The invention relates to the technical field of tracked robot control, in particular to a flexible variable-degree-of-freedom tracked robot and a control method thereof. According to the flexible variable-degree-of-freedom tracked robot provided by the invention, the degree of freedom between the crawler belt main bodies can be changed through the locking pins mounted on the crawler belt main bodies of the robot crawler belt, so that the tracked robot can tilt and bend at a certain angle and then climb over obstacles with steep wall surfaces; due to the fact that the crawler belt and the supporting structure keep large flexibility, the overall gravity center can keep stable change when the robot crosses over the obstacle; according to the control method of the flexible variable-degree-of-freedom tracked robot, through cooperation of the visual recognition camera and the obstacle crossing controller, the height of the obstacle can be automatically recognized, the corresponding control mode can be switched, and efficient and rapid obstacle crossing of the small-size tracked robot in a narrow space is achieved.
本发明涉及履带机器人控制技术领域,具体涉及一种柔性可变自由度履带机器人及其控制方法。本发明提供的一种柔性可变自由度履带机器人,通过在机器人履带的履带主体上安装的锁定销,能够使履带主体彼此之间的自由度发生变化,从而使履带机器人能够以一定角度翘起弯曲,继而翻越壁面较为陡峭的障碍物,且由于履带和支撑结构都保持有较大柔性,在翻越障碍时整体重心可以保持稳定变化;本发明提供的柔性可变自由度履带机器人控制方法,通过视觉识别摄像头与越障控制器相配合,能够自动识别障碍物高度并切换对应的控制模式,实现狭小空间内小尺寸履带机器人高效、快速的翻越障碍物。
Flexible variable-degree-of-freedom tracked robot and control method thereof
一种柔性可变自由度履带机器人及其控制方法
2024-07-12
Patent
Electronic Resource
Chinese
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