The invention relates to an all-terrain mobile robot vehicle body stabilizing system and a control method, and belongs to the technical field of mobile robots, the all-terrain mobile robot vehicle body stabilizing system is mainly composed of a system control module and a stabilizing mechanism module, the system control module mainly comprises a main controller module, a man-machine interaction module, a driving module and a sensor module, the stabilizing mechanism module mainly comprises an actuator, an actuator mounting plate, an actuator connecting L-shaped plate, a stabilizing shock absorber and the like; when the mobile robot travels on a stable road surface, the system control module is mainly responsible for stability control of the vehicle body, and when the mobile robot travels on a complex terrain, the system control module and the stabilizing mechanism module work, and the stabilizing mechanism module of the vehicle body directly intervenes in suspension work. The ground clearances of the wheels on the left and right sides of the vehicle body are controlled to be equal, so that the stability of the vehicle body is ensured. The vehicle body stability of the mobile robot is improved by combining a control method and a mechanical structure.
本发明涉及一种全地形移动机器人车身稳定系统和控制方法,属于移动机器人技术领域,其主要由系统控制模块和稳定机构模块两部分组成,所述系统控制模块主要包括主控制器模块,人机交互模块,驱动模块,传感器模块,所述稳定机构模块主要包括作动器、作动器安装板、作动器连接L型板、稳定减振器等;当移动机器人在平稳的路面上行驶时,车身的稳定控制主要由系统控制模块负责,当移动机器人在复杂的地形行驶时,依靠系统控制模块、稳定机构模块工作,车身的稳定机构模块直接介入悬架工作,控制车身左右两侧的车轮的离地高度保持相等,进而保证车身的稳定性。本发明采用控制方法和机械结构相结合来提高移动机器人的车身稳定性。
All-terrain mobile robot body stabilizing system and control method
一种全地形移动机器人车身稳定系统和控制方法
19.09.2023
Patent
Elektronische Ressource
Chinesisch
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