The invention discloses a stair climbing load-bearing robot control system of a multi-degree-of-freedom driving wheel train, and relates to the technical field of robot control, historical garbage search information of a stair climbing load-bearing robot in a sub-region is obtained, search path abnormal points are marked based on the historical garbage search information, and the search path abnormal points are found; whenever the stair climbing load-bearing robot enters a search path abnormal point, the stair climbing load-bearing robot senses the environment and the posture of the robot according to the adjusted sensing frequency, the balance state change trend is predicted based on the environment and posture sensing result, and when it is predicted that the balance state change trend develops towards an inclined state, the stair climbing load-bearing robot searches the abnormal point of the path. And each driving wheel train of the stair climbing load-bearing robot is controlled to keep the balance state of the stair climbing load-bearing robot. The control system can conduct toppling prediction according to the climbing posture of the stair climbing load-bearing robot, the inclination angle can be adjusted in time before the stair climbing load-bearing robot turns over, and the stability and safety of operation of the stair climbing load-bearing robot are guaranteed.
本发明公开了多自由度驱动轮系的楼梯攀爬负重机器人控制系统,涉及机器人控制技术领域,获取楼梯攀爬负重机器人在子区域的历史垃圾搜寻信息,基于历史垃圾搜寻信息标记出搜寻路径异常点,每当楼梯攀爬负重机器人进入搜寻路径异常点时,楼梯攀爬负重机器人依据调节后的感知频率对环境以及自身姿态进行感知,基于环境以及自身姿态感知结果预测平衡状态变化趋势,当预测平衡状态变化趋势朝向倾斜状态发展时,对楼梯攀爬负重机器人各驱动轮系进行控制以保持楼梯攀爬负重机器人的平衡状态。控制系统能够依据楼梯攀爬负重机器人的攀爬姿态来进行倾倒预测,能够在楼梯攀爬负重机器人翻倒前及时进行倾斜角度调整,保障楼梯攀爬负重机器人运行的稳定性和安全性。
Stair climbing load-bearing robot control system of multi-degree-of-freedom driving wheel train
多自由度驱动轮系的楼梯攀爬负重机器人控制系统
2025-01-24
Patent
Electronic Resource
Chinese
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