The invention discloses a control method of a terrain self-adaptive mobile robot lifting frame. The control method comprises the steps that the angle and the angular speed of a mobile robot are obtained; the distance between the distance sensor and the ground is obtained through the distance sensor, and the target extension distances of the electric push rods at the front position and the rear position are calculated according to the distance; driving the electric push rod of the electric control bracket at the front and rear positions to extend according to the target extension distance, reading the numerical value of the encoder, and calculating the current actual extension distance of the electric push rod according to the numerical value of the encoder; and controlling the lifting frame according to the extension distance of the electric push rod and the angle of the mobile robot. The problem that the mobile robot falls down due to unbalance during self-starting is effectively solved.
本发明公开了一种地形自适应移动机器人升降架的控制方法,包括获取移动机器人的角度和角速度;通过所述距离传感器获得距离传感器与地面之间的间距,根据该间距计算前后位置的电动推杆各自的目标伸长距离;根据目标伸长距离驱动前后位置的电控支架的电动推杆伸长,并读取编码器的数值,根据编码器的数值计算电动推杆当前的实际伸长距离;根据电动推杆的伸长距离和移动机器人的角度控制升降架。本发明有效解决了移动机器人在自启动时失衡摔倒的问题。
Control method of terrain-adaptive mobile robot lifting frame
一种地形自适应移动机器人升降架的控制方法
18.08.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
Omnidirectional terrain self-adaptive mobile charging robot
Europäisches Patentamt | 2024
|Outdoor terrain-adaptive unmanned aerial vehicle lifting device
Europäisches Patentamt | 2024
|