The invention provides a walking system of a tracked robot, a walking system control method and a storage medium. The system comprises a loading wheel, a hydro-pneumatic suspension matched with the loading wheel, a road condition acquisition module and a controller, the hydro-pneumatic suspension comprises a shock absorber with an oil cylinder, an energy accumulator and an electric control valve group, the electric control valve group is arranged in a pipeline between the oil cylinder and the energy accumulator, and the pipeline is used for communicating the oil cylinder with the energy accumulator; the road condition acquisition module is used for acquiring road conditions around the tracked robot to obtain road condition data and outputting the acquired road condition data to the controller; the controller is used for determining the expected damping coefficient of the shock absorber according to the road condition data, determining the opening degree corresponding to the expected damping coefficient as the target opening degree based on the corresponding relation between the damping coefficient and the valve opening degree, and controlling the valves of the electric control valve set to be opened to the target opening degree. The damping coefficient of the shock absorber can be adaptively adjusted based on road surface working conditions, the problem that suspension is prone to deformation is solved, and the running stability of the tracked robot is improved.

    本申请提供一种履带机器人的行走系统、行走系统控制方法及存储介质。系统包括:负重轮、与负重轮匹配的油气悬架、路况采集模块及控制器,油气悬架包括具有油缸的减震器、蓄能器及电控阀组,且电控阀组设置于油缸与蓄能器之间的管路中,管路用于连通油缸和蓄能器;路况采集模块,用于采集履带机器人周边路况以得到路况数据,并将采集路况数据的输出至控制器;控制器用于根据路况数据,确定减震器的期望阻尼系数,并基于阻尼系数与阀门开度的对应关系,确定与期望阻尼系数对应的开度作为目标开度,并控制电控阀组的阀门打开至目标开度。有利于基于路面工况自适应调节减震器的阻尼系数,改善悬挂容易变形的问题,提高履带机器人行驶的稳定性。


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    Title :

    Walking system of tracked robot, walking system control method and storage medium


    Additional title:

    履带机器人的行走系统、行走系统控制方法及存储介质


    Contributors:
    LI QINGFENG (author) / SU XIAOJIE (author) / MA TIEDONG (author)

    Publication date :

    2023-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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