The invention belongs to the technical field of inspection robots, and provides a robot capable of keeping a bearing surface horizontal when going up and down stairs and a control method thereof, and the robot comprises a robot body, a crawler chassis, a support frame, mechanical legs, small auxiliary wheels, a front-end depth camera and a rear-end depth camera. Image and depth information are obtained through the front-end depth camera and the rear-end depth camera, stairs are recognized through a deep learning algorithm, real coordinates of the stairs are calculated, and then the robot is controlled to move to the front of the stairs. The robot executes stair climbing motion, and the stair climbing motion comprises the processes of backward rotation of mechanical legs, track pushing, step-by-step stair climbing, original position restoration and the like. And after stair climbing is completed, the robot executes an inspection task on the target floor, and the robot goes down the stairs in a backward mode. In the process of going up and down stairs, the robot can keep the main body horizontal and ensure the stability, the method solves the problem of internal inspection of the multi-story building, the inspection efficiency and accuracy are improved, and the method is mainly used for automatic inspection tasks of the multi-story building.
本发明属于巡检机器人技术领域,提出了一种上下楼梯承重面水平保持的机器人及其控制方法,该机器人包括机器人本体、履带底盘、支撑架、机械腿、小型辅助轮、前端深度相机和后端深度相机。通过前端与后端深度相机获取图像及深度信息,利用深度学习算法识别楼梯并计算其现实坐标,然后控制机器人移动到楼梯前。机器人执行爬楼梯运动,包括机械腿向后旋转、履带推动、逐级上楼梯及恢复原位等过程。完成爬楼梯后,机器人在目标楼层执行巡检任务,下楼梯时则通过倒退方式进行。在上下楼梯过程中,机器人能保持主体水平,确保稳定性,该方法解决了多层建筑内部巡检的难题,提高了巡检效率和准确性,主要用于多层建筑的自动化巡检任务。
Robot capable of keeping bearing surface horizontal when going up and down stairs and control method of robot
一种上下楼梯承重面水平保持的机器人及其控制方法
2024-11-19
Patent
Electronic Resource
Chinese
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