CN106364580B - A kind of planet gear type barrier-surpassing robot stair climbing control method - Google Patents
A kind of planet gear type barrier-surpassing robot stair climbing control method Download PDFInfo
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Abstract
The invention discloses a kind of planet gear type barrier-surpassing robot stair climbing control method, include the following steps：1) keep barrier-surpassing robot uniform rectilinear to advance, measure two planetary gear sets and the distance of front step and the rotating speed of planetary gear set in its same driving group, and calculate deflection angle；2) theoretical rotational speed of each planetary gear set is calculated, and the rotating speed that planetary gear set is calculated is moved；3) current L is detected1And L2, and calculate current deflection angle theta；4) judge whether current yaw angle θ exceedes preset value：If so, being then transferred to step 2), advance if it is not, then controlling robot to continue constant velocity linear；5) judge whether two planetary gear sets reach ladder：Advance if it is not, then continuing constant velocity linear, if so, then two planetary gear sets are overturn together, cross step；6) judge whether two planetary gear sets arrive at：If it is not, then repeat step 1)~5), if so, then terminating to move.The present invention has control operation simple, turns to the advantages that precision is high.
Description
Technical Field
The invention belongs to the field of robot control, and particularly relates to a stair climbing control method of a planetary wheel type obstacle crossing robot.
Background
With the development of science and technology, people increasingly need robots to work in many severe environments, such as: the method comprises the following steps of planet surface exploration, fire fighting, fire scene detection, toxic, inflammable and explosive field detection, unmanned battlefield detection and the like. The complex, unknown and variable non-structural environment puts high requirements on the obstacle crossing capability of the robot, and the obstacle crossing robot has good adaptability, stability and flexibility, so that the robot has a wide application prospect in research and development aiming at the control of the obstacle crossing robot.
The existing obstacle-surmounting robots have the advantages and the disadvantages respectively: the wheel type obstacle crossing robot has the advantages of simple structure, convenience in control, high load ratio and high energy efficiency, has absolute advantages compared with other kinds of robots when the robot runs on a flat road surface under load, but has poorer obstacle crossing performance under rugged terrain, such as heavy-duty vehicles, although the load capacity is strong, the running speed is high, but the road surface is required to be flat; the crawler-type obstacle-surmounting robot has the advantages of large support area, small subsidence degree, strong terrain adaptability, complex structure, large mass and low energy utilization rate, for example, a tank has strong obstacle-surmounting capability, but large volume and mass, and is generally not used for loading; the foot type obstacle crossing robot has flexible movement and strong terrain adaptability, but the structure and the control are complex, and the load is lower, for example, the BigDog robot proposed by Boston Dynamics company, R.Player, M.Buehler, M.Raibert and the like in BigDog, has the self weight of 90kg, the load of 50kg, the self length of 1m and the maximum speed of 0.7m/s.
The obstacle crossing robot is introduced in ' design and development of a novel obstacle crossing robot ' of the university of science and technology in Huazhong ' thesis, the robot is small in size and light in weight, 6 independent planetary wheel sets are adopted as driving, the robot has good obstacle crossing capability, but a driving set of the robot does not have freedom degree in a yaw direction, planetary wheel sets on the left side and the right side cannot be turned over simultaneously when climbing stairs with turning radian, a left front planetary wheel set and a right front planetary wheel set are respectively arranged on an upper step and a lower step, namely, the left front end and the right front end of a vehicle body are positioned at different heights, and the vehicle body is seriously inclined, so that the vehicle body is easily turned over. Therefore, the research and design of a novel stair climbing control method has important application value.
Disclosure of Invention
Aiming at the defects or improvement requirements in the prior art, the invention provides a stair climbing control method for a robot, wherein the stair climbing control method suitable for a planetary wheel type obstacle crossing robot is correspondingly designed by combining the characteristics of the planetary wheel type obstacle crossing robot, so that the stair climbing control method not only can adapt to the condition that the body of the robot and a stair form a certain inclination angle, but also can adapt to the conditions that each step is narrow at the inner side, wide at the outer side and the turning radius is smaller, the turning step with larger difference between the inner side and the outer side of each step is, and the like, and has the advantages of simple control operation, high steering precision and the like.
In order to achieve the purpose, the invention provides a stair climbing control method of a planetary wheel type obstacle crossing robot, which comprises the following steps:
(1) Keeping the obstacle crossing robot to move forward at a constant speed in a straight line in an initial state, and then measuring the distance L between the foremost end of the two planetary wheel sets and the front stair step in the same driving set of the obstacle crossing robot 1 And L 2 And measuring the rotation speed of each planetary gear set according to L 1 And L 2 Calculating to obtain a deflection angle theta;
(2) Calculating theoretical rotating speeds of the planetary wheel sets by a deflection angle control algorithm, and inputting the calculated theoretical rotating speeds into motor drivers of the planetary wheel sets to drive the planetary wheel sets to move;
(3) Detecting the current L after an adjustment period 1 And L 2 And calculating the current deflection angle theta;
(4) Judging whether the current deflection angle theta exceeds a preset value: if yes, the step (2) is carried out, and if not, the obstacle crossing robot is controlled to continue to move forwards linearly at a constant speed;
(5) Whether the two planetary wheel sets in the obstacle crossing robot driving set reach the ladder is judged: if not, continuing to advance linearly at a constant speed, and if so, turning over the two star wheel sets together to cross over the step;
(6) Judging whether the two planetary wheel sets reach the destination: if not, entering a new pose adjusting process, repeating the steps (1) to (5), if so, ending the motion, and finishing the control of the planet wheel type obstacle crossing robot for climbing stairs.
As a further preferable mode, the deflection angle θ is obtained by using the following equation:
in the formula: l AB And the distance between the central points of the two star wheel groups in the same driving group of the obstacle-crossing robot is shown.
Preferably, the calculating the theoretical rotation speed of each planetary gear set by the yaw angle control algorithm specifically includes:
(2.1) firstly, calculating the periodic time T of the obstacle crossing robot for adjusting the position and the posture:
in the formula: k is a radical of formula 1 As a proportional correction factor, omega 1 ,ω 2 The rotating speeds of a left wheel and a right wheel in the planetary wheel set are respectively, and r is the radius of a single wheel in the planetary wheel set;
(2.2) then calculating the amplitude A of the pose adjustment:
in the formula: k is a radical of 2 Is a proportionality coefficient, and theta is a deflection angle;
(2.3) calculating the difference of the rotating speeds:
in the formula: t is the time of posture adjustment in one period, and t belongs to (0, T);
(2.4) finally calculating the theoretical rotating speed omega of two planetary gear sets in the same driving set of the planetary gear type obstacle crossing robot 1 '、ω 2 '：
ω 1 '＝ω 1 +Δω,ω 2 '＝ω 2 -Δω。
As further preferred, whether the two planetary gear sets in the obstacle-crossing robot driving set reach the step is judged, which specifically comprises:
judgment of L 1 And L 2 Whether the following conditions are satisfied: l is 1 ＝L 2 ＝L min Wherein L is min The value of L when the obstacle crossing robot reaches the step is shown.
Preferably, the planetary wheel type obstacle crossing robot is a four-planetary-wheel obstacle crossing robot or a six-planetary-wheel obstacle crossing robot.
Preferably, when the planetary wheel type obstacle crossing robot is a four-planetary wheel obstacle crossing robot, the four-planetary wheel type obstacle crossing robot is provided with a front driving set and a rear driving set, and two planetary wheel sets in each driving set are controlled according to the steps (1) - (6).
Preferably, when the planetary wheel type obstacle crossing robot is a six-planetary-wheel obstacle crossing robot, the six-planetary-wheel obstacle crossing robot is provided with a front driving set, a middle driving set and a rear driving set, and two planetary wheel sets in each driving set are controlled according to the steps (1) - (6).
As a further preference, the stairs are preferably spiral stairs or arc stairs.
Preferably, the preset value in the step (4) is 0-3 degrees, and the deflection angle can enable the left and right wheels in the same driving group to simultaneously climb over the steps within the angle range.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. the invention specially designs a novel stair climbing control method based on the structural characteristics of a planetary wheel type obstacle crossing robot, which can not only adapt to the condition that a robot body and stairs form a certain inclination angle, but also adapt to the condition that each step is a turning step with a narrow inner side and a wide outer side and a smaller turning radius, and the width difference between the inner side and the outer side of each step is larger, can realize the movement of a steering ladder at any given deflection angle, and improves the turning flexibility and the turning precision of the obstacle crossing robot.
2. Aiming at the problem that the left and right planetary wheel sets possibly have height difference, when the driving set crosses the steps, the distances between the left and right planetary wheel sets and the steps are compared, the rotating speed of the two planetary wheels is adjusted, the two planetary wheels simultaneously reach the steps, the left and right heights of the vehicle body are basically unchanged, and the stability of the turning ladder is guaranteed.
3. The invention controls the distance between the left planetary wheel set and the right planetary wheel set and the steps by adjusting the rotating speed of the two planetary wheels in real time, has strong adaptability to different steps, and can ensure that the two planetary wheels can reach the steps at the same time for different steps.
Drawings
FIG. 1 is a schematic structural diagram of a six-planet-wheel obstacle crossing robot;
FIG. 2 is a schematic structural diagram of a front driving group of a six-planet-wheel obstacle crossing robot;
FIG. 3 is a schematic diagram of the hinge positions of a front vehicle body and a rear vehicle body of the six-planet-wheel obstacle crossing robot;
FIG. 4 is a top view of the obstacle-surmounting robot in a pose position relative to the stairs;
FIGS. 5 (a) - (f) are top views of the pose adjustment process of the obstacle crossing robot;
FIG. 6 is a flow chart of a method for controlling a front drive group of an obstacle crossing robot;
FIG. 7 is a block diagram of an obstacle surmounting robot control system;
fig. 8 is a schematic structural diagram of a four-star obstacle crossing robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 3, the planetary wheel type obstacle crossing robot applied in the present invention comprises a vehicle body and three driving sets for supporting the vehicle body, wherein the vehicle body comprises a front vehicle body 100 and a rear vehicle body 200, the front vehicle body 100 is hinged to the rear vehicle body 200 through a hinge shaft 10 which is horizontally arranged, and the three driving sets are a front driving set 300 (front beam), a middle driving set 400 (middle beam) and a rear driving set 500 (rear beam) in sequence from front to rear.
Wherein the front driving group 300 comprises a supporting beam 303, two power driving devices 305 and 306, two ultrasonic distance sensors 307 and 308, and two planetary wheel sets 301 and 302; the planetary set 301 comprises three wheels of the same radius, the radius of the wheels being taken as r. The two planetary wheel sets are arranged left and right, the left planetary wheel set 301 is installed on the left driving device 305, the left driving device 305 is used for driving the left planetary wheel set 301 to move, the right planetary wheel set 302 is installed on the right driving device 306, the right driving device 306 is used for driving the right planetary wheel set 302 to move, the ultrasonic distance sensor 307 is fixedly connected onto the left driving device 305, the ultrasonic distance sensor 308 is fixedly connected onto the right driving device 306, and the ultrasonic distance sensors 307 and 308 are located on a connecting line of central points of the planetary wheel sets 301 and 302. The left and right driving devices 305 and 306 are fixed to the support beam 303, and the driving group 300 is hinged to the front vehicle body through a hinge shaft 304 disposed vertically. The middle driving group 400 and the rear driving group 500 have the same structure as the front driving group 300.
Next, a control method of the obstacle crossing robot is described with reference to fig. 4 to 7, in the case that the vehicle body and the stairs have a certain inclination angle, the turning steps (such as spiral stairs, and arc stairs) are narrow on the inner side and wide on the outer side when the obstacle crossing robot turns over each step, and the difference between the widths of the inner side and the outer side of each step is larger when the turning radius is smaller.
As shown in fig. 5, fig. 5 (a) shows that the body of the lower planetary wheel type obstacle crossing robot in the initial state forms a certain angle with the first step; FIG. 5 (b) shows the rotation speed adjustment of the front beam and the left and right wheels to enable the two planet wheels to reach the first step at the same time; FIG. 5 (c) shows the front beam with two planetary gear sets simultaneously crossing the first step surface; FIG. 5 (d) shows that the rotation speed adjustment of the front beam and the left and right beams simultaneously enables the two planetary gears to reach the second stage of step, and the rotation speed adjustment of the middle beam and the left and right beams simultaneously enables the two planetary gears to reach the first stage of step; FIG. 5 (e) shows the front beam with two planetary gear sets simultaneously crossing the second step surface, the middle beam with two planetary gear sets simultaneously crossing the first step surface, and the rear beam with two left and right wheels rotating at the same time to make the two planetary gears simultaneously reach the first step; and (f) in the figure, the rotating speeds of the left and right front beams are adjusted to enable the two planet wheels to simultaneously reach the third stage step, the rotating speeds of the two planet wheel sets of the middle beam are adjusted to enable the two planet wheels to simultaneously reach the second stage step, and the two planet wheel sets of the rear beam simultaneously cross the surface of the first stage step.
For ensuring that the left planet wheels and the right planet wheels are kept at the same height and turn over a step surface, taking the rotation speed adjustment of the left wheel and the right wheel of the front beam as an example, the body of the lower planet wheel type obstacle crossing robot in an initial state forms a certain angle with a first step, and the specific pose adjustment steps are as follows:
(1) Before the obstacle crossing robot crosses a first step, the obstacle crossing robot in an initial state moves forwards linearly at an initial speed at a constant speed (namely two planet wheels in the same driving group rotate at the initial rotating speed, and the initial rotating speeds of the two planet wheels are the same), the initial speed can be set according to actual needs, and an ultrasonic distance sensor measures the distance L between the foremost end of the two planet wheel groups in the same driving group (here, a front driving group) of the obstacle crossing robot and a front obstacle (namely, the side of a stair step with the distance between the front part and the planet wheel groups being the nearest) 1 And L 2 And the rotation speed sensor measures the rotation speed omega of the two planetary wheel sets 1 、ω 2 (rotational speed ω 1 、ω 2 Same initial value) according to said L 1 And L 2 The deflection angle θ is obtained by calculation.
Specifically, as shown in fig. 4, 301, 302, 401, 402, 501, and 502 correspond to six planetary gear sets, C, of the obstacle-surmounting robot, respectively 1 、C 2 And C 3 Three step surfaces are shown sequentially increasing. The yaw angle θ represents the degree of inclination of the vehicle body with respect to the steps, L 1 And L 2 Respectively showing the distance from the vehicle body to the nearest front step surface measured by the ultrasonic distance sensors 307 and 308, wherein the center of the driving group in the mark is a point O, the position of the ultrasonic distance sensor 307 is a point A, the position of the ultrasonic distance sensor 308 is a point B, A is the central point of the planetary gear set 301, and B is the central point of the planetary gear set 302, then:
wherein l AB The distance between the center points of the two planetary wheel sets in the same driving set (here, the front driving set) of the obstacle-crossing robot is shown, that is, the distance between the ultrasonic distance sensor 307 and the ultrasonic distance sensor 308.
(2) And calculating the theoretical rotating speed of each planetary gear set by a deflection angle control algorithm, and inputting the calculated theoretical rotating speed into a motor driver of each planetary gear set to drive the planetary gear sets to move.
As shown in fig. 7, the angle PID feedback control includes an angle PID control module 701, a speed PID control module 702 and a system status detection module 703, and the speed PID control module 702 is composed of a speed PID control 704, a motor execution module 705 and a hall velocity measurement module 706.
The angle PID control module 701 controls the angular velocity ω of each wheel according to the current angular velocity ω i (i =1, 2) and the current yaw angle θ, specifically, see expressions (2) to (5). The speed PID control module 702 adjusts the angular speed of the motor according to the theoretical rotational speed obtained by the angle PID module 701, and the system state detection module 703 detects the system state quantity used in the control in real time, including an angle root transmitter, an angular speed sensor and an ultrasonic distance sensor.
The theoretical rotating speed of each planetary wheel set is calculated by a deflection angle control algorithm, and the method specifically comprises the following steps:
(2.1) calculating the periodic time T of the obstacle crossing robot for adjusting the position and the posture:
in the formula: k is a radical of 1 The coefficient is proportionally corrected to ensure that the obstacle-crossing robot finishes one period of pose adjustment before reaching steps, 0<k 1 <, 0.5, k can be adjusted according to specific road conditions 1 A value; omega 1 ,ω 2 The rotating speeds of a left wheel and a right wheel in the planetary wheel set are respectively, and r is the radius of a single wheel in the planetary wheel set;
(2.2) calculating the amplitude A of the pose adjustment:
in the formula: theta is the current deflection angle, k 2 Is a proportionality coefficient, so that the pose of the obstacle-crossing robot is adjusted in an adjusting period, k 2 Is taken fromSpecific road conditions and rated speed of the obstacle crossing robot are determined;
(2.3) calculating the difference of the rotating speeds:
in the formula: t is the time from pose adjustment in the period, and t belongs to (0, T);
(2.4) calculating the theoretical rotating speed omega of the left planetary gear set and the right planetary gear set in the same driving set (namely the front driving set) of the planetary gear type obstacle crossing robot 1 '、ω 2 '：
ω 1 '＝ω 1 +Δω,ω 2 '＝ω 2 -Δω (5)
(3) After a time T of an adjustment period, the current L is detected 1 And L 2 And calculating the current deflection angle theta;
(4) Judging whether the current deflection angle theta exceeds a preset value: and (3) if the angle exceeds the preset value, the step (2) is carried out, and if the angle does not exceed the preset value, the left and right wheels of the obstacle-crossing robot front driving group are controlled to continue to move forwards linearly at the initial speed at a constant speed, wherein the preset value is 0-3 degrees, and the deflection angle can meet the requirement that the left and right wheels simultaneously cross the step within the angle range.
(5) Whether the two planetary wheel sets in the obstacle crossing robot driving set reach the ladder is judged: if the robot does not reach the stairs, the robot continues to move forwards linearly at the initial speed at a constant speed, and if the robot reaches the stairs, the two corresponding planetary wheel sets in the front driving set (namely the front beam) are overturned together to cross the stairs.
Whether two star gear groups reach the ladder in judging obstacle crossing robot drive group specifically is:
judgment of L 1 And L 2 Whether the following conditions are satisfied: l is 1 ＝L 2 ＝L min Wherein L is min The value of L when the obstacle-crossing robot reaches the step (namely the distance between the planetary wheel set and the step when the obstacle-crossing robot reaches the step), L min The value of (A) can be measured when the front end of the two star wheel sets of the obstacle crossing robot is close to the step surfaceThe distance the sensor reaches the step is obtained.
(6) The operator determines whether the two planetary gear sets reach the destination: and (3) if the destination is not reached, the obstacle crossing robot front beam enters a new pose adjustment process, the steps (1) to (5) are repeated, and if the destination is reached, the movement is ended, so that the stair climbing control of the planet wheel type obstacle crossing robot front beam is completed.
In the process of climbing the building by the front beam of the obstacle-crossing robot, the middle beam and the rear beam climb the building at the same time, the control method is the same as that of climbing the building by the front beam, namely after the front beam climbs over the step, the steps of climbing over the step by the middle beam and the front beam are the same, and correspondingly, the steps (1) to (6) are repeated by two planetary wheel sets of the middle beam; and (3) after the middle beam crosses the steps, the steps of the rear beam and the front beam crossing the steps are the same, and correspondingly, the steps (1) to (6) are repeated by the two planetary wheel sets of the rear beam, so that the control of the planetary wheel type obstacle crossing robot for climbing the stairs is completed.
The control method can also be applied to a four-star obstacle crossing robot, and the structure of the four-star obstacle crossing robot is shown in figure 8.
In fig. 8, 100 denotes a vehicle body, 200 denotes a front drive group, and 300 denotes a rear drive group, the front drive group 200 being hinged to the vehicle body through a vertically disposed hinge shaft 10, and the drive group 300 being hinged to the vehicle body through a vertically disposed hinge shaft 20.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.
Claims (8)
1. A stair climbing control method of a planetary wheel type obstacle crossing robot is characterized by comprising the following steps:
(1) Enabling the obstacle crossing robot to move forwards linearly at a constant speed in an initial state, and then measuring the distance L between the foremost end of the two planetary wheel sets and the front stair step in the same driving set of the obstacle crossing robot 1 And L 2 And measuring the rotation speed of each planetary gear set according to L 1 And L 2 Calculating to obtain a deflection angle theta;
(2) Calculating theoretical rotating speeds of the planetary wheel sets by a deflection angle control algorithm, and inputting the calculated theoretical rotating speeds into motor drivers of the planetary wheel sets to drive the planetary wheel sets to move; the calculation of the theoretical rotating speed of each planetary gear set by the deflection angle control algorithm comprises the following steps:
(2.1) firstly, calculating the periodic time T of the obstacle crossing robot for adjusting the position and the posture:
in the formula: k is a radical of 1 As a proportional correction factor, omega 1 ,ω 2 The rotating speeds of a left wheel and a right wheel in the planetary wheel set are respectively, and r is the radius of a single wheel in the planetary wheel set;
(2.2) then calculating the amplitude A of the pose adjustment:
in the formula: k is a radical of formula 2 Is a proportionality coefficient, and theta is a deflection angle;
(2.3) recalculating the difference between the rotation speeds:
in the formula: t is the time of posture adjustment in a period, and t belongs to (0, T);
(2.4) finally calculating the theoretical rotating speed omega of two planetary wheel sets in the same driving set of the planetary wheel type obstacle crossing robot 1 '、ω 2 '：
ω 1 '＝ω 1 +Δω,ω 2 '＝ω 2 -Δω；
(3) Detecting the current L after an adjustment period 1 And L 2 And calculating the current deflection angle theta;
(4) Judging whether the current deflection angle theta exceeds a preset value: if yes, the step (2) is carried out, and if not, the obstacle crossing robot is controlled to continue to move forwards linearly at a constant speed;
(5) Whether the two planetary wheel sets in the obstacle crossing robot driving set reach the ladder is judged: if not, continuing to advance linearly at a constant speed, and if so, turning over the two star wheel sets together to cross over the step;
(6) Judging whether the two planetary wheel sets reach the destination: if not, entering a new pose adjusting process, repeating the steps (1) to (5), if so, ending the motion, and finishing the control of the planet wheel type obstacle crossing robot for climbing stairs.
2. The stair climbing control method of the planetary wheel type obstacle crossing robot as claimed in claim 1, wherein the deflection angle θ is obtained by using the following formula:
in the formula: l AB And the distance between the central points of the two star wheel groups in the same driving group of the obstacle-crossing robot is shown.
3. The stair climbing control method of the planetary wheel type obstacle crossing robot as claimed in claim 2, wherein the step of judging whether the two planetary wheel sets in the obstacle crossing robot driving set reach the steps is specifically:
judgment of L 1 And L 2 Whether the following conditions are satisfied: l is 1 ＝L 2 ＝L min Wherein, L min The value of L when the obstacle-surmounting robot reaches a step.
4. The stair climbing control method of the planetary gear type obstacle crossing robot according to claim 1, wherein the planetary gear type obstacle crossing robot is a four-planet-wheel obstacle crossing robot or a six-planet-wheel obstacle crossing robot.
5. The stair climbing control method of the planetary gear type obstacle crossing robot as claimed in claim 4, wherein when the planetary gear type obstacle crossing robot is a four-planetary gear type obstacle crossing robot, the planetary gear type obstacle crossing robot is provided with a front driving set and a rear driving set, and two planetary gear sets in each driving set are controlled according to the steps (1) - (6).
6. The stair climbing control method of the planetary wheel type obstacle crossing robot as claimed in claim 4, wherein when the planetary wheel type obstacle crossing robot is a six-planetary wheel type obstacle crossing robot, the planetary wheel type obstacle crossing robot is provided with three groups of driving groups, namely a front driving group, a middle driving group and a rear driving group, and two planetary wheel sets in each group of driving groups are controlled according to the steps (1) - (6).
7. The stair climbing control method of the planetary wheel type obstacle crossing robot according to claim 1, wherein the stairs are spiral stairs or arc stairs.
8. The stair climbing control method of the planetary wheel type obstacle crossing robot according to any one of claims 1 to 7, wherein the preset value in the step (4) is 3 degrees.
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| CN108657299A (en) * | 2018-06-20 | 2018-10-16 | 上海懿牛机器人科技有限公司 | A kind of heavy duty transfer robot |
| CN109353399B (en) * | 2018-10-15 | 2021-06-25 | 潘秀兰 | Electric stair climbing vehicle and control method thereof |
| CN110495825B (en) * | 2019-08-16 | 2021-06-22 | 云鲸智能科技（东莞）有限公司 | Obstacle crossing method for cleaning robot, and storage medium |
| CN110403539B (en) * | 2019-08-16 | 2022-06-03 | 云鲸智能科技（东莞）有限公司 | Cleaning control method for cleaning robot, and storage medium |
| CN113276976B (en) | 2021-06-16 | 2022-04-08 | 华中科技大学 | Planet wheel type obstacle crossing robot |
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| CN104002880A (en) * | 2014-06-03 | 2014-08-27 | 东南大学 | Control method for crawler type mobile robot with guiding arms automatically going upstairs and downstairs |
| CN104890752A (en) * | 2015-06-15 | 2015-09-09 | 华中科技大学 | Planet wheel type obstacle surmounting robot |
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