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Cooperation stair climbing control method for caterpillar mobile robots

A mobile robot and control method technology, which is applied to tracked vehicles, motor vehicles, transportation and packaging, etc., can solve problems such as low climbing efficiency of stairs, and achieve the effects of clear layers, high efficiency, stable and reliable operation

Active Publication Date: 2015-12-02
NANJING PANDA ELECTRONICS EQUIP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Technical problem: The technical problem to be solved by the present invention is to overcome the shortcomings of existing crawler-type mobile robots, especially small portable crawler-type mobile robots that can climb lower stairs or lower climbing efficiency, and provide an effective crawler-type mobile robot. Motion control method for mobile robot climbing stairs

Method used

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  • Cooperation stair climbing control method for caterpillar mobile robots
  • Cooperation stair climbing control method for caterpillar mobile robots
  • Cooperation stair climbing control method for caterpillar mobile robots

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Embodiment Construction

[0031] like figure 1 is a schematic diagram of a specific embodiment of the invention. The present invention includes two crawler-type mobile robots with double-rod arms, consisting of a crawler-type mobile robot with a male docking device 412 and a crawler-type mobile robot with a female docking device 414 through docking. The crawler type mobile robot with male port docking device and female port docking device all comprises frame 410, follower guide wheel 408, drive wheel 404, is coated on described follower guide wheel 408 and described drive wheel 404 The crawler belt 406 on the top; the double-bar arm 402 that can rotate around the axis of the driving wheel 404 is arranged on the driving wheel 404 . The lever arm can rotate around the axis of the driving wheel, and the direction of rotation is as follows: figure 1 Shown; Both the male port docking device 412 and the female port docking device 414 can rotate around the axes of the follower guide wheels of the two crawle...

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Abstract

The invention discloses a stair climbing movement control method for a robot system composed of two caterpillar mobile robots of the same structure in a butt joint mode. According to the method, the moving directions of the two caterpillar mobile robots are adjusted by rotating a butt-joint device connected between the two caterpillar mobile robots, so that different moving directions of the caterpillar mobile robots are achieved, and thus the two caterpillar mobile robots can complete climbing of stairs. According to the method, by means of cooperation control over the two caterpillar mobile robots, the efficiency of stair climbing is higher, and higher stairs can be climbed. The control method is clear in layer, control is accurate, and operation is stable and reliable.

Description

technical field [0001] The invention relates to a crawler-type mobile robot, in particular to motion control in the process of two crawler-type mobile robots cooperatively climbing stairs. Background technique [0002] In the event of fires, mine disasters, nuclear leaks, terrorist attacks and other events, it is often necessary to carry out dangerous tasks such as search and rescue, anti-terrorism, detonation, and reconnaissance. In order to reduce casualties, crawler mobile robots with small size, strong adaptability and flexible movement are often used. Therefore, tracked mobile robot has become a hot spot in the field of mobile robot research. Crawler-type mobile robots usually need to climb stairs of different heights when performing tasks, while existing crawler-type mobile robots can climb lower stairs or have lower climbing efficiency. Contents of the invention [0003] Technical problem: The technical problem to be solved by the present invention is to overcome ...

Claims

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Application Information

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IPC IPC(8): B62D55/065
Inventor 宋光明韦中刘杰彭璜宋爱国
Owner NANJING PANDA ELECTRONICS EQUIP
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