A robot obstacle recognizing and overcoming method comprises the steps that the size of an obstacle and the road gradient are measured through a radar system, an obstacle overcoming instruction is provided through a control system, and a relation curve C, determined in ramp tests with different loads, of different wheel train rising heights and the limit climbing gradient is pre-stored in the control system; according to whether the road gradient IR measured by the radar system reaches the limit climbing gradient IM corresponding to the lowest wheel train lifting height determined according to the measured obstacle size, the control system gives different obstacle overcoming schemes for changing the route or lifting the wheel train; in comparison, a control system selects a corresponding relation curve C according to the read actual measurement load of the robot, so that the difference between the loading robot and a test value of a general limit climbing gradient due to the fact that the loading robot possibly bears objects with different weights each time in operation is well avoided. The logistics distribution robot can be applied to industrial places or closed parks.
一种机器人障碍物识别和克服方法,通过雷达系统测定障碍物尺寸和道路坡度,通过控制系统提供障碍物克服指令,在控制系统预存储有在不同的装载载荷的坡道试验中确定的不同轮系升高高度与极限爬坡坡度的关系曲线C,根据雷达系统实测道路坡度IR是否达到根据实测障碍物尺寸确定的最低轮系升高高度对应的极限爬坡坡度IM,控制系统给出改变路线或升高轮系的不同障碍物克服方案,在对比中控制系统是根据读取的机器人的实测载荷选择的对应关系曲线C,很好避免了载物机器人由于运行中每次可能承载不同重量的物品而与一般的极限爬坡坡度的试验值存在的差异,该方法借助雷达系统和简单的控制程序实施,可应用于在工业场所或者封闭园区使用的物流配送机器人。
Robot obstacle recognition and overcoming method
一种机器人障碍物识别和克服方法
2024-04-12
Patent
Elektronische Ressource
Chinesisch