CN104875800A - Self-climbing control method of tracked mobile robot with double-rod arm - Google Patents
Self-climbing control method of tracked mobile robot with double-rod arm Download PDFInfo
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Abstract
The invention discloses a stair-climbing control method of a tracked mobile robot. The tracked mobile robot comprises a front wheel, a rear wheel and a track coating the front wheel and the rear wheel, and is characterized in that the front wheel is provided with a double-rod arm with a controllable rotating angle; the centre-of-gravity position of the tracked mobile robot is elevated step by step through adjusting the rotating angle of the double-rod arm to finish the climbing. The invention provides a step climbing control method which is suitable for a small-sized tracked mobile robot which is relatively small in size and cannot realize step self-climbing by a traditional control method. The new control method provided by the invention can realize the function that the small-sized tracked mobile robot climbs the stairs. During the process that the robot climbs the stairs, the robot realizes self control through a self carried sensor and can effectively avoid the time delay problem, and the control precision is improved.
Description
Technical field
The present invention relates to mobile robot field, particularly a kind of autonomous stairs climbing control method of crawler type mobile robot with two lever arm.
Background technology
Mobile robot is a system ensemble integrating the several functions such as environment sensing, dynamic decision and planning, Behavior-Based control and execution.At present, mobile robot to be widely used in the application of various complex environment, particularly caterpillar mobile robot more extensive.Caterpillar mobile robot is different from general wheeled mobile robot, it is by the landform of various complexity, and under the rugged environments such as the scene of a fire, disaster, anti-terrorism are explosion-proof, military operation, nuclear facilities inspection can be operated in, replace people to perform the dangerous work of some tools.These application scenarios require that robot has that volume is little, mobility strong, turn to the feature such as flexibly, and want to make it have certain autonomic function by self-contained sensor.The crawler type mobile robot that this patent adopts has that volume is little, mobility strong, to turn to flexibly and to advantages such as the adaptive capacity of complex environment are stronger, can complete that anti-terrorism is explosion-proof preferably, the task such as disaster rescue and military surveillance.
The problem of caterpillar mobile robot speeling stairway is have Focal point and difficult point to be solved always.According to domestic and international Developments, the most relative size of caterpillar mobile robot of speeling stairway is excessive (relative to stair height), this disguise for robot investigation, the portability of carrying and the distance etc. of jettisoninging all can play very large restriction, therefore can the crawler type mobile robot application flexibility that carries of single one hand better.But for (relative to stair height) crawler type mobile robot that relative size is less, owing to being subject to the restriction of own dimensions, the control method of common caterpillar mobile robot speeling stairway can not be adopted, therefore, the present invention is directed to crawler type mobile robot, propose a kind of control method of autonomous speeling stairway.
Summary of the invention
Technical matters to be solved by this invention is for above-mentioned the deficiencies in the prior art, and provides the control method of the caterpillar mobile robot of the autonomous speeling stairway of a kind of energy.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
A kind of control method of caterpillar mobile robot stair climbing, the crawler belt that described caterpillar mobile robot comprises front-wheel, trailing wheel and is coated on described front-wheel and trailing wheel, it is characterized in that: described front-wheel is provided with the controlled two lever arms of rotational angle, and the center-of-gravity position progressively being promoted described caterpillar mobile robot by the corner adjusting described pair of lever arm completes climbing.
The concrete steps that the center-of-gravity position that the described corner by adjustment described pair of lever arm progressively promotes described caterpillar mobile robot completes climbing are:
Step 1: determine to climb the height of step, if the height of climbing step be greater than maximum can speeling stairway height, then stop climbing; If the height of climbing step be less than maximum can speeling stairway height, then enter step 2;
Step 2: drive crawler belt travel forward and test the speed with code-disc, make the kinematic velocity of left and right crawler belt identical, until the crawler belt arriving headstock contacts with first segment step just, drives two lever arm to rotate in the direction of the clock, enters step 3;
Step 3: lever arm rotates in the direction of the clock, car body and ground are had a certain degree as θ, and lever arm stops operating, and θ computing formula is:
θ＝arccos((L-R)/D)*180/π，
Wherein L is the radius of the length of lever arm, R front-wheel, and D is the distance between front and back wheel center;
Keep the angle of car body and step surface constant, enter step 4;
Step 4: lever arm rotates counterclockwise until β angled with car body, and lever arm stops operating, and β angle remains unchanged.Drive wheel crawler belt travels forward, and car body becomes an angle of 90 degrees during with ground, stop motion enters step 6;
Wherein β computing formula is: β=180-arcsin (R/L) * 180/ π;
Step 6: lever arm rotates counterclockwise, drive wheel crawler belt rotates and lifts car body simultaneously, until lever arm becomes 90 degree with ground, enters step 7;
Step 7: drive wheel crawler belt is rotated further, until whole vehicle body is completely on the step of stair, stop motion climbing one joint stair terminate, and enter step 8;
Step 8: repeat step 2 to step 7, completes the climbing of residue joint stair.
Preferred version of the present invention, in step 1, the concrete methods of realizing of the vertical first segment step of headstock is: correct two infrared pickoffs, find the distance corresponding voltage value of infrared pickoff and step, by micro controller system, the magnitude of voltage that two infrared pickoffs are measured is analyzed, obtain two sensors equal to the distance of step, now, headstock is vertical with first segment step.By the code-disc that tests the speed, ensure that the speed of both sides crawler belt is identical, until the crawler belt of robot contacts with first segment step just.
Preferred version of the present invention, the measurement of robot angle is realized by attitude sensor, concrete implementation method, when upset occurs robot, obtain a rough angle with attitude sensor measurements, robot stops overturning, postponed for 1 second, then remeasure, if reach required angle, then stop upset, if angle is excessive, then to the direction upset that angle is less than normal, if angle too small, then overturn to the direction that angle is bigger than normal, thus reach required angle.
Preferred version of the present invention, in step 1, the height measuring step is needed before robot climbing first segment step, to be used for determining that can robot cross this step, this function is realized by the camera of robot front end, the camera of robot front end draws the tread height of marking time of speeling stairway by modeling and image procossing, can contrast by speeling stairway height with maximum, if the height of climbing step be greater than maximum can speeling stairway height, then cancel climbing task, send alarm message to operation control terminal; If the height of climbing step be less than maximum can speeling stairway height, then automatically carry out climbing task.
Beneficial effect: compared with prior art, tool of the present invention has the following advantages:
(1) this type of robot existing is directly ridden on step by crawler belt arm mostly, carries out climbing task, and the control method of this climbing step requires that the relative size of robot is all larger.A kind of control method of climbing step that the present invention proposes, is applicable to relative size less, cannot be realized the crawler type mobile robot of autonomous climbing step by traditional control method.A kind of new control method that the present invention proposes can realize the function of crawler type mobile robot speeling stairway.
(2) owing to inevitably there will be the problem of time delay in Teleoperation Systems, cause the real-time of robot controlling poor, and the process of speeling stairway is higher to requirement of real-time, therefore, robot is in the process of speeling stairway, robot is realized from master control by the sensor entrained by self, then effectively can avoid delay problem, improve control accuracy.
(3) this control method is in the process of speeling stairway, first robot headstock is realized by the infrared pickoff of robot headstock front end perpendicular with tread of marking time, make the speed of both sides crawler belt identical by coder again, thus make the headstock of robot perpendicular with tread of marking time all the time, prevent from breakking away in the process of speeling stairway.
Accompanying drawing explanation
Fig. 1 is total system schematic diagram of the present invention.
Fig. 2 is the structural representation of caterpillar mobile robot of the present invention.
Fig. 3 is the speeling stairway initial state schematic diagram of caterpillar mobile robot of the present invention.
Fig. 4 is the speeling stairway readiness schematic diagram of caterpillar mobile robot of the present invention.
Fig. 5 is that caterpillar mobile robot car body of the present invention becomes maximum angle schematic diagram with step surface.
Fig. 6 is caterpillar mobile robot lever arm of the present invention and the tangent schematic diagram of tread of marking time.
Fig. 7 is caterpillar mobile robot lever arm of the present invention and the angled schematic diagram of vehicle body.
Fig. 8 is caterpillar mobile robot vehicle body of the present invention schematic diagram vertical with step surface.
Fig. 9-11 is that caterpillar mobile robot lever arm of the present invention lifts car body schematic diagram.
Figure 12 is that caterpillar mobile robot center of gravity of the present invention is by step surface schematic diagram.
Figure 13 is that caterpillar mobile robot speeling stairway of the present invention terminates schematic diagram.
Detailed description of the invention
Below in conjunction with drawings and Examples, principle of work of the present invention and working process are described in further detail.
Embodiment: with reference to figure 1, the total system of this example comprises operation control terminal and the crawler type mobile robot with two lever arm, wherein handles between terminal and crawler type mobile robot and carries out radio communication by WIFI.With reference to figure 2, the crawler type mobile robot with two lever arm that this example adopts is made up of car body 1, drive wheel 2-3, support wheel 4-5, lever arm 6-7, camera 8, infrared pickoff 9-10, crawler belt 11-12 etc.The size of robot is long 200 millimeters, and wide 180 millimeters, high 60 millimeters, the length of lever arm is 150 millimeters.The maximum climbing of this example is highly 157 millimeters.
The stair that the present embodiment uses are the linear pattern stair meeting national standard, and according to " civil construction design general rule " regulation, public building indoor and outdoor step tread run should not be less than 30 centimetres, and step height is between 10 to 15 centimetres.The stair bench width that this example uses is 100 centimetres, and tread height of marking time is 15 centimetres, and the width of step surface is 35 centimetres.
Crawler type mobile robot independently climbs first control method draws speeling stairway tread height of marking time by camera 8 modeling and image procossing, can contrast by speeling stairway height with maximum, if the height of climbing step is greater than and maximumly climbs height, then cancel climbing task; If the height of climbing step is less than maximum climbing highly, then automatically carry out climbing task, by infrared pickoff 9-10, before climbing, the initial attitude of robot is perpendicular with tread of marking time.Again by the rotary motion of lever arm 6-7 and the routing motion of crawler belt 11-12, realize the function of speeling stairway.Specifically mainly comprise the following steps:
Step 1: first make the vertical and first segment step of headstock by two infrared pickoff 9-10 of headstock front end, make lever arm 6-7 line of centers parallel to the ground simultaneously, as shown in Figure 3, carry out modeling and graphical analysis by camera 8 and determine that the height climbing step is 150 millimeters, climbing step height be less than maximum climb height, crawler belt 11-12 is then driven to travel forward and test the speed with code-disc, make the speed of left and right crawler belt equal, until the crawler belt 11-12 arriving headstock contacts with first segment step just, actuated lever arm 6-7 rotates in the direction of the clock, as shown in Figure 4, enter step 2,
Step 2: lever arm 6-7 rotates in the direction of the clock, car body 1 is slowly lifted, and make car body 1 become θ degree with ground by self-contained attitude sensor, lever arm 6-7 stops operating.θ computing formula is:
θ＝arccos((L-R)/D)*180/π，
In example, L is 150mm, R be 30mm, D is 140mm, and computable θ is 30 degree.
θ is maximum angle formed by robot car body and ground, if the angle on robot car body and ground is greater than θ, when lever arm anticlockwise direction rotates, lever arm cannot by tread of marking time.
Keep car body 1 constant with the angle on ground, as shown in Figure 5, lever arm 6-7 press anticlockwise direction and rotates, and simultaneously in order to prevent robot from gliding, that carries out continuing with attitude sensor takes measurement of an angle, maintenance robot stress balance.Lever arm 6-7 press anticlockwise direction rotate time, lever arm with mark time tread tangent time, lever arm just by the end position of tread of marking time, as shown in Figure 6.Stress analysis is carried out to robot:
To a point range moment-equilibrium equation: F1* (D*sin θ+R)+f1*L-G* (D/2*cos θ)=0
To b point range moment-equilibrium equation: f2* (D*sin θ+R)-F2*L+G* (D/2*cos θ+R)=0
Robot is considered as overall to its analysis,
X-axis: F1=f2
Y-axis: F2+f1=G
If angle θ remains unchanged, then meet f1 and be less than robot crawler belt and the maximum static friction force of tread of marking time, f2 is less than the maximum static friction force of robot crawler belt and step surface.The middle-size and small-size caterpillar mobile robot of example meets equation of equilibrium, there will not be the problem of downslide, can keep angle θ be 30 degree constant.Enter step 3;
Step 3: lever arm 6-7 rotates counterclockwise until β angled with car body 1, and lever arm 6-7 stops operating, and β angle remains unchanged, β meets when lever arm and ground touch, and the car body of robot parallels with tread of marking time just.As shown in Figure 7.Drive wheel 2-3 drives crawler belt 11-12 to travel forward, car body 1 becomes an angle of 90 degrees during with step surface, and stop motion, as shown in Figure 8.β computing formula is:
β＝90+arcsin(R/L)*180/π，
In example, L is 150mm, R is 30mm, and computable β is 101.5 degree.Enter step 4;
Step 4: lever arm 6-7 rotates counterclockwise, drive wheel 2-3 drives crawler belt 11-12 with certain speed uniform rotation simultaneously, now car body 1 is lifted, until lever arm 6-7 becomes 90 degree with step surface, as shown in Fig. 9, Figure 10, Figure 11, by the judgement of step 1 pair step tread height, now, the center of gravity of robot has crossed the edge in stair face, analyzes Figure 11, can obtain the maximum height h climbing step, the computing formula of h is:
Δ AOB ~ Δ OCD is had to obtain OA/AB=OC/OD,
If OB=x, can obtain
Namely
The maximum height then climbed in instances is 157mm.Enter step 5;
Step 5: drive wheel 2-3 drives crawler belt 11-12 to be rotated further, as shown in figure 12, until whole vehicle body is completely on the second section step of stair, stop motion.Actuated lever arm 6-7 returns to initial condition, and as shown in figure 13, climbing one joint stair terminate, and repeat aforesaid operations, can realize the function of autonomous speeling stairway.
Claims (5)
1. the control method of a caterpillar mobile robot stair climbing, the crawler belt that described caterpillar mobile robot comprises front-wheel, trailing wheel and is coated on described front-wheel and trailing wheel, it is characterized in that: described front-wheel is provided with the controlled two lever arms of rotational angle, and the center-of-gravity position progressively being promoted described caterpillar mobile robot by the corner adjusting described pair of lever arm completes climbing.
2. control method according to claim 1, is characterized in that: the concrete steps that the center-of-gravity position that the described corner by adjustment described pair of lever arm progressively promotes described caterpillar mobile robot completes climbing are:
Step 1: determine to climb the height of step, if the height of climbing step be greater than maximum can speeling stairway height, then stop climbing; If the height of climbing step be less than maximum can speeling stairway height, then enter step 2;
Step 2: drive crawler belt travel forward and test the speed with code-disc, make the kinematic velocity of left and right crawler belt identical, until the crawler belt arriving headstock contacts with first segment step just, drives two lever arm to rotate in the direction of the clock, enters step 3;
Step 3: lever arm rotates in the direction of the clock, car body and ground are had a certain degree as θ, and now lever arm stops operating, and θ computing formula is:
θ＝arccos((L-R)/D)*180/π，
Wherein L is the radius of the length of lever arm, R front-wheel, and D is the distance between front and back wheel center;
Keep the angle of car body and step surface constant, enter step 4;
Step 4: lever arm rotates counterclockwise until β angled with car body, and lever arm stops operating, and β angle remains unchanged; Drive wheel crawler belt travels forward, and car body becomes an angle of 90 degrees during with ground, stop motion enters step 5;
Wherein β computing formula is: β=180-arcsin (R/L) * 180/ π;
Step 5: lever arm rotates counterclockwise, drive wheel crawler belt rotates and lifts car body simultaneously, until lever arm becomes 90 degree with ground, enters step 6;
Step 6: drive wheel crawler belt is rotated further, until whole vehicle body is completely on the step of stair, stop motion climbing one joint stair terminate, and enter step 7;
Step 7: repeat step 2 to step 6, completes the climbing of residue joint stair.
3. control method according to claim 2, it is characterized in that: in step 2, the concrete methods of realizing of the vertical first segment step of headstock is: correct two infrared pickoffs, find the distance corresponding voltage value of infrared pickoff and step, by micro controller system, the magnitude of voltage that two infrared pickoffs are measured is analyzed, obtain two sensors equal to the distance of step, now, headstock is vertical with first segment step.By the code-disc that tests the speed, ensure that the speed of both sides crawler belt is identical, until the crawler belt of robot contacts with first segment step just.
4. control method according to claim 2, it is characterized in that: the measurement of robot angle is realized by attitude sensor, concrete implementation method is: when upset occurs robot, a rough angle is obtained with attitude sensor measurement, robot stops upset, postponed for 1 second, remeasure again, if reach required angle, then stop upset, if angle is excessive, then to the direction upset that angle is less than normal, if angle too small, then overturn to the direction that angle is bigger than normal, thus reach required angle.
5. control method according to claim 2, it is characterized in that: in step 1, the height measuring step is needed before robot climbing first segment step, to be used for determining that can robot cross this step, the method measuring shoulder height is: the camera of robot front end draws the tread height of marking time of speeling stairway by modeling and image procossing.
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| CN105216887A (en) * | 2015-09-28 | 2016-01-06 | 苑雪山 | A kind of portable remote is ridden instead of walk and is followed robot |
| CN106697090A (en) * | 2015-11-17 | 2017-05-24 | 陈文全 | Barrier-free self-propelled cart assembly |
| CN107031744A (en) * | 2017-06-02 | 2017-08-11 | 赵雪虎 | A kind of full landform mobile charging stake of auto-navigation |
| CN107600212A (en) * | 2016-09-09 | 2018-01-19 | 广东工业大学 | One kind climb device and its climb method with application |
| CN110001815A (en) * | 2019-03-21 | 2019-07-12 | 广东农工商职业技术学院 | Two-sided polypody bio-robot and its control method can be climbed |
| CN110920765A (en) * | 2019-12-23 | 2020-03-27 | 中信重工开诚智能装备有限公司 | Light crawler type reconnaissance robot |
| CN111746677A (en) * | 2020-06-29 | 2020-10-09 | 三一汽车制造有限公司 | Obstacle crossing device, tracked vehicle and obstacle crossing method |
| CN112849009A (en) * | 2021-02-25 | 2021-05-28 | 中国人民解放军国防科技大学 | Shared transport robot system |
| CN114006155A (en) * | 2021-11-25 | 2022-02-01 | 清华大学 | Communication station for commanding unmanned equipment to operate |
| CN117963024A (en) * | 2024-04-01 | 2024-05-03 | 电子科技大学成都学院 | Self-adaptive crawler robot |
| CN117963024B (en) * | 2024-04-01 | 2024-05-28 | 电子科技大学成都学院 | Self-adaptive crawler robot |
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| CN111746677A (en) * | 2020-06-29 | 2020-10-09 | 三一汽车制造有限公司 | Obstacle crossing device, tracked vehicle and obstacle crossing method |
| CN112849009A (en) * | 2021-02-25 | 2021-05-28 | 中国人民解放军国防科技大学 | Shared transport robot system |
| CN114006155A (en) * | 2021-11-25 | 2022-02-01 | 清华大学 | Communication station for commanding unmanned equipment to operate |
| CN117963024A (en) * | 2024-04-01 | 2024-05-03 | 电子科技大学成都学院 | Self-adaptive crawler robot |
| CN117963024B (en) * | 2024-04-01 | 2024-05-28 | 电子科技大学成都学院 | Self-adaptive crawler robot |
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