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Autonomous obstacle surmounting and avoiding walking control method for six-track and four-swing-arm rescue robot

A rescue robot and walking control technology, applied in the field of robotics, can solve problems such as trapped rescue robots, complex disaster environments, and loss of robot signals

Active Publication Date: 2017-01-11
XIAN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] But at the same time, the disaster environment is very complicated. The rescue robot uses wireless communication to detect the environment, which is often disturbed by the environment, resulting in the loss of the robot signal, and making the rescue robot trapped in the disaster environment. At this time, the robot needs to perform autonomous control based on environmental information. Find the source of the signal, and transmit the disaster environment information to the rescue command personnel

Method used

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  • Autonomous obstacle surmounting and avoiding walking control method for six-track and four-swing-arm rescue robot
  • Autonomous obstacle surmounting and avoiding walking control method for six-track and four-swing-arm rescue robot
  • Autonomous obstacle surmounting and avoiding walking control method for six-track and four-swing-arm rescue robot

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Embodiment Construction

[0086] Such as Figure 1 ~ Figure 4 as well as Picture 12 As shown, the autonomous obstacle-crossing and obstacle avoidance walking control method of the six-track four-swing arm rescue robot of the present invention includes a robot control system, two walking crawler components and four swing-arm crawler components, The two walking track assemblies include a left walking track assembly 4 and a right walking track assembly 7. The left walking track assembly 4 and the right walking track assembly 7 have the same structure and both include an active walking wheel 14 located at the front end of the rescue robot and a rescue robot. At the rear end of the driven walking wheel 16, the four swing arm crawler assemblies include the left front swing arm crawler assembly 1, the left rear swing arm crawler assembly 3, the right front swing arm crawler assembly 10, and the right rear swing arm crawler assembly 6; the robot control system It includes a drive motor unit, a control computer...

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Abstract

The invention discloses an autonomous obstacle surmounting and avoiding walking control method for a six-track and four-swing-arm rescue robot. The six-track and four-swing-arm rescue robot comprises a robot control system, two walking track assemblies and four swing arm track assemblies, wherein the two walking track assemblies comprise a left walking track assembly and a right walking track assembly; the left walking track assembly and the right walking track assembly are identical in structure and both comprise driving walking wheels positioned at the front end of the rescue robot and driven walking wheels positioned at the rear end of the rescue robot; the four swing arm track assemblies comprise a left-front swing arm track assembly, a left-rear swing arm track assembly, a right-front swing arm track assembly and a right-rear swing arm track assembly. The autonomous obstacle surmounting and avoiding walking control method comprises the following steps: firstly, acquiring and transmitting data; secondly, analyzing and processing the data; thirdly, controlling operation of the robot. The method disclosed by the invention has the advantages of simple steps, novel and reasonable design, high working reliability, high practicality and convenience in popularization and application; smooth passing on a plurality of terrains can be realized.

Description

Technical field [0001] The invention belongs to the technical field of robots, and specifically relates to an autonomous obstacle-crossing and obstacle-avoiding walking control method of a six-track four-swing arm rescue robot. Background technique [0002] my country is one of the countries with the most disasters and accidents in the world, such as underground coal mine gas explosions, landslide accidents, ground fires, earthquake landslides, and similar types of man-made accidents, which cause great harm to the safety of people's lives and property. After gas explosions, landslides and other accidents occur in coal mines or under other disaster environments, the surrounding environment is severely damaged, and the disaster-affected environment information cannot be directly transmitted to the rescue command center, rescuers cannot perform rescue operations, which seriously affects rescue efficiency, and rescuers bear Great risk to life. Then there is an urgent need for rescue...

Claims

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Application Information

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IPC IPC(8): B62D55/065B60L15/38B62D11/04
CPCB62D11/04B62D55/065B60L15/38B60L2240/421
Inventor 王川伟马宏伟马琨尚万峰薛旭升刘鹏夏晶杨林王岩
Owner XIAN UNIV OF SCI & TECH
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