A passing method of a nuclear emergency robot in a narrow space is applied to a nuclear emergency multifunctional operation robot. The passing method comprises the following passing steps: 1, judgingwhether a ground obstacle exists and whether passing is affected; 2, the ground head room of a base is increased according to the height of the ground obstacle; 3, folding a mechanical arm; 4, judgingwhether a front narrow space allows passing or not; and 5, passing through the front narrow space. The passing method has the advantages that 1, when the robot passes through a narrow space, the sizeof the mechanical arm is greatly reduced, and the height of the gravity center of the mechanical arm is reduced and is closer to the center area of the base, so that the size and the height of the operation robot are effectively reduced, and the operation robot can pass through the narrow space in a nuclear emergency scene easily; and 2, when the robot passes through the narrow space, whether anobstacle higher than the ground head room of the base exists on an advancing route or not can be recognized, and a corresponding avoidance strategy is adopted to prevent the base from being scratched.

    核应急机器人在狭窄空间的通行方法,应用于核应急多功能作业机器人;通行步骤如下:1,判断是否存在地面障碍物及是否影响通行;2,根据地面障碍物的高度抬升底座地面净空高度;3,折叠机械臂;4、判断前方狭窄空间是否允许通行;5,通过前方狭窄空间。本发明的优点在于:1、在狭窄空间通行时,机械臂的体积大幅缩小,机械臂的重心高度得到降低且更靠近基座中心区域,使作业机器人的体积和高度得到有效缩减,有利于作业机器人通过核应急场景下的狭窄空间;2、在狭窄空间通行时,可识别行进路线上是否存在高于底座地面净空高度的障碍物,并采取相应的避让策略,以避免底座被剐蹭。


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    Titel :

    Passing method of nuclear emergency robot in narrow space


    Weitere Titelangaben:

    核应急机器人在狭窄空间的通行方法


    Beteiligte:
    TANG DEWEN (Autor:in) / TAN ZHIQIANG (Autor:in) / WANG WEI (Autor:in) / GAO JIHUI (Autor:in) / TANG HAILONG (Autor:in) / XIAO WEIWEI (Autor:in) / LIU XIAOSHUANG (Autor:in)

    Erscheinungsdatum :

    18.12.2020


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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