. The anti-overturning method of the swing-arm crawler working robot according to claim 2, characterized in that: The step of calculating the robot's overall center of mass at least based on the robot arm angle information and the track swing arm angle information specifically includes: Calculate the position of the center of mass of the robot arm in the robot platform center of mass coordinate system based on the rotation angle data of each joint of the robot arm and the geometric information of the robot arm, and calculate the influence of the weight of the robot arm on the position of the center of mass of the robot as a whole; The position of the center of mass of each track swing arm in the center of mass coordinate system of the robot platform is calculated by using the rotation angle data of each joint of the track swing arm and the geometric information of the track swing arm, and the influence of the weight of each track swing arm on the center of mass position of the robot as a whole is calculated, so as to obtain the coordinates of the center of mass position of the robot as a whole in the center of mass coordinate system of the robot platform; The origin of the robot platform mass center coordinates is the robot platform mass center.

4. The anti-overturning method of the swing-arm crawler working robot according to claim 3, characterized in that: The step of calculating the robot's overall center of mass at least based on the robot arm angle information and the track swing arm angle information further includes: The weight of the workload is obtained through the mechanical sensor of the clamping mechanism at the end of the robot arm, the position of the center of mass of the workload in the center of mass coordinate system of the robot platform is calculated, and the influence of the workload weight on the overall center of mass position of the robot is calculated.

5. The anti-overturning method of the swing-arm crawler working robot according to claim 1, characterized in that: The step of calculating the contact vertices of the track swing arm contacting the ground based on the posture information of the robot platform and the angle information of the track swing arm, and determining the overturning axis connecting adjacent contact vertices, is specifically: Determining the pitch angle and roll angle of the robot platform according to the posture information of the robot platform; The coordinates of the contact vertices of the track swing arm contacting the ground are calculated based on the pitch angle, the roll angle and the angle information of the track swing arm, and the line connecting the contact vertices is used as the overturning axis.

6. The anti-overturning method of the swing-arm crawler working robot according to claim 5, characterized in that: The three-axis angular velocity data and three-axis acceleration data of the robot platform are obtained as the posture information of the robot platform through an inertial measurement unit sensor, and the pitch angle and the roll angle are calculated using a sensor data fusion algorithm.

7. The anti-overturning method of the swing-arm crawler working robot according to claim 5, characterized in that: The step of calculating the rollover margin according to the relative position of the robot's overall center of mass and the rollover axis specifically includes: Calculate the normal vector of the overturning axis through the coordinates of the center of mass of the robot as a whole through the coordinates of the contact vertex; Calculating the angles between the normal vectors of the overturning axes and the normal vector of the gravity direction in the basic coordinate system, wherein the smallest angle is used as the overturning margin; The basic coordinate system is a coordinate system fixed on the horizontal ground.

8. The anti-overturning method of the swing-arm crawler working robot according to claim 7, characterized in that: The step of calculating the angles between the normal vectors of the overturning axes and the normal vector of the gravity direction in the basic coordinate system, wherein the smallest angle is used as the overturning margin, is specifically as follows: Determine the overturning margin factor; Calculating the angles between the normal vectors of the overturning axes and the normal vector of the gravity direction in the basic coordinate system, wherein the product of the smallest angle and the overturning margin coefficient is used as the overturning margin; The rollover margin coefficient has an inverse correlation with the operating load weight.

9. The anti-overturning method of the swing-arm crawler working robot according to claim 1, characterized in that: The step of adjusting the posture of the mechanical arm or the crawler swing arm to stabilize the swing-arm crawler working robot specifically includes: Taking the overturning axis corresponding to the overturning margin as the target overturning axis; Determine whether the track swing arm located on the other side of the target overturning axis has space for adjustment in the direction opposite to gravity and is located below the horizontal line. If so, control the track swing arm to rotate in the direction opposite to gravity; if not, determine whether the center of mass position of the robotic arm can be moved away from the target overturning axis and closer to the center of mass of the robot platform. If so, control the robotic arm away from the target overturning axis and closer to the center of mass of the robot platform; if not, stop the operation.

10. The anti-overturning method of the swing-arm crawler working robot according to claim 9, characterized in that: The speed at which the crawler swing arm is controlled to rotate in a direction opposite to gravity is inversely proportional to the rollover margin.

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