A robot obstacle recognition and overcoming method comprises the steps that obstacles are recognized and overcome through a radar system and a control system, a relation curve C of different wheel train rising heights and a limit climbing slope IM is pre-stored in the control system, and the radar system measures the obstacle size and the road slope IR; when the actually-measured road gradient IR does not reach the limit climbing gradient IM corresponding to the lowest wheel train rising height determined according to the obstacle size, the control system gives an obstacle overcoming scheme for rising the wheel train, and when the actually-measured road gradient IR reaches or exceeds the limit climbing gradient IM corresponding to the lowest wheel train rising height determined according to the obstacle size, the control system gives an obstacle overcoming scheme for rising the wheel train. And the control system gives an obstacle overcoming scheme for changing the route. The method is implemented mainly by means of a radar system and a simple control program, the passing efficiency and the passing ability are both considered, most passing abnormal factors encountered by the robot with the climbing requirement under the simple working condition can be dealt with through the preset passing program of the control system, and conditions are provided for saving system configuration.
一种机器人障碍物识别和克服方法,通过雷达系统和控制系统识别和克服障碍物,在控制系统预存储不同轮系升高高度与极限爬坡坡度IM的关系曲线C,雷达系统测定障碍物尺寸和道路坡度IR,当实测道路坡度IR没有达到根据障碍物尺寸确定的最低轮系升高高度所对应的极限爬坡坡度IM时,控制系统给出升高轮系的障碍物克服方案,当实测道路坡度IR达到或超出根据障碍物尺寸确定的最低轮系升高高度所对应的极限爬坡坡度IM时,控制系统给出改变路线的障碍物克服方案。本发明主要借助雷达系统和简单的控制程序实施,兼顾了通行效率和通过性,通过控制系统预设的通行程序能应对简单工况下有爬坡需求的机器人遇到的多数通行异常因素,为节约系统配置提供了条件。
Robot obstacle recognition and overcoming method
一种机器人障碍物识别和克服方法
2024-04-19
Patent
Elektronische Ressource
Chinesisch