All-terrain robot control method and all-terrain robot

Abstract

The invention discloses an all-terrain robot control method and an all-terrain robot. The method comprises the steps that A, the gravity center height of the robot is increased to conduct spanning when the channel state is that the robot can be lifted to span a channel, and the gravity center height of the robot is reduced until the robot passes through the channel when the channel state is that the robot can be lowered to pass through the channel; B, when the pitch angle of a robot body continuously exceeds the allowable range of the pitch angle of the robot body within the time T1, the gravity center height of the robot is increased to enter a pitch angle protection mode; C, the target height difference of the two sides of the robot is obtained through the current rolling angle and the target rolling angle, and the height difference of the two sides of supporting mechanisms on the two sides of the robot is adjusted to be equal to the target height difference; and D, when the robot makes a turn, the transverse target offset of the gravity center of the robot towards the turning side is obtained according to the current linear speed and the current angular speed, and the heights of the supporting mechanisms on the two sides of the robot are adjusted so that the transverse offset of the gravity center of the robot towards the turning side can be equal to the transverse target offset. The motion stability of the robot is improved by adjusting the gravity center height and the gravity center offset distance of the robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an all-terrain robot control method and an all-terrain robot. Background technique [0002] With the continuous development of science and technology, mobile robots have been widely used. Their advantages are: they can replace higher and higher labor costs, have high durability, no fatigue, and can perform tasks in polluted and dangerous environments. And can perform tasks that are harmful to the human body. Although some mobile robots have the characteristics of light weight, large load, simple mechanism, fast walking speed and high efficiency, due to the relatively fixed structure of the mobile robot without a lifting mechanism, its traffic capacity is limited, especially on two-wheeled robots. , due to the fixed structure without a lifting mechanism, when crossing large obstacles, passing through low passages, slopes or rough terrain, the robot loses its ability to pass or the...

AI Technical Summary

Problems solved by technology

Although some mobile robots have the characteristics of light weight, large load, simple mechanism, fast walking speed and high efficiency, due to the relatively fixed structure of the mobile robot without a lifting mechanism, its traffic capacity is limited, especially on two-wheeled robots. , due to the fixed structure without a lifting mechanism, when crossing large obstacles, passing through low passages, slopes or rough terrain, the robot loses its ability to pass or the body is tilted too much, causing the objects it carries to fall off, and even cause the robot to fall off. overturned

[0003] A two-wheeled robot without a lifting mechanism has the following disadvantages: (1) It is inconvenient to start and stop the robot

When the robot stops, it loses balance and needs an additional support rod to keep it from tipping over. When starting up, the support rod needs to be retracted. During the process of retracting and retracting the support rod, the balance adjustment of the body may be affected, resulting in loss of control.

(2) The height of the robot is fixed and the traffic capacity is limited

(3) When the robot is running, in order to balance the body, the body needs to be tilted at a certain angle to offset the torque output by the wheels. The greater the torque, the greater the tilt angle, especially when running on a slope, the tilt angle is large, which is not conducive to balance control. poor stability

(4) General robots use springs for passive shock absorption. Due to the fixed physical properties of springs, the application scenarios are limited and the shock absorption effect is general.

(5) When there is a height difference between the left and right sides of the road, the body cannot maintain a horizontal state, and there is even a risk of rolling

(6) Due to the influence of centrifugal force when turning, the stability is poor, which affects the sports performance

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