阅读说明：本技术 一种地形自适应移动机器人升降架的控制方法 (Control method of terrain adaptive mobile robot lifting frame ) 是由 董辉 田叮 吴宇航 吴祥 袁登鹏 董浩 周俊阳 于 2020-05-13 设计创作，主要内容包括：本发明公开了一种地形自适应移动机器人升降架的控制方法,包括获取移动机器人的角度和角速度；通过所述距离传感器获得距离传感器与地面之间的间距,根据该间距计算前后位置的电动推杆各自的目标伸长距离；根据目标伸长距离驱动前后位置的电控支架的电动推杆伸长,并读取编码器的数值,根据编码器的数值计算电动推杆当前的实际伸长距离；根据电动推杆的伸长距离和移动机器人的角度控制升降架。本发明有效解决了移动机器人在自启动时失衡摔倒的问题。(The invention discloses a control method of a terrain self-adaptive mobile robot lifting frame, which comprises the steps of obtaining the angle and the angular speed of a mobile robot; obtaining the distance between the distance sensor and the ground through the distance sensor, and calculating the respective target extension distance of the electric push rods at the front and rear positions according to the distance; driving an electric push rod of the electric control bracket at the front and rear positions to extend according to the target extension distance, reading the numerical value of the encoder, and calculating the current actual extension distance of the electric push rod according to the numerical value of the encoder; and the lifting frame is controlled according to the extension distance of the electric push rod and the angle of the mobile robot. The invention effectively solves the problem that the mobile robot falls down in unbalance when self-starting.)

1. The control method of the terrain adaptive mobile robot lifting frame is characterized in that the lifting frame comprises two electric control supports which are respectively arranged at the front position and the rear position of a mobile robot, each electric control support comprises a frame main body fixed on the mobile robot, an electric push rod fixed on the frame main body and stretching longitudinally, an encoder connected with a driving motor of the electric push rod and a distance sensor arranged on the frame main body and used for measuring the distance between the encoder and the ground, and the control method of the terrain adaptive mobile robot lifting frame comprises the following self-starting control method:

step S1, acquiring the angle and the angular speed of the mobile robot;

step S2, obtaining the distance between the distance sensor and the ground through the distance sensor, and calculating the respective target extension distance of the electric push rods at the front and rear positions according to the distance;

step S3, driving the electric push rod of the electric control bracket at the front and rear positions to extend according to the target extension distance, reading the numerical value of the encoder, and calculating the current actual extension distance of the electric push rod according to the numerical value of the encoder;

step S4, controlling the lifting frame according to the extension distance of the electric push rod and the angle of the mobile robot, comprising:

if the first condition is met, the electric push rods of the electric control supports at the front and rear positions stop extending, the inclination state of the mobile robot is judged according to the angle, if the mobile robot inclines forwards, the electric push rod arranged at the front end continues to extend, and the electric push rod arranged at the rear end retracts; if the mobile robot tilts backwards, the electric push rod arranged at the rear end continues to extend, and the electric push rod arranged at the front end retracts;

if the second condition is met, the electric push rods of the electric control supports at the front and rear positions stop extending, and if the second condition is still met after the time delay of a second, the electric push rods of the electric control supports at the front and rear positions are retracted;

if neither the first condition nor the second condition is satisfied, re-executing step S3;

wherein the first condition comprises: the actual extension distances of the electric push rods at the front and rear positions are both larger than or equal to the target extension distance, the angle of the mobile robot is between (-b) — (-c) or c-b degrees, and c < b; the second condition includes: the actual extension distance of the electric push rod at the front and rear positions is larger than or equal to the target extension distance, and the angle of the mobile robot is between (-c) -c degrees.

2. The method for controlling the terrain adaptive mobile robot crane according to claim 1, wherein the distance between the distance sensor and the ground is obtained by the distance sensor, and the target extension distance of the electric putter is calculated according to the distance, comprising:

obtaining the distance D between the front end distance sensor and the ground through the distance sensor of the electric control bracket arranged at the front end₁Obtaining the distance D between the rear-end distance sensor and the ground through the distance sensor of the electric control bracket arranged at the rear end₂；

Calculating the difference between the distances between the front and rear distance sensors and the ground as D_t：

D_t＝|D₁-D₂|

If D is₁＞D₂Setting the target extension distance of the electric push rod at the front end to be D_tThe target extension distance of the electric push rod at the rear end is 0;

if D is₁＜D₂If the target extension distance of the electric push rod at the front end is set to 0 and the target extension distance of the electric push rod at the rear end is set to D_t；

If D is₁＝D₂The target extension distance of the electric push rod at the front end is set to 0, and the target extension distance of the electric push rod at the rear end is set to 0.

3. The method for controlling the terrain adaptive mobile robot crane according to claim 1, wherein if the mobile robot is tilted forward, the electric push rod installed at the front end is extended continuously, and the electric push rod installed at the rear end is retracted; if the mobile robot tilts backwards, the electric push rod arranged at the rear end continues to extend, and the electric push rod arranged at the front end retracts, and the device comprises:

if the mobile robot is forward-inclined, calculating the output control quantity U of the driving motor_(k)And according to the output control quantity U_(k)The electric push rod arranged at the front end is driven to continue to extend, and simultaneously, the control quantity U is output_(k)Controlling the electric push rod arranged at the rear end to retract; if the mobile robot tilts backwards, thenCalculating output control quantity U of driving motor_(k)And according to the output control quantity U_(k)The electric push rod driving the electric control bracket arranged at the rear end continues to extend, and simultaneously, the electric push rod outputs a control quantity U_(k)Controlling the electric push rod arranged at the front end to retract;

wherein the output control amount U of the driving motor is calculated_(k)The method comprises the following steps:

calculating the current elongation velocity V of the electric push rod_(k)The following were used:

V_(k)＝l×(θ_(k)+ω_(k))

wherein l is a proportionality coefficient, theta_(k)、ω_(k)Obtaining the angle and the angular speed of the mobile robot at present;

U_(k)＝K_Pe(k)+K_d(e_(k)-e_(k-1))

wherein, K_P、K_dProportional and differential coefficients in PID control, e_(k)＝V_(k)-V₁，e_(k-1)＝V_(k-1)-V₂，V_(k)For the currently calculated elongation velocity, V_(k-1)For the last calculated elongation velocity, V₁The current motion speed, V, calculated for the mobile robot according to the encoder value₂And calculating the last movement speed of the mobile robot according to the encoder value of the mobile robot.

4. The method for controlling a terrain adaptive mobile robot crane according to claim 1, further comprising the following fault handling control method:

step B1, judging whether the mobile robot is abnormal: monitoring abnormal information, and if the abnormal information of the mobile robot is triggered, controlling the front electric push rod and the rear electric push rod to extend to a specified length at the maximum speed; if the abnormal information of the mobile robot is not triggered, executing the step B2;

step B2, judging whether the posture of the mobile robot is abnormal: judging whether the current angle of the mobile robot is within the range from (-d) to d degrees, and if the current angle is not within the range from (-d) to d degrees, controlling the front electric push rod and the rear electric push rod to extend to the specified length at the maximum speed; if the current angle is within the range of (-d) -d degrees, executing the step B3;

step B3, judging whether the mobile robot needs to be shut down: judging whether a shutdown instruction is received or not, and if the shutdown instruction is received, controlling the front and rear electric push rods to extend to a specified length at the maximum speed; if no shutdown command is received, step B1 is executed again to continue the loop monitoring.

Technical Field

The application belongs to the technical field of mobile robots, and particularly relates to a control method of a terrain self-adaptive mobile robot lifting frame.

Background

Along with the rapid development of society, robots are increasingly used in current production and life. The wheel type mobile robot has the advantages of convenient driving and control, light dead weight, high walking speed, simple mechanism, high working efficiency, flexibility and the like, and is still widely applied to the fields of agriculture, industry, families, space detection, anti-terrorism explosion prevention and the like. The two-wheeled mobile robot has stronger flexibility, is similar to a biped robot in walking, and has wide application in the field of robots. The existing two-wheeled mobile robot can enter a stable state only by human intervention in the starting process of starting, and whether the two-wheeled mobile robot can enter the stable state or not and the speed of entering the stable state has a larger relation with the terrain where the two-wheeled mobile robot is located, and the problems that the mobile robot cannot be completely and autonomously started, the two-wheeled mobile robot is out of balance and falls down when a fault problem occurs exist.

Disclosure of Invention

The application aims to provide a control method of a terrain self-adaptive mobile robot lifting frame, and the problem that the mobile robot falls down in unbalance during self-starting is effectively solved.

In order to achieve the purpose, the technical scheme adopted by the application is as follows:

a control method of a terrain adaptive mobile robot lifting frame comprises two electric control supports which are respectively arranged at the front position and the rear position of a mobile robot, wherein each electric control support comprises a frame main body fixed on the mobile robot, an electric push rod fixed on the frame main body and stretching longitudinally, an encoder connected with a driving motor of the electric push rod, and a distance sensor which is arranged on the frame main body and used for measuring the distance between the encoder and the ground, and the control method of the terrain adaptive mobile robot lifting frame comprises the following self-starting control method:

step S1, acquiring the angle and the angular speed of the mobile robot;

step S2, obtaining the distance between the distance sensor and the ground through the distance sensor, and calculating the respective target extension distance of the electric push rods at the front and rear positions according to the distance;

step S3, driving the electric push rod of the electric control bracket at the front and rear positions to extend according to the target extension distance, reading the numerical value of the encoder, and calculating the current actual extension distance of the electric push rod according to the numerical value of the encoder;

step S4, controlling the lifting frame according to the extension distance of the electric push rod and the angle of the mobile robot, comprising:

if the first condition is met, the electric push rods of the electric control supports at the front and rear positions stop extending, the inclination state of the mobile robot is judged according to the angle, if the mobile robot inclines forwards, the electric push rod arranged at the front end continues to extend, and the electric push rod arranged at the rear end retracts; if the mobile robot tilts backwards, the electric push rod arranged at the rear end continues to extend, and the electric push rod arranged at the front end retracts;

if the second condition is met, the electric push rods of the electric control supports at the front and rear positions stop extending, and if the second condition is still met after the time delay of a second, the electric push rods of the electric control supports at the front and rear positions are retracted;

if neither the first condition nor the second condition is satisfied, re-executing step S3;

wherein the first condition comprises: the actual extension distances of the electric push rods at the front and rear positions are both larger than or equal to the target extension distance, the angle of the mobile robot is between (-b) — (-c) or c-b degrees, and c < b; the second condition includes: the actual extension distance of the electric push rod at the front and rear positions is larger than or equal to the target extension distance, and the angle of the mobile robot is between (-c) -c degrees.

Preferably, the distance between the distance sensor and the ground is obtained by the distance sensor, and the target extension distance of the electric putter is calculated according to the distance, and the method includes:

obtaining the distance D between the front end distance sensor and the ground through the distance sensor of the electric control bracket arranged at the front end₁By means of a distance sensor mounted on the rear-end electric control supportObtaining the distance D between the rear end distance sensor and the ground₂；

Calculating the difference between the distances between the front and rear distance sensors and the ground as D_t：

D_t＝|D₁-D₂|

If D is₁＞D₂Setting the target extension distance of the electric push rod at the front end to be D_tThe target extension distance of the electric push rod at the rear end is 0;

if D is₁＜D₂If the target extension distance of the electric push rod at the front end is set to 0 and the target extension distance of the electric push rod at the rear end is set to D_t；

If D is₁＝D₂The target extension distance of the electric push rod at the front end is set to 0, and the target extension distance of the electric push rod at the rear end is set to 0.

Preferably, when the mobile robot is tilted forward, the electric push rod mounted at the front end is extended continuously, and the electric push rod mounted at the rear end is retracted; if the mobile robot tilts backwards, the electric push rod arranged at the rear end continues to extend, and the electric push rod arranged at the front end retracts, and the device comprises:

if the mobile robot is forward-inclined, calculating the output control quantity U of the driving motor_(k)And according to the output control quantity U_(k)The electric push rod arranged at the front end is driven to continue to extend, and simultaneously, the control quantity U is output_(k)Controlling the electric push rod arranged at the rear end to retract; if the mobile robot tilts backwards, calculating the output control quantity U of the driving motor_(k)And according to the output control quantity U_(k)The electric push rod driving the electric control bracket arranged at the rear end continues to extend, and simultaneously, the electric push rod outputs a control quantity U_(k)Controlling the electric push rod arranged at the front end to retract;

wherein the output control amount U of the driving motor is calculated_(k)The method comprises the following steps:

calculating the current elongation velocity V of the electric push rod_(k)The following were used:

V_(k)＝l×(θ_(k)+ω_(k))

wherein l is a ratioCoefficient of theta_(k)、ω_(k)Obtaining the angle and the angular speed of the mobile robot at present;

U_(k)＝K_Pe_(k)+K_d(e_(k)-e_(k-1))

wherein, K_P、K_dProportional and differential coefficients in PID control, e_(k)＝V_(k)-V₁，e_(k-1)＝V_(k-1)-V₂，V_(k)For the currently calculated elongation velocity, V_(k-1)For the last calculated elongation velocity, V₁The current motion speed, V, calculated for the mobile robot according to the encoder value₂And calculating the last movement speed of the mobile robot according to the encoder value of the mobile robot.

Preferably, the control method of the terrain adaptive mobile robot crane further comprises the following fault handling control method:

step B1, judging whether the mobile robot is abnormal: monitoring abnormal information, and if the abnormal information of the mobile robot is triggered, controlling the front electric push rod and the rear electric push rod to extend to a specified length at the maximum speed; if the abnormal information of the mobile robot is not triggered, executing the step B2;

step B2, judging whether the posture of the mobile robot is abnormal: judging whether the current angle of the mobile robot is within the range from (-d) to d degrees, and if the current angle is not within the range from (-d) to d degrees, controlling the front electric push rod and the rear electric push rod to extend to the specified length at the maximum speed; if the current angle is within the range of (-d) -d degrees, executing the step B3;

step B3, judging whether the mobile robot needs to be shut down: judging whether a shutdown instruction is received or not, and if the shutdown instruction is received, controlling the front and rear electric push rods to extend to a specified length at the maximum speed; if no shutdown command is received, step B1 is executed again to continue the loop monitoring.

According to the control method of the terrain self-adaptive mobile robot lifting frame, the angle and angular speed information of the mobile robot are detected, and the intelligent control of the electric control support of the mobile robot is realized by combining a PID control algorithm, so that the problems of self-starting of the mobile robot and falling of the robot due to loss of balance are effectively solved.

Drawings

Figure 1 is a schematic view of the installation of the crane of the present application;

FIG. 2 is a schematic structural view of an electrically controlled stand according to the present application;

FIG. 3 is a flow chart of a self-starting control method in the control method of the terrain adaptive mobile robot crane of the present application;

fig. 4 is a flowchart of a fault handling control method in the control method of the terrain adaptive mobile robot crane according to the present application.

The reference numerals in the figures are illustrated as follows:

1. a mobile robot; 2. an electric control bracket; 21. a frame body; 22. a distance sensor; 23. an encoder; 24. an electric push rod.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

In one embodiment, the control method of the terrain self-adaptive mobile robot lifting frame is provided, the adaptability of the mobile robot to the terrain is improved, and the problem that the mobile robot falls down in an unbalanced manner is effectively solved. The terrain adaptive mobile robot is a two-wheeled mobile robot which can adapt to terrain based on the control method of the application so as to ensure normal work, and is referred to as a mobile robot for short.

As shown in fig. 1, the crane of the mobile robot of the present embodiment includes two electric control stands 2 respectively installed at front and rear positions of the mobile robot 1.

The forward and backward positions mentioned in the present application are understood to be forward in the direction in which the mobile robot moves straight forward and backward in the direction in which the mobile robot moves straight backward.

The electric control support 2 is arranged at the front and the rear of the mobile robot, so that the normal work of the mobile robot is not influenced, and the falling can be prevented when the mobile robot is unbalanced.

The mobile robot 1 is a conventional two-wheeled mobile robot, and generally has an attitude sensor and two motion rollers, and each motion roller is connected with a respective encoder, and belongs to conventional equipment in the field of mobile robots, and the description of the internal structure of the mobile robot is omitted here.

As shown in fig. 2, each electric control stand 2 includes a frame main body 21 fixed to the mobile robot, an electric push rod 24 fixed to the frame main body 21 and extending and contracting longitudinally, the electric push rod 24 including an extension rod and a driving motor for controlling the extension rod, an encoder 23 connected to the driving motor of the electric push rod 24, and a distance sensor 22 mounted on the frame main body 21 for measuring a distance to the ground. The location a in fig. 2 is the distance between the distance sensor 22 and the ground.

It should be noted that fig. 2 is only a preferred schematic diagram, and is not limited to the only structure of the electronic control stand 2, and there are many variations on the component requirements of the electronic control stand 2. And the number of the electric push rods in each electric control bracket is more than or equal to 1, preferably 2, and the end parts of the push rods of the 2 electric push rods are connected through a connecting piece as shown in the figure so as to ensure the stable support of the electric control bracket.

As shown in fig. 3, the control method of the terrain adaptive mobile robot crane of the present embodiment includes the following self-starting control methods:

and step S1, acquiring the angle and the angular speed of the mobile robot.

Since the mobile robot includes the attitude sensor, the angle and the angular velocity can be directly obtained by the attitude sensor. Of course, it may also be detected by a separate angle sensor, angular velocity sensor, etc.

And step S2, obtaining a distance between the distance sensor and the ground through the distance sensor, and calculating respective target extension distances of the electric push rods at the front and rear positions according to the distance.

The target extension distance is used as the initial extension height of the electric push rod, and the difference value of the distances collected by the front distance sensor and the rear distance sensor can be calculated when the target extension distance is calculated, and can also be a multiple of the distances collected by the front distance sensor and the rear distance sensor.

In one embodiment, a preferred scheme for calculating the target extension distance is as follows:

obtaining the distance D between the front end distance sensor and the ground through the distance sensor of the electric control bracket arranged at the front end₁Obtaining the distance D between the rear-end distance sensor and the ground through the distance sensor of the electric control bracket arranged at the rear end₂；

Calculating the difference between the distances between the front and rear distance sensors and the ground as D_t：

D_t＝|D₁-D₂|

If D is₁＞D₂Setting the target extension distance of the electric push rod at the front end to be D_tThe target extension distance of the electric push rod at the rear end is 0;

if D is₁＜D₂If the target extension distance of the electric push rod at the front end is set to 0 and the target extension distance of the electric push rod at the rear end is set to D_t；

If D is₁＝D₂The target extension distance of the electric push rod at the front end is set to 0, and the target extension distance of the electric push rod at the rear end is set to 0.

And step S3, driving the electric push rod of the electric control bracket at the front and rear positions to extend according to the target extension distance, reading the numerical value of the encoder, and calculating the current actual extension distance of the electric push rod according to the numerical value of the encoder.

If the calculated target extension distance is 0, the corresponding electric putter does not need to be extended. If a plurality of electric push rods are arranged in the electric control bracket, the plurality of electric push rods on the same electric control bracket are synchronously controlled.

And calculating the corresponding length according to the numerical value of the encoder is a conventional technical means in the motion of the mobile robot, and is not described herein again. It will be appreciated that in calculating a parameter of an object, the value of an encoder connected to the object is used.

Step S4, controlling the lifting frame according to the extension distance of the electric push rod and the angle of the mobile robot, comprising:

if the first condition is met, the electric push rods of the electric control supports at the front and rear positions stop extending, the inclination state of the mobile robot is judged according to the angle, if the mobile robot inclines forwards, the electric push rod arranged at the front end continues to extend, and the electric push rod arranged at the rear end retracts; when the mobile robot tilts backward, the electric push rod mounted at the rear end continues to extend, and the electric push rod mounted at the front end retracts.

If the second condition is met, the electric push rods of the electric control supports at the front and rear positions stop extending, and if the second condition is still met after the time delay of a seconds, the electric push rods of the electric control supports at the front and rear positions are retracted.

If neither the first condition nor the second condition is satisfied, step S3 is executed again.

Wherein the first condition comprises: the actual extension distances of the electric push rods at the front and rear positions are both larger than or equal to the target extension distance, the angle of the mobile robot is between (-b) — (-c) or c-b degrees, and c < b; the second condition includes: the actual extension distance of the electric push rod at the front and rear positions is larger than or equal to the target extension distance, and the angle of the mobile robot is between (-c) -c degrees.

When the first judgment meets the second condition but the second condition is not met after the time delay, executing corresponding operation according to the judgment result after the time delay, namely executing the operation corresponding to the first condition if the first condition is met after the time delay; if it is determined after the delay that neither the first condition nor the second condition is satisfied, step S3 is executed again.

In order to ensure the control effect, in one embodiment, a is 1, b is 1.5, and c is 3. In other embodiments, the values of a, b, and c may be adjusted according to actual requirements.

After the first condition is satisfied in step S4, it indicates that the mobile robot is not completely balanced yet, and therefore the crane needs to be controlled continuously to control the corresponding electric push rod to extend or retract, so as to promote the mobile robot to reach a balanced state as soon as possible.

In one embodiment, the preferred scheme for providing continuous control is as follows:

if the mobile robot is forward-inclined, calculating the output control quantity U of the driving motor_(k)And according to the output control quantity U_(k)The electric push rod arranged at the front end is driven to continue to extend, and simultaneously, the control quantity U is output_(k)Controlling the electric push rod arranged at the rear end to retract; if the mobile robot tilts backwards, calculating the output control quantity U of the driving motor_(k)And according to the output control quantity U_(k)The electric push rod driving the electric control bracket arranged at the rear end continues to extend, and simultaneously, the electric push rod outputs a control quantity U_(k)Controlling the electric push rod arranged at the front end to retract.

Wherein the output control amount U of the driving motor is calculated_(k)The method comprises the following steps:

calculating the current elongation velocity V of the electric push rod_(k)The following were used:

V_(k)＝l×(θ_(k)+ω_(k))

wherein l is a proportionality coefficient, theta_(k)、ω_(k)Obtaining the angle and the angular speed of the mobile robot at present;

U_(k)＝K_Pe_(k)+K_d(e_(k)-e_(k-1))

wherein, K_P、K_dProportional and differential coefficients in PID control, e_(k)＝V_(k)-V₁，e_(k-1)＝V_(k-1)-V₂，V_(k)For the currently calculated elongation velocity, V_(k-1)For the last calculated elongation velocity, V₁The current motion speed, V, calculated for the mobile robot according to the encoder value₂And calculating the last movement speed of the mobile robot according to the encoder value of the mobile robot.

When the inclination state of the mobile robot is judged, the judgment can be carried out according to the positive and negative of the angle, the positive and negative of the angle indicate that the inclination state of the mobile robot is different, and the inclination state is the conventional setting of the mobile robot, and the detailed explanation is not carried out here. The angle is negative usually, and the mobile robot is inclined forwards; the angle is positive and the mobile robot is tilted backwards.

The scale factor l can be adjusted according to the speed of the driving motor, and the dynamic adjustment of the scale factor l meets the condition that the maximum value of the product of the scale factor l and other control quantities does not exceed the maximum value specified by the driving motor of the electric control bracket. And the driving motor controls the expansion and contraction of the telescopic rod to be a conventional process used by the electric push rod according to the output control quantity, so that the specific driving principle and process are not described.

After the second condition is satisfied in step S4, it indicates that the mobile robot is not substantially out of balance, and therefore, the crane does not need to be controlled continuously, and at this time, the electric push rods of the electric control support controlling the front and rear positions are all retracted, which is to be understood as that the front and rear electric push rods are all retracted to the shortest state, where the shortest state may be the shortest state on the mechanical structure of the electric push rods, or may be the preset shortest extended state. In the above control scheme, the electric push rod is controlled to calculate the optimal output control amount according to the current state, but in other embodiments, the output control amount may be a preset constant value or a preset variable value.

According to the self-starting control method provided by the embodiment, the angle and the angular speed data of the gesture of the mobile robot are detected, the intelligent control of the lifting frame of the mobile robot is realized by combining a PID control algorithm, the mobile robot is prevented from falling down when the mobile robot is in different states and the front and back electric push rods are controlled to extend or retract to keep self-starting, the software and the hardware are matched, the normal work of the mobile robot is not influenced on the basis of low cost, and the mobile robot can be prevented from being unbalanced and falling down when the mobile robot is self-started.

In the daily operation of the mobile robot, imbalance is easy during self-starting and when faults are met, and the control method during self-starting is described in the embodiment, the control method for the terrain adaptive mobile robot crane is provided through another embodiment, and the control method during faults is provided.

Specifically, as shown in fig. 4, the control method for the terrain adaptive mobile robot crane further includes the following fault handling control method:

step B1, judging whether the mobile robot is abnormal: monitoring abnormal information, and if the abnormal information of the mobile robot is triggered, controlling the front electric push rod and the rear electric push rod to extend to a specified length at the maximum speed; if the abnormality information of the mobile robot is not triggered, step B2 is executed.

Step B2, judging whether the posture of the mobile robot is abnormal: judging whether the current angle of the mobile robot is within the range from (-d) to d degrees, and if the current angle is not within the range from (-d) to d degrees, controlling the front electric push rod and the rear electric push rod to extend to the specified length at the maximum speed; if the current angle is within the range of (-d) -d degrees, execute step B3. Preferably, d is set to 6, although the value of d can be adjusted according to actual requirements.

Step B3, judging whether the mobile robot needs to be shut down: judging whether a shutdown instruction is received or not, and if the shutdown instruction is received, controlling the front and rear electric push rods to extend to a specified length at the maximum speed; if no shutdown command is received, step B1 is executed again to continue the loop monitoring.

The lengths specified in the steps B1 to B3 are the same in this embodiment, and the lengths specified in the respective steps may be the same or different in other embodiments depending on the actual application scenario.

The fault handling control method provided by the embodiment ensures that the mobile robot does not fall down when the mobile robot is abnormal, unbalanced or shut down, improves the strain capacity of the mobile robot, and reduces the probability of fault damage.

It should be noted that the control method of the terrain adaptive mobile robot crane of the present application may be executed by a microcontroller, and the microcontroller may be one, and is used for controlling the mobile robot itself and the crane at the same time; the number of the microcontrollers can also be two, and the microcontrollers respectively control the mobile robot and the lifting frame.

The control method of the terrain self-adaptive mobile robot lifting frame has the advantages that the rapidity is realized, and the overall mobile robot is stably adjusted. According to the emergency of different scenes, the electric control bracket has stable and quick control. The electric control bracket has the functions of preventing the robot from falling down, enabling the robot to start automatically in a special environment (for example, on a road with a certain gradient, the mobile robot to stably stop on the road by respectively controlling the telescopic distance of the front electric push rod and the rear electric push rod), and the like.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.