A dual-track pose regulation system and method

Abstract

This invention discloses a dual-tracked posture control system and method in the field of robotics, including a tracked walking system, an attitude sensing unit, and a control unit. The tracked walking system includes a central main frame, a left track assembly, a right track assembly, an attitude adjustment cylinder, and an attitude adjustment mechanism. The attitude sensing unit monitors the working environment and walking posture of the tracked walking system in real time. When the width of the working environment is lower than the standard chassis width of the tracked walking system or the chassis is tilted, it outputs the corresponding detection result to the control unit. The control unit outputs corresponding control signals based on the detection results of the attitude sensing unit. Based on the control signals output by the control unit, the tracked walking system drives the left and right track assemblies to move laterally via the attitude adjustment cylinder, thereby adjusting the total width and tilt angle of the chassis. This invention allows for the width adjustment and attitude correction of the dual-tracked walking chassis of a rescue robot without manual disassembly of parts.

Description

Technical Field

[0001] This invention relates to a dual-track posture control system and method, belonging to the field of robotics technology. Background Technology

[0002] With the development of robotics technology, higher requirements have been placed on the mobility, environmental adaptability, and operational safety of rescue robots. Tracked locomotive systems, with their advantages of low ground pressure and strong passability, have become the mainstream locomotive solution for dual-arm rescue robots. However, existing traditional tracked locomotive systems generally have significant limitations: the spacing between the left and right track assemblies of most existing tracked chassis is fixed, and the chassis width is not adjustable. This makes them easily obstructed in environments with limited width, such as rubble passages, building corridors, and alleyways. If the width of the working environment passage is smaller than the width of the chassis itself, the rescue robot cannot pass smoothly, severely restricting the deployment of rescue operations. Although some rescue robots have chassis with adjustable width, they require manual disassembly of the connecting seats to achieve width adjustment. This is not only cumbersome and time-consuming, but also cannot achieve automatic adjustment and rapid switching of chassis width, making it difficult to meet the efficient response requirements in emergency rescue scenarios and seriously affecting the continuity of rescue operations. Furthermore, when operating on uneven conditions such as slopes, traditional tracked locomotive systems lack active leveling capabilities, making the vehicle prone to tilting or even overturning, resulting in insufficient overall vehicle stability and operational safety. Summary of the Invention

[0003] The purpose of this invention is to provide a dual-track posture control system and method, which can stably realize the dual core functions of adjustable track width and dynamic correction of vehicle posture. It can flexibly adapt to different working environments such as narrow passages and open fields, and can also meet the posture stability requirements under complex working conditions such as slopes and rugged terrain, fully satisfying the operational adaptation requirements of tracked dual-arm rescue robots in various rescue scenarios.

[0004] To achieve the above objectives / to solve the above technical problems, the present invention is implemented using the following technical solution:

[0005] In a first aspect, the present invention provides a dual-track posture control system, including a tracked walking system, a posture sensing unit, and a control unit;

[0006] The tracked walking system is used to drive the robot to walk, and also to adjust the total width and tilt angle of the chassis according to the control signals output by the control unit.

[0007] The attitude sensing unit is used to monitor the working environment and walking posture of the tracked walking system in real time. When the width of the working environment is lower than the standard chassis width of the tracked walking system or the chassis is tilted, the corresponding detection result is output to the control unit.

[0008] The control unit is used to output corresponding control signals based on the detection results of the attitude sensing unit; when the width of the working environment is lower than the standard chassis width of the tracked walking system, the control unit outputs a width adjustment control signal; when the chassis is tilted, the control unit outputs an attitude adjustment control signal.

[0009] Optionally, the tracked walking system includes a central main frame, a left track assembly, a right track assembly, an attitude adjustment cylinder, and an attitude adjustment mechanism, wherein the number of attitude adjustment cylinders and attitude adjustment mechanisms is an even number of not less than 2.

[0010] The left track assembly and the right track assembly are symmetrically mounted on the left and right sides of the central main frame via attitude adjustment cylinders and attitude adjustment mechanisms;

[0011] The cylinder rod end of each attitude adjustment cylinder is mounted to the central main frame via a pin, and the cylinder barrel end of the attitude adjustment cylinder is mounted to the left / right track assembly via a pin; one end of each attitude adjustment mechanism is mounted to the central main frame via a pin, and the other end of the attitude adjustment mechanism is mounted to the left / right track assembly via a pin.

[0012] Optionally, the tracked walking system includes four attitude adjustment cylinders, which are arranged in pairs on the left and right sides of the central main frame. The cylinder rods of the two attitude adjustment cylinders on each side are respectively mounted on the front and rear of the central main frame on that side.

[0013] Optionally, the tracked walking system includes eight attitude adjustment mechanisms, which are arranged in groups of four on the left and right sides of the central main frame. The four attitude adjustment mechanisms on each side are respectively mounted on the upper front, lower front, upper rear, and lower rear of the central main frame on that side. The two upper and lower attitude adjustment mechanisms at the front are parallel to each other, and the two upper and lower attitude adjustment mechanisms at the rear are parallel to each other.

[0014] Optionally, the attitude sensing unit includes a radar, a displacement sensor, and a tilt sensor; the radar is used to detect the width of the passageway in the current working environment of the tracked walking system in real time; the displacement sensor is used to detect the displacement of the cylinder rod of the attitude adjustment cylinder in real time; and the tilt sensor is used to detect the tilt angle of the chassis of the tracked walking system in real time.

[0015] Optionally, when the width of the working environment is lower than the standard chassis width of the tracked walking system, the attitude sensing unit sends a narrowing command to the control unit. The control unit then outputs a width adjustment control signal to the control valves of all attitude adjustment cylinders according to the narrowing command, driving the cylinder rods of all attitude adjustment cylinders to perform an extension operation.

[0016] The cylinder rod of the attitude adjustment cylinder extends outward, applying an upward force to the central main frame. Under the action of the force, the central main frame moves upward, driving one end of the attitude adjustment mechanism connected to the central main frame to move upward. The other side of the attitude adjustment mechanism applies an inward pulling force to the left / right track assembly. Under the action of the pulling force, the left / right track assembly moves inward closer to the central main frame, thereby shortening the distance between the left / right track assembly and the central main frame.

[0017] During the movement of the posture adjustment cylinder, the displacement sensor detects the displacement of the cylinder rod in real time. The control unit determines whether the posture adjustment cylinder has extended to the correct position based on the displacement of the cylinder rod. If it has not extended to the correct position, the control unit continuously sends a width adjustment control signal to the posture adjustment cylinder control valve to control the cylinder rod to continue extending. If it has extended to the correct position, the control unit immediately stops outputting the width adjustment control signal, and the posture adjustment cylinder maintains its current extended state.

[0018] Optionally, when the chassis of the tracked walking system tilts, the attitude sensing unit sends an attitude adjustment start signal to the control unit. The control unit analyzes the tilt direction and degree based on the attitude adjustment start signal and outputs a control signal to the attitude adjustment cylinder control valve corresponding to the tilt direction, driving the cylinder rod of the attitude adjustment cylinder on the tilt side to perform an extension operation.

[0019] The cylinder rod of the tilting-side adjustment cylinder extends outward, applying an upward force to the central main frame. Under the action of the force, the tilting side of the central main frame moves upward, causing one end of the adjustment mechanism connected to the tilting side to move upward. The other side of the adjustment mechanism applies an inward pulling force to the track assembly on the tilting side. Under the action of the pulling force, the track assembly on the tilting side moves inward toward the central main frame, thereby adjusting the center of gravity position of the tracked walking system and adjusting the chassis tilt angle.

[0020] During the movement of the attitude adjustment cylinder, the displacement sensor detects the displacement of the cylinder rod in real time. The control unit determines whether the attitude adjustment cylinder has extended to the correct position based on the displacement of the cylinder rod. If it has not extended to the correct position, the control unit continuously sends attitude adjustment control signals to the attitude adjustment cylinder control valve to control the cylinder rod of the tilted attitude adjustment cylinder to continue extending. If it has extended to the correct position, the control unit immediately stops outputting attitude adjustment control signals, and the attitude adjustment cylinder maintains its current extended state.

[0021] Secondly, the present invention provides a pose control method for a dual-track pose control system, comprising:

[0022] During the operation of the tracked walking system, the attitude sensing unit is used to monitor the working environment and walking posture of the tracked walking system in real time.

[0023] When the width of the working environment is lower than the standard chassis width of the tracked walking system or the chassis is tilted, the corresponding detection result is output to the control unit.

[0024] Based on the detection results of the attitude sensing unit, the control unit outputs a width adjustment control signal or an attitude adjustment control signal.

[0025] Adjust the total width and tilt angle of the chassis according to the width adjustment control signal or the attitude adjustment control signal.

[0026] Optionally, the extension and retraction of the attitude adjustment cylinder can be controlled according to the width adjustment control signal or the attitude adjustment control signal, which will drive the central main frame to move up and down, drive one end of the attitude adjustment mechanism to move up and down, and the other end of the attitude adjustment mechanism will apply tension or thrust to the left / right track assembly, change the lateral distance between the left / right track assembly and the central main frame, thereby adjusting the total width and tilt angle of the tracked walking system chassis.

[0027] Optionally, the mapping relationship between the cylinder rod displacement of the attitude adjustment cylinder and the total width of the chassis and the chassis tilt amplitude can be obtained through experiments; based on the mapping relationship, the cylinder rod displacement required for the control signal can be calculated according to the width of the working environment and the chassis tilt amplitude; and the corresponding width adjustment control signal and attitude adjustment control signal can be generated according to the cylinder rod displacement required for the control signal.

[0028] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0029] This invention proposes a dual-track posture control system and method. When the width of the working environment is lower than the standard chassis width of the tracked walking system or the chassis is tilted, the total width and tilt angle of the chassis are adjusted according to the control signal output by the control unit, thereby improving the adaptability of the rescue robot to different working environments.

[0030] This invention achieves automatic lateral spacing adjustment by driving the left and right track assemblies with an attitude-adjusting hydraulic cylinder. The total width of the chassis can be flexibly varied within a preset range, enabling smooth passage through narrow passages and solving the problems of obstructed passage and poor environmental adaptability of traditional fixed-width tracked walking systems. This invention can also drive the lateral movement of a single track assembly with the attitude-adjusting hydraulic cylinder, thereby adjusting the device's center of gravity and achieving dynamic attitude correction, improving the stability and safety of the rescue robot when operating on slopes and rugged terrain.

[0031] The system and method of this invention can complete the width adjustment and attitude correction of the dual-tracked chassis of the rescue robot without manual disassembly of parts. The adjustment process is fast, which greatly shortens the preparation time and improves the operational efficiency in emergency rescue scenarios. Attached Figure Description

[0032] Figure 1 The figure shown is a schematic diagram of the tracked walking system of the dual-track posture control system in an embodiment of the present invention.

[0033] Figure 2The diagram shown is a standard state schematic of the tracked walking system in an embodiment of the present invention;

[0034] Figure 3 The diagram shown is a schematic representation of the process for adjusting the width of the tracked walking system chassis in an embodiment of the present invention.

[0035] Figure 4 The diagram shown is a schematic of the retractable tracked walking system in an embodiment of the present invention;

[0036] Figure 5 The diagram shown is a schematic flowchart of the attitude adjustment of the tracked walking system chassis in an embodiment of the present invention.

[0037] Figure 6 The diagram shown is a schematic of the tracked walking system after posture adjustment in an embodiment of the present invention;

[0038] Figure 7 The diagram shows the steps of the pose control method of the dual-track pose control system in an embodiment of the present invention. Detailed Implementation

[0039] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0040] Example 1

[0041] Existing rescue equipment suffers from problems such as low obstacle-crossing ability, weak stability on slopes, and poor maneuverability in confined spaces when operating in collapsed, unstructured environments. Current tracked locomotion systems exhibit low flexibility and poor environmental adaptability. The track spacing is not adjustable, or requires manual disassembly and installation of connecting seats to change the chassis width, failing to achieve automatic or rapid width switching. Therefore, the ease of switching is insufficient, necessitating pre-adjustment based on changes in the operational environment rather than frequent switching during a single mission. The main objective of this invention is to provide a highly adaptable chassis and its posture control system for a tracked dual-arm rescue robot, addressing the technical problems of contradictory maneuverability and stability in unstructured complex environments and low safety on slopes in existing rescue robot locomotion systems.

[0042] This embodiment introduces a dual-track posture control system, integrating a variable width adjustment mechanism and an active posture leveling function, applied to a tracked dual-arm rescue robot. The system specifically includes a tracked walking system, a posture sensing unit, and a control unit. The tracked walking system propels the robot and also adjusts the overall width and tilt angle of the chassis based on control signals output by the control unit. The posture sensing unit monitors the operating environment and walking posture of the tracked walking system in real time. When the width of the operating environment is lower than the standard chassis width of the tracked walking system, or when the chassis of the tracked walking system tilts, it outputs the corresponding detection results to the control unit. The control unit outputs corresponding control signals based on the detection results of the posture sensing unit. When the width of the operating environment is lower than the standard chassis width of the tracked walking system, the control unit outputs a width adjustment control signal; when the chassis of the tracked walking system tilts, the control unit outputs a posture adjustment control signal.

[0043] like Figure 1 As shown, the tracked walking system includes a central main frame 1, a left track assembly 2, a right track assembly 5, an attitude adjustment cylinder 3, and an attitude adjustment mechanism 4. The number of attitude adjustment cylinders and attitude adjustment mechanisms is an even number of not less than 2. The central main frame, as the core load-bearing structure of the tracked walking system, undertakes the installation, fixing, and load transfer functions of various components. The left and right track assemblies are symmetrically assembled on the left and right sides of the central main frame via pins, attitude adjustment cylinders, and attitude adjustment mechanisms to ensure balanced structural stress. Specifically, the cylinder rod end of each attitude adjustment cylinder is assembled to the top of the central main frame via a pin, and the cylinder barrel end is assembled to the left / right track assembly via a pin. One end of each attitude adjustment mechanism is assembled to the central main frame via a pin, and the other end is assembled to the left / right track assembly via a pin.

[0044] When the tracked vehicle system receives a control signal, it controls the extension and retraction of the attitude adjustment cylinders according to the control signal. The central main frame moves up and down under the action of the attitude adjustment cylinders, which in turn drives one end of the attitude adjustment mechanism connected to it to move up and down. Since the length of the attitude adjustment mechanism is fixed, the other end of the attitude adjustment mechanism will apply a pulling force to the left and right track assemblies, causing the left and right track assemblies to move, thereby changing the lateral distance between the left and right track assemblies and the central main frame, and thus adjusting the overall width of the tracked vehicle system chassis. When only one side of the attitude adjustment cylinder extends or retracts, only one side of the track assembly will move. This displacement will change the center of gravity of the vehicle body, thereby adjusting the tilt angle of the tracked vehicle system.

[0045] The left and right track assemblies are identical in structure, including rubber tracks, idlers, drive sprockets, carrier rollers, track rollers, tensioning devices, and track beams connected to these components. Each track assembly is driven by an independent travel motor.

[0046] The attitude adjustment cylinder, as the power actuator for width adjustment and attitude correction, is used to change the lateral distance between the left and right track assemblies and the central main frame. The attitude adjustment mechanism adopts a beam-column structure with holes at both ends, serving as a guide and support component. It guides the left and right track assemblies to move smoothly laterally or oscillate relative to the central main frame, avoiding problems such as slippage or jamming during movement, and ensuring the stability and reliability of the adjustment process.

[0047] In this embodiment of the invention, the tracked walking system includes four attitude adjustment cylinders and eight attitude adjustment mechanisms. The four attitude adjustment cylinders are arranged in pairs on the left and right sides of the central main frame. The two cylinders on each side are respectively mounted at the front and rear of that side of the central main frame. The four cylinders are essentially positioned at the four corners of the central main frame. When the cylinders extend or retract, force is simultaneously applied to the central main frame from the four corners, ensuring force balance and smooth vertical movement of the central main frame. The eight attitude adjustment mechanisms are arranged in groups of four on the left and right sides of the central main frame. The four mechanisms on each side are further paired vertically at the front and rear of the central main frame. Two vertically paired adjustment mechanisms mounted in the same position are parallel to each other, forming two independent parallelogram structures.

[0048] In this embodiment of the invention, the attitude sensing unit includes a radar, a displacement sensor, and a tilt sensor; wherein, the radar is used for ranging and real-time detection of the channel width of the current working environment of the tracked walking system; the displacement sensor is used for real-time detection of the displacement of the cylinder rod of the attitude adjustment cylinder; the tilt sensor is fixed on the central main frame and is used for real-time detection of the tilt angle of the chassis of the tracked walking system.

[0049] The standard state of the system of this invention is as follows: Figure 2 As shown, at this time, the posture adjustment cylinder is in the retracted state, the cylinder rod is inside the cylinder, the posture adjustment mechanism is in the horizontal state, the distance between the left and right track assemblies and the central main frame is the largest, and the shortest distance from the outermost edge of the left track assembly to the outermost edge of the right track assembly is recorded as the standard chassis width of the system.

[0050] In embodiments of the present invention, such as Figure 3 As shown, the specific process for width adjustment in the system of the present invention is as follows:

[0051] (1) During the robot's operation, the system uses two methods, manual detection or radar detection, to perceive the width of the current working environment in real time. When the narrow passage is detected and the width of the working environment is less than the standard chassis width of the tracked walking system, the attitude perception unit sends a narrowing command to the control unit. After receiving the narrowing command, the control unit immediately outputs a width adjustment control signal to the control valve of all attitude adjustment cylinders, driving the cylinder rods of all attitude adjustment cylinders to perform an extension operation. The cylinder rods of the attitude adjustment cylinders extend outward and apply an upward force to the central main frame. The central main frame moves upward under the action of the force. As the central main frame moves upward, one end of the attitude adjustment mechanism connected to the central main frame is also moved upward. Since the length of the attitude adjustment mechanism is fixed, the other side of the attitude adjustment mechanism applies an inward (towards the central main frame) pull to the left / right track assembly. Under the action of the pull, the left / right track assembly moves inward closer to the central main frame, thereby shortening the distance between the left / right track assembly and the central main frame, and finally achieving the purpose of shortening the total width of the tracked walking system chassis. The retractable tracked walking system, such as Figure 4 As shown.

[0052] During the movement of the posture adjustment cylinder, the system uses displacement sensors to detect the displacement of the cylinder rod in real time and feeds the displacement back to the control unit. The control unit then determines whether the posture adjustment cylinder has extended to its full extent. If it has not, the control unit continuously sends a width adjustment control signal to the posture adjustment cylinder control valve to control the cylinder rod to continue extending. If it has reached its full extent, the control unit immediately stops outputting the width adjustment control signal, and the posture adjustment cylinder maintains its current extended state. The entire narrowing process of the tracked walking system is completed, ensuring that the robot can pass through narrow passages smoothly.

[0053] In this embodiment of the invention, the system can experimentally determine the mapping relationship between the displacement of the cylinder rod and the total width of the chassis. In actual operation, it can calculate the required cylinder rod displacement based on the width of the working environment detected by radar. If the required cylinder rod displacement exceeds the preset narrow width threshold (cylinder rod extension limit), the operation is abandoned.

[0054] (2) Corresponding to the above narrowing process, when the width of the working environment is greater than the standard chassis width of the tracked walking system, the system can be restored to the standard state. The restoration process is as follows: the attitude sensing unit sends a width adjustment command to the control unit. The control unit drives the cylinder rod to perform a retraction operation through the control valve of the attitude adjustment cylinder. The cylinder rod of the attitude adjustment cylinder retracts inward and applies a downward force to the central main frame. The central main frame moves downward under the action of the force. One end of the attitude adjustment mechanism is also moved downward. The other side of the adjustment mechanism applies an outward (away from the central main frame) thrust to the left / right track assembly. The left / right track assembly moves away from the central main frame under the action of the thrust, thereby increasing the distance between the left / right track assembly and the central main frame until the cylinder rod is completely retracted and the standard state is restored.

[0055] Driven by the posture adjustment cylinder, the total width of the chassis of this invention can be flexibly adjusted within a preset range to adapt to working channels of different widths and effectively improve the robot's passability.

[0056] When the robot operates on sloping terrain such as ramps, the system can actively and dynamically level itself to correct the vehicle's posture in real time, preventing excessive chassis tilt that could lead to rollover and significantly improving overall vehicle stability. For example... Figure 5 As shown, the specific leveling control process is as follows:

[0057] The system monitors the chassis tilt in real time through either manual detection or automatic detection using tilt sensors. When the tilt amplitude of the tracked walking system exceeds a preset tilt threshold, the attitude sensing unit sends an attitude adjustment start signal to the control unit. The control unit analyzes the current tilt direction and degree based on the attitude adjustment start signal. In this embodiment, when the chassis tilts, the two track assemblies are in a state of uneven height, with the side with the lower height defined as the tilt side, and the tilt direction defined as the direction corresponding to the tilt side. Figure 6 The right side is the tilted side.

[0058] The control unit outputs a posture adjustment control signal to the posture adjustment cylinder control valve corresponding to the tilt direction. The posture adjustment cylinder control valve drives the cylinder rod of the posture adjustment cylinder on the tilt side to extend. Under the action of force, the central main frame moves upward on the tilt side, and the track assembly on the tilt side retracts inward. By adjusting the distance between a single track and the central main frame, the center of gravity of the equipment is adjusted, achieving rapid correction of the vehicle's posture. The tracked walking system after posture adjustment is as follows: Figure 6 As shown.

[0059] This invention's system can pre-determine the mapping relationship between chassis tilt amplitude and cylinder rod displacement through experiments, thereby calculating the required cylinder rod displacement based on the chassis tilt amplitude during actual operation using the control unit. During the movement of the attitude adjustment cylinder, a displacement sensor detects the cylinder rod displacement in real time and feeds it back to the control unit. The control unit determines whether the attitude adjustment cylinder has extended to its designated position. If not, the control unit continuously sends attitude adjustment control signals to the attitude adjustment cylinder control valve, controlling the cylinder rod to continue extending until the chassis tilt amplitude drops to a preset safe range. If the position is reached, the control unit immediately stops outputting attitude adjustment control signals, the attitude adjustment cylinder maintains its current extended state, the entire attitude adjustment control process ends, the rescue equipment returns to a stable posture, and the safety of slope operations is ensured.

[0060] When the system leaves the sloping terrain, it can be restored to its standard state by retracting the cylinder rod.

[0061] Example 2

[0062] Based on the dual-track pose control system described in Example 1, this example introduces the pose control method of the system, such as... Figure 7 As shown, the specific steps include the following:

[0063] During the operation of the tracked walking system, the attitude sensing unit is used to monitor the working environment and walking posture of the tracked walking system in real time.

[0064] When the width of the working environment is lower than the standard chassis width of the tracked walking system or the chassis is tilted, the corresponding detection results are output to the control unit.

[0065] Based on the detection results of the attitude sensing unit, the control unit outputs a width adjustment control signal or an attitude adjustment control signal.

[0066] Adjust the total width and tilt angle of the chassis according to the width adjustment control signal or the attitude adjustment control signal.

[0067] In summary, this invention achieves automatic lateral spacing adjustment by driving the left and right track assemblies with attitude adjustment cylinders. The chassis width can be flexibly varied within a preset range, enabling smooth passage through width-restricted channels. This solves the problems of obstructed passage and poor environmental adaptability of traditional fixed-width track systems. Furthermore, this invention can monitor the vehicle's posture in real time using tilt sensors. When one side tilts beyond the limit, it automatically controls the corresponding side's attitude adjustment cylinder to adjust the vehicle's center of gravity by extending the tracks, achieving dynamic posture correction and improving the stability and safety of the rescue robot when operating on slopes and rugged terrain. This invention can complete width adjustment and posture correction without manual disassembly of parts, resulting in a rapid adjustment process, significantly shortening preparation time and improving operational efficiency in emergency rescue scenarios.

[0068] Those skilled in the art should understand that in the description of the embodiments of the present invention, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on the present invention.

[0069] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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 or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0070] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A dual-track posture control system, characterized in that, Includes a tracked walking system, an attitude sensing unit, and a control unit; The tracked walking system is used to drive the robot to walk, and also to adjust the total width and tilt angle of the chassis according to the control signals output by the control unit. The attitude sensing unit is used to monitor the working environment and walking posture of the tracked walking system in real time. When the width of the working environment is lower than the standard chassis width of the tracked walking system or the chassis is tilted, the corresponding detection result is output to the control unit. The control unit is used to output corresponding control signals based on the detection results of the attitude sensing unit; when the width of the working environment is lower than the standard chassis width of the tracked walking system, the control unit outputs a width adjustment control signal; when the chassis is tilted, the control unit outputs an attitude adjustment control signal.

2. The dual-track posture control system according to claim 1, characterized in that, The tracked walking system includes a central main frame, a left track assembly, a right track assembly, an attitude adjustment cylinder, and an attitude adjustment mechanism, wherein the number of attitude adjustment cylinders and attitude adjustment mechanisms is an even number of not less than 2. The left track assembly and the right track assembly are symmetrically mounted on the left and right sides of the central main frame via attitude adjustment cylinders and attitude adjustment mechanisms; The cylinder rod end of each attitude adjustment cylinder is mounted to the central main frame via a pin, and the cylinder barrel end of the attitude adjustment cylinder is mounted to the left / right track assembly via a pin; one end of each attitude adjustment mechanism is mounted to the central main frame via a pin, and the other end of the attitude adjustment mechanism is mounted to the left / right track assembly via a pin.

3. The dual-track posture control system according to claim 2, characterized in that, The tracked walking system includes four attitude adjustment cylinders, which are arranged in pairs on the left and right sides of the central main frame. The cylinder rods of the two attitude adjustment cylinders on each side are respectively mounted on the front and rear of the central main frame on that side.

4. The dual-track posture control system according to claim 2, characterized in that, The tracked walking system includes eight attitude adjustment mechanisms, which are arranged in groups of four on the left and right sides of the central main frame. The four attitude adjustment mechanisms on each side are respectively mounted on the upper front, lower front, upper rear, and lower rear of the central main frame on that side. The two upper and lower attitude adjustment mechanisms at the front are parallel to each other, and the two upper and lower attitude adjustment mechanisms at the rear are parallel to each other.

5. The dual-track posture control system according to claim 1, characterized in that, The attitude sensing unit includes a radar, a displacement sensor, and a tilt sensor; the radar is used to detect the width of the passageway in the current working environment of the tracked walking system in real time; the displacement sensor is used to detect the displacement of the cylinder rod of the attitude adjustment cylinder in real time; and the tilt sensor is used to detect the tilt angle of the chassis of the tracked walking system in real time.

6. The dual-track posture control system according to claim 2, characterized in that, When the width of the working environment is lower than the standard chassis width of the tracked walking system, the attitude sensing unit sends a narrowing command to the control unit. The control unit then outputs a width adjustment control signal to the control valves of all attitude adjustment cylinders according to the narrowing command, driving the cylinder rods of all attitude adjustment cylinders to perform an extension operation. The cylinder rod of the attitude adjustment cylinder extends outward, applying an upward force to the central main frame. Under the action of the force, the central main frame moves upward, driving one end of the attitude adjustment mechanism connected to the central main frame to move upward. The other side of the attitude adjustment mechanism applies an inward pulling force to the left / right track assembly. Under the action of the pulling force, the left / right track assembly moves inward closer to the central main frame, thereby shortening the distance between the left / right track assembly and the central main frame. During the movement of the posture adjustment cylinder, the displacement sensor detects the displacement of the cylinder rod in real time. The control unit determines whether the posture adjustment cylinder has extended to the correct position based on the displacement of the cylinder rod. If it has not extended to the correct position, the control unit continuously sends a width adjustment control signal to the posture adjustment cylinder control valve to control the cylinder rod to continue extending. If it has extended to the correct position, the control unit immediately stops outputting the width adjustment control signal, and the posture adjustment cylinder maintains its current extended state.

7. The dual-track posture control system according to claim 2, characterized in that, When the chassis of the tracked walking system tilts, the attitude sensing unit sends an attitude adjustment start signal to the control unit. The control unit analyzes the tilt direction and degree based on the attitude adjustment start signal, and outputs a control signal to the attitude adjustment cylinder control valve corresponding to the tilt direction, driving the cylinder rod of the attitude adjustment cylinder on the tilt side to perform an extension operation. The cylinder rod of the tilting-side adjustment cylinder extends outward, applying an upward force to the central main frame. Under the action of the force, the tilting side of the central main frame moves upward, causing one end of the adjustment mechanism connected to the tilting side to move upward. The other side of the adjustment mechanism applies an inward pulling force to the track assembly on the tilting side. Under the action of the pulling force, the track assembly on the tilting side moves inward toward the central main frame, thereby adjusting the center of gravity position of the tracked walking system and adjusting the chassis tilt angle. During the movement of the attitude adjustment cylinder, the displacement sensor detects the displacement of the cylinder rod in real time. The control unit determines whether the attitude adjustment cylinder has extended to the correct position based on the displacement of the cylinder rod. If it has not extended to the correct position, the control unit continuously sends attitude adjustment control signals to the attitude adjustment cylinder control valve to control the cylinder rod of the tilted attitude adjustment cylinder to continue extending. If it has extended to the correct position, the control unit immediately stops outputting attitude adjustment control signals, and the attitude adjustment cylinder maintains its current extended state.

8. A pose control method based on the dual-track pose control system of claim 2, characterized in that, include: During the operation of the tracked walking system, the attitude sensing unit is used to monitor the working environment and walking posture of the tracked walking system in real time. When the width of the working environment is lower than the standard chassis width of the tracked walking system or the chassis is tilted, the corresponding detection result is output to the control unit. Based on the detection results of the attitude sensing unit, the control unit outputs a width adjustment control signal or an attitude adjustment control signal. Adjust the total width and tilt angle of the chassis according to the width adjustment control signal or the attitude adjustment control signal.

9. The pose control method according to claim 8, characterized in that, The extension and retraction of the attitude adjustment cylinder is controlled by the width adjustment control signal or the attitude adjustment control signal, which drives the central main frame to move up and down, and drives one end of the attitude adjustment mechanism to move up and down. The other end of the attitude adjustment mechanism applies a pulling or pushing force to the left / right track assembly, changing the lateral distance between the left / right track assembly and the central main frame, thereby adjusting the total width and tilt angle of the tracked walking system chassis.

10. The pose control method according to claim 8, characterized in that, The mapping relationship between the cylinder rod displacement of the attitude adjustment cylinder and the total width of the chassis and the chassis tilt amplitude is obtained through experiments. Based on the mapping relationship, the cylinder rod displacement required for the control signal is calculated according to the width of the working environment and the chassis tilt amplitude. The corresponding width adjustment control signal and attitude adjustment control signal are generated according to the cylinder rod displacement required for the control signal.

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