CN109794941A - A kind of caterpillar type robot control system and method with speeling stairway function - Google Patents
A kind of caterpillar type robot control system and method with speeling stairway function Download PDFInfo
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- CN109794941A CN109794941A CN201910203011.2A CN201910203011A CN109794941A CN 109794941 A CN109794941 A CN 109794941A CN 201910203011 A CN201910203011 A CN 201910203011A CN 109794941 A CN109794941 A CN 109794941A
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Abstract
The invention belongs to robot automation fields, and in particular to a kind of caterpillar type robot control system and method with speeling stairway function.The caterpillar type robot control system includes: crawler frame human agent, main control module MCU, attitude detection module, human-computer interaction module, motor drive module and power supply module；Main control module MCU, attitude detection module, motor drive module and power supply module are fixed on crawler frame human agent.The crawler frame human agent includes front end walking mechanism, chassis, rear end walking mechanism, mechanical arm, servo motor and direct-drive motor.Caterpillar type robot of the invention is the crawler type mechanism that can have the function of quick and stable speeling stairway and small volume, except can also adapt to different stairway forms in addition to even running on level land, has extremely strong obstacle climbing ability.And the structure of the caterpillar type robot is simple, small volume, can be realized quick and stable speeling stairway function.
Description
Technical field
The invention belongs to robot automation fields, and in particular to a kind of crawler type machine with speeling stairway function
Device people control system and method.
Background technique
Stair and stairstepping building are seen everywhere in life, and carrying heavy article stair climbing becomes a kind of burden.Mesh
The device of stair climbing, partially realizes the function of loading stair climbing, solves loads to a certain extent and climb building there are many preceding
The problem of ladder.Current stair-climbing device needs operator is artificial, intervenes control to be in real time just able to achieve loading stair climbing function
Can, and it also requires operator has certain operating experience；Expend operationally the time it is more and to user require compared with
It is high.A kind of caterpillar type robot and its control method with speeling stairway function is proposed as a result,.It is small-sized to climb using the device
Stair robot can intelligent accurate judgement at a distance from stair, automatically adjust posture, realize that automatic loading with security and stability is climbed
Stair climbing.
Summary of the invention
In order to solve problems in the prior art, invention provides a kind of crawler type machine with speeling stairway function to the present invention
Device people control system and method.
Technical solution of the present invention:
A kind of caterpillar type robot control system with speeling stairway function, the caterpillar type robot control system
System includes: crawler frame human agent, main control module MCU, attitude detection module, human-computer interaction module, motor drive module
And power supply module；Main control module MCU, attitude detection module, motor drive module and power supply module are fixed on crawler frame
On human agent.
The crawler frame human agent includes front end walking mechanism, chassis, rear end walking mechanism, mechanical arm, servo
Motor and direct-drive motor；
The front end walking mechanism is connected with chassis by bearing respectively with the rear end walking mechanism, is realized opposite
With the fixed-axis rotation on the chassis.Servo motor is fixed in chassis lower surface rear and front end respectively, and two servo motors are for distinguishing
It controls the front end walking mechanism, rear end walking mechanism and carries out fixed-axis rotation relative to the chassis.The front end walking mechanism
It is provided with direct-drive motor with the rear end walking mechanism, to control the movement of the caterpillar type robot.The chassis
Upper surface solid mechanical arm, the function of crawl, placement for carrying out article.
The power supply module includes voltage changing module and circuit protection module, and voltage changing module is connected with motor drive module,
It is powered using high voltage to motor drive module；High pressure is become examining with main control module MCU, posture after low pressure by voltage changing module
It is connected to survey module, human-computer interaction module, powers for three；Circuit protection module monitoring voltage signal and current signal simultaneously will be electric
Pressure signal and current signal are sent to main control module MCU, and main control module MCU judges according to voltage signal and current signal
Whether the small-sized stair climbing robot automatic control system is under-voltage, over-voltage, overcurrent and then judges whether to cut off small-sized climbing machine device
People's automatic control system.
The attitude detection module includes laser ranging module, gyro sensor and camera module；Two Laser Measurings
It is separately positioned on the left and right sides direct-drive motor of front end walking mechanism and is parallel to the horizontal plane away from module, it is ensured that laser
The laser that range finder module projects is parallel with chassis level face, and laser ranging module acquires front end walking mechanism front with respect to stair
Distance.Gyro sensor is fixed on chassis lower surface, for acquiring the angle on body chassis and horizontal plane.Camera mould
Block is fixed on chassis upper surface towards front and is parallel to the horizontal plane, and guarantees stair immediately ahead of acquisition caterpillar type robot
Parameter.
Laser ranging module, gyro sensor and camera module are connected with main control module MCU, will be collected
Distance signal climbs building attitude signal and the collected information of camera is transferred to main control module MCU, detects the parameter of stair
Information and crawler belt form attitude detection signal with respect to the distance of stair, and main control module MCU makes according to attitude detection signal
Current pose judgement transmits operational order to motor drive module, autonomous to complete to climb building and guarantee that posture is steady during climbing building
It is fixed.
The motor drive module is connected with servo motor and direct-drive motor respectively, is sent out according to main control module MCU
Serve Motor Control signal out, control servo motor turn an angle and control direct-drive motor revolving speed and positive and negative
Turn, so that front end walking mechanism and rear end walking mechanism be made to turn an angle.
Human-computer interaction module provides live interactive function, and scene interaction includes voice control, infrared remote control；Remote interaction
Including remote wireless control.
Human-computer interaction module includes stick control module and speech recognition module；Stick control module includes that LCD is shown
Screen, control crank and radio receiving transmitting module.The main control module MCU receives control crank by radio receiving transmitting module and issues
Manipulation signal, and then issue motor control signal, and by LCD display display corresponding information, the motor drive module
According to the positive and negative rotation of the main control module MCU motor control signal control direct-drive motor issued.
The speech recognition module is connected with main control module MCU, and main control module MCU passes through the speech recognition mould
Block receives the manipulation signal that identification voice issues, and issues motor control signal, the motor drive module is according to the main control
The positive and negative rotation for the motor control signal control direct-drive motor that module MCU is issued.
Further, for the human-computer interaction module including further including APP manipulation module, APP manipulation module includes electricity
Brain/cell phone application and GPRS wireless data transmission module.Described in main control module MCU can be received by the GPRS wireless data transmission module
Computer/mobile phone APP issue manipulation signal, main control single-chip microprocessor MCU 1 issue motor control signal, motor drive module according to
The positive and negative rotation for the motor control signal control direct-drive motor that main control module MCU is issued.
According to the control method of the caterpillar type robot control system, steps are as follows:
Step 1: attitude detection module includes laser ranging module and camera module, by pacifying at direct-drive motor
The distance of two laser ranging module measuring nose walking mechanism front distance the first rank stair facades arranged side by side of dress, adjustment two
Side crawler track speeds make body face the first rank stair facade, two laser rangings arranged side by side installed at direct-drive motor at this time
Module institute ranging deviation is zero.
Step 2: camera module distinguishes acquisition camera module to the distance L of the first rank stair facade1With to second
The distance L of rank stair facade2And the height H of stairway step facade, obtain stair parameter:
Stair step width: W=L1-L2；
Stair step height: H
Stair inclination angle: α=cot (H/W)
Step 3: main control module MCU combination front end walking mechanism length L3Judged, work as satisfaction: L3< W and
L3When sin45 ° of > H, it is believed that robot can climb this stair, and α meets 45 ° of α < at this time；Otherwise main control module MCU is issued
Warning message is to operator.
Step 4: continuing on, after main control module MCU judges that α meets 45 ° of α < positioned at front end walking mechanism
The distance of laser ranging module to the first rank stair facade is S1=L4+L3, L4It is front end walking mechanism front to the first rank building
The distance of terraced facade；Work as L4When < 1cm, main control module MCU control will Status Flag be at this time to climb the building stage.
Step 5: main control module MCU control front end walking mechanism is lifted up 45 °, then front end vehicle with walking machine is continued on
Structure can ride on the first rank stair.It continues on, body chassis lifts upwards, and gyro sensor acquires body chassis and water
The angle β of plane, which will start from scratch, to become larger, and main control module MCU controls rear end walking mechanism according to angle and lifts equal angular,
To keep rear end walking mechanism to be still bonded ground；When the angle β on body chassis and horizontal plane is no longer zero, lead at this time
Control module MCU control front end walking mechanism is fallen downwards with certain speed, is had front end walking mechanism and is stepped on the first rank stair
Walk the trend of fitting.
It is up to β with body chassis angulation when front end walking mechanism is fallen downwardsmax=pi/2-sec (H/S), H are
The height H, S of stairway step facade are the length of body.
Step 6: in the case that rear end walking mechanism is still bonded ground, the angle β on body chassis and horizontal plane at this time
> α continues on then L4Constantly reduce；Work as L4When < 1cm, rear end walking mechanism is no longer bonded ground, main control module MCU control
Rear end walking mechanism processed starts to fall downwards with speed V1, and main control module MCU control front end walking mechanism is opened with certain speed
The opposite body that begins is lifted up, and at this time and the angle number that lifts is identical as rear end walking mechanism body downward angle number relatively.
45 ° are raised up to respect to body in front end walking mechanism front, rear end walking mechanism rear portion falls to 45 ° of process with respect to body
In, the angle β of body chassis and horizontal plane constantly reduces, and second-order stair can be ridden over by continuing on front end walking mechanism, wherein
The angle β of a certain moment body chassis and horizontal plane will be reduced to α.
Step 7: rear end walking mechanism rear portion is with respect to body when walking mechanism front in front end is raised up to 45 ° with respect to body
It falls to after 45 °, the angle β < α of body chassis and horizontal plane, front end walking mechanism front is with respect to body with certain speed
It puts down, rear end walking mechanism rear portion is lifted with respect to body with speed V2, then the angle β of body chassis and horizontal plane starts to increase,
When β increases to α, walking mechanism stopping in front end is put down, and starts to lift, and walking mechanism stopping in rear end is lifted, and starts to put down, and is continued
It advances, then L4Constantly reduce, repeats the above steps, continuous speeling stairway.
Step 8: after front end walking mechanism is put down, being detected when front end walking mechanism is climbed to last single order stair
L4> 2W and at this time main control module MCU indicate to climb the building stage, then it is assumed that speeling stairway terminates, main control module MCU mark
For level land motion stage.
The beneficial effects of the present invention are: caterpillar type robot of the invention is that can have quick and stable speeling stairway function
The crawler type mechanism of energy and small volume has pole except can also adapt to different stairway forms in addition to even running on level land
Strong obstacle climbing ability.And the structure of the caterpillar type robot is simple, small volume, the climbing building that can be realized quick and stable
The function of ladder.
Detailed description of the invention
Fig. 1 is caterpillar type robot structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of control system of the invention.
Fig. 3 is flow chart of the invention.
Fig. 4 is the schematic diagram that caterpillar type robot starts progress stair parameter measurement before speeling stairway.
Fig. 5 is that caterpillar type robot lifts the subsequent schematic diagram for proceeding to and riding over the first rank stair that continues of front end walking mechanism.
Fig. 6 is that caterpillar type robot front end walking mechanism starts the schematic diagram to fall.
Fig. 7 is that caterpillar type robot front end walking mechanism is lifted, while rear end walking mechanism falls, front and back crawler belt angle
Identical schematic diagram.
Fig. 8 is that caterpillar type robot front end walking mechanism falls, while rear end walking mechanism is lifted, and front and back crawler belt angle is identical
Schematic diagram.
In figure: 1 main control module MCU；2 attitude detection modules；21 laser ranging modules；22 gyro sensors；3 people
Machine interactive module；31 stick control modules；311 control cranks；312LCD display screen；313 radio receiving transmitting modules；32 voices are known
Other module；33APP manipulation module；331 computer/mobile phone APP；332GPRS wireless data transmission module；34 camera modules；4 motors
Drive module；5 power supply modules；51 circuit protection modules；52 voltage changing modules；11 front end walking mechanisms；12 chassis；13 rear end rows
Walk mechanism；14 mechanical arms；15 servo motors；16 direct-drive motors.
Specific embodiment
In the following with reference to the drawings and specific embodiments, a specific embodiment of the invention is described in further detail.Below
Embodiment is not intended to limit the scope of the invention for illustrating the present invention.
Referring to the caterpillar type robot control system with speeling stairway function Fig. 1 of the invention for controlling a kind of tool
There is climbing of the caterpillar type robot of speeling stairway function on stair.The caterpillar type robot includes front end walking mechanism
11, chassis 12, rear end walking mechanism 13, mechanical arm 14, servo motor 15 and direct-drive motor 16；The front end vehicle with walking machine
Structure 11 is connected with chassis 12 respectively with the rear end walking mechanism 13, and the opposite dead axle with the chassis 12 may be implemented and turn
It is dynamic.The servo motor 15 of the front and back being fixed on the chassis 12 two for controlling the front end walking mechanism 11, rear end respectively
The fixed-axis rotation of walking mechanism 13.Wherein it is separately fixed at front end walking mechanism 11,4 motors in rear end walking mechanism 13
It is respectively used to the rotation of four crawler belts of control.The mechanical arm 14 being wherein fixed on the chassis 12 can carry out article
Crawl, placement function.Additionally including camera mould 34 and positioned at the two of 16 face center position of direct-drive motor
A laser ranging module 21.
Referring to fig. 2, control system of the invention includes main control module MCU1, attitude detection module 2, human-computer interaction mould
Block 3, motor drive module 4 and power supply module 5.
The power supply module 5 drives to main control module MCU1, attitude detection module 2, human-computer interaction module 3 and motor
Dynamic model block 4 is powered.
The attitude detection module 2 further includes laser ranging module 21, gyro sensor 22 and camera module 23.
The laser ranging module 21 acquires distance of walking mechanism 11 front in front end with respect to stair.The gyro sensor 22 is adopted
Collect the angle on body chassis 12 and horizontal plane.The camera module 23 acquires the parameter of stair.
The main control module MCU1 acquires the distance and attitude signal of the attitude detection module 2, exports servo motor
15 control signals；The Serve Motor Control signal that the motor drive module 4 is issued according to the main control module MCU1, control
Servo motor 15 processed turns an angle, so that front end walking mechanism 11, rear end walking mechanism 13 be made to turn an angle.
The human-computer interaction module 3 further includes stick control module 31.Stick control module 31 includes LCD display screen
312, control crank 311 and radio receiving transmitting module 313.The main control module MCU1 can pass through the radio receiving transmitting module 313
The manipulation signal that the control crank 311 issues is received, issues motor control signal, the motor drive module 4 is according to described
The positive and negative rotation for the motor control signal control direct-drive motor 16 that main control module MCU1 is issued.
The human-computer interaction module 3 further includes APP manipulation module 33.APP manipulation module include computer/mobile phone APP331,
GPRS wireless data transmission module 332.The main control single-chip microprocessor MCU 1 can receive institute by the GPRS wireless data transmission module 332
The manipulation signal of computer/mobile phone APP331 sending is stated, issues motor control signal, the motor drive module 4 is according to the master
The positive and negative rotation for the motor control signal control direct-drive motor 16 that control module MCU1 is issued.
The human-computer interaction module 3 further includes speech recognition module 32.The main control module MCU1 can pass through institute's predicate
Sound identification module 32 receives the manipulation signal that identification voice issues, and issues motor control signal, the motor drive module 4
According to the positive and negative rotation of the main control module MCU1 motor control signal control direct-drive motor 16 issued.
The power supply module 5 further includes voltage changing module 52.It is given respectively by 52 power supply of voltage changing module described to master control
3 low-voltage power supply of molding block MCU1, attitude detection module 2 and human-computer interaction module；Give motor drive module 4 high voltage supply.
The power supply module 5 further includes circuit protection module 51.51 monitoring voltage signal of circuit protection module and electricity
The voltage signal and current signal are simultaneously sent to main control module MCU1 by stream signal, the main control module MCU1 according to
Voltage signal and current signal judge the whether under-voltage small-sized stair climbing robot automatic control system, over-voltage, overcurrent and then sentence
It is disconnected whether to cut off small-sized stair climbing robot automatic control system.
Referring to Fig. 3, a kind of autocontrol method of the caterpillar type robot with speeling stairway function is small for controlling
Movement of the type caterpillar type robot on stair.The small-sized stair climbing robot autocontrol method is as follows:
Referring to Fig. 1 and Fig. 3, before being measured by two installed at direct-drive motor 16 laser ranging modules 21 arranged side by side
The distance of 11 front distance the first rank stair facade of walking mechanism is held, adjustment two sides crawler track speeds make the first rank of body face building
Terraced facade, the two 21 ranging deviations of laser ranging module arranged side by side installed at front end walking mechanism 11 at this time are zero.
Referring to Fig. 3, the distance L of the 23 to the first rank of acquisition camera module stair facade is distinguished by camera module 231
With the distance L for arriving second-order stair facade2And the height H of stairway step facade, stair parameter can be obtained at this time:
Stair step width: W=L1-L2；
Stair step height: H
Stair inclination angle: α=cot (H/W)
Referring to Fig. 3,11 length L of main control module MCU1 combination front end walking mechanism3Judged, work as satisfaction: L3< W and
L3When sin45 ° of > H, it is believed that robot can climb this stair, and α meets 45 ° of α < at this time；Otherwise warning message is returned to behaviour
Make personnel.
It referring to Fig. 3, after main control module MCU1 judgement can climb this stair, continues on, is located at leading portion walking and carries out
Distance with 11 laser ranging module the 21 to the first rank stair facade is S1=L4+L3, L4It is that walking mechanism 11 front in front end is arrived
The distance of first rank stair facade；Work as L4When < 1cm, main control module MCU1 control will Status Flag be at this time to climb the building stage.
Referring to fig. 4, main control module MCU1 controls front end walking mechanism 11 and is lifted up 45 °, continues on then front end row
Walking mechanism 11 can ride on the first rank stair.It continues on, body chassis 12 lifts upwards, and gyro sensor 22 is acquired
Body chassis 12 and the angle β of horizontal plane will start from scratch and become larger, main controller module MCU1 is according to the big of this angle at this time
Small control rear end walking mechanism 13 lifts equal angular, so that rear end walking mechanism 13 be kept still to be bonded ground；
Referring to Fig. 5, continue on, when the angle of body chassis 12 and horizontal plane is no longer zero, master controller mould at this time
Block MCU1 control front end walking mechanism 11 is fallen downwards with certain speed, is had front end walking mechanism 11 and is stepped on the first rank stair
Walk the trend of fitting.It is up to β with body angulation when front end walking mechanism 11 is fallen downwardsmax=pi/2-sec (H/S), H
It is the height H, S of stairway step facade is the length of body.
Referring to Fig. 6, in the case that rear end walking mechanism 13 is still bonded ground, body chassis 12 and horizontal plane at this time
Angle β > α, continues on then L4Constantly reduce；Work as L4When < 1cm, rear end walking mechanism 13 is no longer bonded ground, master control molding
The block MCU1 control beginning of rear end walking mechanism 13 is fallen downwards with certain speed, and main control module MCU1 controls front end vehicle with walking machine
Structure 11 starts opposite body with certain speed and is lifted up, and at this time and the angle number and rear end walking mechanism 13 that lift are with respect to machine
Body downward angle number is identical.In front end, 11 front of walking mechanism is raised up to 45 ° with respect to body, 13 rear portion of rear end walking mechanism
During opposite body falls to 45 °, body chassis 12 and the angle β of horizontal plane constantly reduce, and continue on front end walking
Mechanism 11 can ride over second-order stair, wherein the angle β of a certain moment body chassis 12 and horizontal plane will be reduced to α.
Referring to Fig. 7, when walking mechanism 11 front in front end is raised up to 45 ° with respect to body, walking mechanism 13 rear portion in rear end is opposite
Body is fallen to after 45 °, the angle β < α on body chassis 12 and horizontal plane, 11 front of front end walking mechanism with respect to body with
Certain speed is put down, and walking mechanism 13 rear portion in rear end is lifted with respect to body with certain speed, then body chassis 13 and horizontal plane
Angle β starts to increase, and when β increases to α, the stopping of front end walking mechanism 11 is put down, and starts to lift, and rear end walking mechanism 13 stops
It lifts, starts to put down, continue on, then L4Constantly reduce, repeats the above steps, then continuous speeling stairway may be implemented.
When the climbing of front end walking mechanism 11 to last single order stair, after front end walking mechanism 11 is put down, L is detected4>
2W and at this time main controller module MCU1 indicate to climb the building stage, then it is assumed that speeling stairway terminates, main control module MCU1 mark
For level land motion stage.
Claims (3)
1. a kind of caterpillar type robot control system with speeling stairway function, which is characterized in that the crawler frame
People's control system includes: crawler frame human agent, main control module MCU (1), attitude detection module (2), human-computer interaction module
(3), motor drive module (4) and power supply module (5)；Main control module MCU (1), attitude detection module (2), motor driven mould
Block (4) and power supply module (5) are fixed on crawler frame human agent；
The crawler frame human agent includes front end walking mechanism (11), chassis (12), rear end walking mechanism (13), machinery
Arm (14), servo motor (15) and direct-drive motor (16)；
The front end walking mechanism (11) is connected with chassis (12) by bearing respectively with the rear end walking mechanism (13)；Bottom
Servo motor (15) are fixed respectively in disk (12) lower surface rear and front end, and two servo motors (15) for controlling the front end respectively
Walking mechanism (11), rear end walking mechanism (13) carry out fixed-axis rotation relative to the chassis；The front end walking mechanism (11)
Direct-drive motor (16) are provided with the rear end walking mechanism (13), to control the movement of the caterpillar type robot；
Chassis (12) the upper surface solid mechanical arm (14)；
The power supply module (5) includes voltage changing module (52) and circuit protection module (51), and voltage changing module (52) and motor drive
Dynamic model block (4) is connected, and is powered using high voltage to motor drive module (4)；Voltage changing module (52) by high pressure become after low pressure with
Main control module MCU (1), attitude detection module (2), human-computer interaction module (3) are connected, and power for three；Circuit protection module
(51) monitoring voltage signal and current signal and voltage signal and current signal are sent to main control module MCU (1)；
The attitude detection module (2) includes laser ranging module (21), gyro sensor (22) and camera module (23)；
Two laser ranging modules (21) be separately positioned on the left and right sides direct-drive motor (16) of front end walking mechanism (11) and
It is parallel to the horizontal plane, laser ranging module (21) acquires distance of walking mechanism (11) front in front end with respect to stair；Gyroscope passes
Sensor (22) is fixed on chassis (12) lower surface, for acquiring the angle of body chassis (12) and horizontal plane；Camera module
(23) chassis (12) upper surface is fixed on towards front and is parallel to the horizontal plane, stair immediately ahead of acquisition caterpillar type robot
Parameter；
Laser ranging module (21), gyro sensor (22) and camera module (23) are connected with main control module MCU (1),
By collected distance signal, climb building attitude signal and the collected information of camera is transferred to main control module MCU (1), inspection
The parameter information and crawler belt for surveying stair are with respect to the distance formation attitude detection signal of stair, and main control module MCU (1) is according to appearance
State detection signal makes current pose judgement, transmits operational order to motor drive module (4), autonomous to complete to climb building and guarantee to climb
Attitude stabilization during building；
The motor drive module (4) is connected with servo motor (15) and direct-drive motor (16) respectively, according to master control molding
The Serve Motor Control signal that block MCU (1) is issued, control servo motor (15) turn an angle and control DC driven electricity
Machine (16) revolving speed and positive and negative rotation, so that front end walking mechanism (11) and rear end walking mechanism (13) be made to turn an angle；
The human-computer interaction module (3) includes stick control module (31) and speech recognition module (32)；Stick control module
It (31) include LCD display (312), control crank (311) and radio receiving transmitting module (313)；The main control module MCU (1)
The manipulation signal that control crank (311) issue is received by radio receiving transmitting module (313), and then issues motor control signal, and
Corresponding information is shown by LCD display (312)；The motor drive module (4) is sent out according to the main control module MCU (1)
The positive and negative rotation of motor control signal control direct-drive motor (16) out；
The speech recognition module (32) is connected with main control module MCU (1), and main control module MCU (1) is known by the voice
Other module (32) receives the manipulation signal that identification voice issues, and issues motor control signal, motor drive module (4) basis
The positive and negative rotation for motor control signal control direct-drive motor (16) that the main control module MCU (1) issues.
2. caterpillar type robot control system as described in claim 1, which is characterized in that the human-computer interaction module (3)
It further include APP manipulation module (33), APP manipulation module (33) includes computer/mobile phone APP (331) and GPRS wireless data transmission module
(332)；Main control module MCU (1) can receive the computer/mobile phone APP by the GPRS wireless data transmission module (332)
(331) manipulation signal issued, main control single-chip microprocessor MCU 1 issue motor control signal, and motor drive module (4) is according to master control
The positive and negative rotation for motor control signal control direct-drive motor (16) that molding block MCU (1) is issued.
3. the control method of caterpillar type robot control system according to claim 1 or claim 2, which is characterized in that steps are as follows:
Step 1: two laser ranging module (21) measuring nose walking mechanism (11) front distances of attitude detection module (2)
The distance of first rank stair facade, adjustment two sides crawler track speeds make body face the first rank stair facade, at this time two Laser Measurings
It is zero away from module (21) institute ranging deviation；
Step 2: distance L of camera module (23) difference acquisition camera module (23) to the first rank stair facade1With to
The distance L of second order stair facade2And the height H of stairway step facade, obtain stair parameter:
Stair step width: W=L1-L2；
Stair step height: H
Stair inclination angle: α=cot (H/W)
Step 3: main control module MCU (1) combines front end walking mechanism (11) length L3Judged, work as satisfaction: L3< W and
L3When sin45 ° of > H, it is believed that robot can climb this stair, and α meets 45 ° of α < at this time；Otherwise main control module MCU (1) is sent out
Warning message is to operator out；
Step 4: continued on after main control module MCU (1) judges that α meets 45 ° of α <, position front end walking mechanism (11)
The distance of laser ranging module (21) to the first rank stair facade is S1=L4+L3, L4It is front end walking mechanism (11) front to
The distance of single order stair facade；Work as L4When < 1cm, main control module MCU (1) control will Status Flag be at this time to climb the building stage；
Step 5: main control module MCU (1) control front end walking mechanism (11) is lifted up 45 °, then front end walking is continued on
Mechanism (11) can ride on the first rank stair；It continues on, body chassis (12) lift upwards, and gyro sensor (22) is adopted
The angle β of collection body chassis (12) and horizontal plane, which will start from scratch, to become larger, and main control module MCU (1) controls rear end according to angle β
Walking mechanism (13) lifts equal angular, so that rear end walking mechanism (13) be kept still to be bonded ground；When body chassis (12)
When being not zero with the angle β of horizontal plane, main control module MCU (1) controls front end walking mechanism (11) and falls downwards at this time, before making
End walking mechanism (11) has the tendency that being bonded with the first rank stair step；
It is up to β with body chassis (12) angulation when front end walking mechanism (11) is fallen downwardsmax=pi/2-sec (H/S), H
It is the height H, S of stairway step facade is the length of body；
Step 6: in the case that rear end walking mechanism (13) is still bonded ground, the folder of body chassis (12) and horizontal plane at this time
Angle beta > α, continues on then L4Constantly reduce；Work as L4When < 1cm, rear end walking mechanism (13) is no longer bonded ground, master control molding
Block MCU (1) control rear end walking mechanism (13) is fallen downwards, and main control module MCU (1) controls front end walking mechanism (11) and starts
Opposite body is lifted up, at this time and the angle number lifted and rear end walking mechanism (13) body downward angle number phase relatively
Together；
Step 7: rear end walking mechanism (13) rear portion is with respect to machine when walking mechanism (11) front in front end is raised up to 45 ° with respect to body
Body is fallen to after 45 °, and the angle β < α of body chassis (12) and horizontal plane, front end walking mechanism (11) front is put with respect to body
Under, rear end walking mechanism (13) rear portion is lifted with respect to body, then body chassis (12) and the angle β of horizontal plane start to increase, and β increases
When adding to α, front end walking mechanism (11) stopping is put down, and starts to lift, and rear end walking mechanism (13) stopping is lifted, and starts to put down,
It continues on, then L4Constantly reduce, repeats the above steps, continuous speeling stairway；
Step 8: when front end walking mechanism (11) climbing to last single order stair, after front end walking mechanism (11) is put down, detection
To L4> 2W and at this time main control module MCU (1) indicate to climb the building stage, then it is assumed that speeling stairway terminates, main control module MCU
(1) mark is level land motion stage.
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