The invention relates to the technical field of computers, in particular to a posture adjusting method and device of a half-wheel foot type obstacle crossing mechanism and a medium. The method comprises the steps that the half-wheel foot type obstacle crossing mechanism is controlled to run to the front edge of a step, whether a half wheel is clamped by the step or not is judged, when the half wheel is clamped by the step, the half wheel clamped by the step is marked as a first half wheel, the control mechanism retreats to run to an all-wheel drive mode, the first half wheel faces the ground, and the retreating distance is calculated; marking the other half wheel as a second half wheel, calculating the advancing distance required by the second half wheel in the maximum obstacle crossing height state when the mechanism advances to the front edge of the step, and taking the wheel arm calibration included angle as a variable in the advancing distance; determining a wheel arm calibration included angle based on the retreating distance and the advancing distance; and the control mechanism advances based on the wheel arm calibration included angle. The posture of the mechanism is rapidly adjusted based on the motion information of the mechanism, the influence of the external environment is avoided, and the posture adjustment complexity of the half-wheel foot type obstacle crossing mechanism is reduced.
本发明涉及计算机技术领域,具体涉及一种半轮足式越障机构的姿态调整方法、设备及介质。方法包括:控制半轮足式越障机构行驶至台阶前沿,判断半轮是否被台阶卡住,当半轮被台阶卡住时,将被台阶卡住的半轮记为第一半轮,控制机构后退行驶至全轮驱动模态且第一半轮朝向地面的方向,并计算后退距离;将另一半轮记为第二半轮,计算机构前进行驶至台阶前沿时第二半轮处于最大越障高度状态所需的前进距离,并将轮臂校准夹角作为前进距离中的变量;基于后退距离以及前进距离,确定轮臂校准夹角;控制机构基于轮臂校准夹角前进行驶。基于机构自身的运动信息实现对机构姿态的快速调整,避免了外部环境的影响,降低了半轮足式越障机构姿态调整的复杂性。
Posture adjusting method and equipment of half-wheel foot type obstacle crossing mechanism and medium
一种半轮足式越障机构的姿态调整方法、设备及介质
2024-04-02
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Half-wheel foot type obstacle crossing mechanism and obstacle crossing vehicle
Europäisches Patentamt | 2023
|Wheel leg type obstacle crossing mechanism and obstacle crossing robot
Europäisches Patentamt | 2020
|Foldable four-wheel leg type obstacle crossing robot stable in running posture
Europäisches Patentamt | 2024
|Wheel-leg combined type obstacle crossing walking mechanism
Europäisches Patentamt | 2021
|Wheel leg combined type obstacle crossing travelling mechanism
Europäisches Patentamt | 2015
|