阅读说明：本技术 一种轮式越障机器人底盘 (Wheel type obstacle crossing robot chassis ) 是由 秦欢欢 刘伟 支涛 于 2021-04-13 设计创作，主要内容包括：本发明公开了一种轮式越障机器人底盘,包括底盘主体；主动轮,其可旋转支撑在底盘主体上；安装架,其一端可拆卸连接底盘主体；越障轮,其可旋转支撑在安装架的另一端；越障组件,其设置在安装架与越障轮之间,能够使越障轮沿所述安装架滑动,以攀越障碍物；激光雷达导航模块,其连接底盘主体,用于障碍物识别和规划路径。本发明通过在越障轮和底盘主体之间设置越障组件,使越障轮能够上下滑动,攀越障碍物,结构简单,同时本发明还提供了机器人底盘识别障碍物和规划路径的方法,通过实时更新环境地图,优化路径,提高机器人底盘的行进效率。(The invention discloses a wheel type obstacle crossing robot chassis, which comprises a chassis main body; a driving wheel rotatably supported on the chassis main body; one end of the mounting rack is detachably connected with the chassis main body; the obstacle crossing wheel is rotatably supported at the other end of the mounting rack; the obstacle crossing assembly is arranged between the mounting frame and the obstacle crossing wheels, and can enable the obstacle crossing wheels to slide along the mounting frame so as to climb over the obstacle; and the laser radar navigation module is connected with the chassis main body and is used for identifying obstacles and planning paths. The obstacle crossing assembly is arranged between the obstacle crossing wheel and the chassis main body, so that the obstacle crossing wheel can slide up and down to climb over an obstacle, the structure is simple, meanwhile, the invention also provides a method for identifying the obstacle and planning a path by the robot chassis, and the method optimizes the path and improves the traveling efficiency of the robot chassis by updating the environment map in real time.)

1. A wheeled obstacle-surmounting robot chassis, comprising:

a chassis main body;

a drive wheel rotatably supported on the chassis body;

the mounting frame, one end of which is detachably connected with the chassis main body;

the obstacle crossing wheel is rotatably supported at the other end of the mounting rack;

the obstacle crossing assembly is arranged between the mounting frame and the obstacle crossing wheel, and can enable the obstacle crossing wheel to slide along the mounting frame so as to climb over an obstacle;

and the laser radar navigation module is connected with the chassis main body and is used for identifying obstacles and planning paths.

2. The wheeled obstacle-surmounting robot chassis of claim 1, wherein the mounting bracket comprises:

a housing having a mounting cavity;

the first limiting mechanism is arranged at one end of the shell and can be connected with one end of the obstacle crossing wheel in a sliding mode;

the second limiting mechanism is arranged at the other end of the shell and can be connected with the other end of the obstacle crossing wheel in a sliding manner;

and the degree of freedom of the second limiting mechanism is greater than that of the first limiting mechanism.

3. The wheeled obstacle-surmounting robot chassis of claim 2, wherein the obstacle-surmounting assembly includes:

the first spring is arranged between the first limiting mechanism and the obstacle crossing wheel, and can enable one end of the obstacle crossing wheel to slide along the first limiting mechanism;

the second spring is arranged between the second limiting mechanism and the obstacle crossing wheel, and can enable the other end of the obstacle crossing wheel to slide along the second limiting mechanism;

the obstacle crossing wheel can climb upwards by the aid of the first spring and the second spring which stretch and retract alternately.

4. The wheeled obstacle-surmounting robot chassis of claim 3, wherein the first and second limit mechanisms each comprise:

the limiting column is arranged in the mounting cavity and is connected with one end of the spring;

a limit guide rail arranged on the housing;

and the shaft pin is arranged on the limit guide rail in a sliding manner, one end of the shaft pin is connected with the other end of the spring, and the other end of the shaft pin is connected with the obstacle crossing wheel, so that the obstacle crossing wheel can slide along the limit guide rail.

5. The wheeled obstacle-surmounting robot chassis of claim 4, wherein the curb rail includes a first rail and a second rail;

the first sliding rail is arranged on one side of the shell;

the second sliding rail is arranged on the other side of the shell;

the axle pin is arranged between the first slide rail and the second slide rail.

6. The wheeled obstacle-surmounting robot chassis of claim 5, wherein the obstacle-surmounting wheels are universal wheels.

7. The wheeled obstacle-surmounting robot chassis of claim 6, wherein the first spring and the second spring are both high strength springs.

8. The wheeled obstacle-surmounting robot chassis of claim 7, wherein the obstacle identification and path planning includes the steps of:

collecting a frame of laser radar data;

dividing the laser radar data into a plurality of equal square blocks, and screening out an interested area block;

setting a neighborhood and a lowest density value, and traversing the interested regions to obtain a central point of each interested region;

if the center point densities of the adjacent interested areas are connected, the adjacent interested areas are classified as an obstacle cluster;

extracting the geometric characteristics of the obstacle cluster, and drawing a rectangular frame of the obstacle;

correlating two adjacent frames of laser radar data, filtering and predicting the position and the speed of an obstacle by adopting a Kalman filter, and drawing an environment map;

and planning a path according to the environment map.

9. The wheeled obstacle-surmounting robot chassis of claim 8, wherein said screening a region of interest comprises the steps of:

calculating the occupation ratio value of each square block respectively;

taking the square block with the proportion value larger than the proportion threshold value as an interested area block;

wherein, the ratio value and the ratio threshold value are obtained by calculation

Wherein rho represents a ratio, A represents the number of pixel points in the square block, m represents the length of the square block, n represents the height of the square block, and rho_desRepresenting the occupancy threshold, k the lidar angular resolution, Δ ω the measurement error, N the threshold parameter, λ the lidar ground clearance, and H the threshold factor.

10. The wheeled obstacle-surmounting robot chassis of claim 9, wherein the neighborhood and lowest density values are calculated as:

wherein d is_minDenotes the lowest density value, σ denotes the density mean value, κ denotes the correction coefficient, R denotes the width of the transmit waveform, θ denotes the angle error of the lidar, x_maxRepresenting the maximum number of projections, x, of a single block pixel on the horizontal axis_minRepresenting the minimum number of projections, y, of a single block pixel on the horizontal axis_maxRepresenting the maximum number of projections, y, of a single block pixel on the vertical axis_minThe minimum projection number of the pixel points of the single block on the vertical axis is represented, epsilon represents a neighborhood, x represents the projection length of the single pixel points on the horizontal axis, y represents the projection length of the single pixel points on the horizontal axis, and a represents an interference coefficient.

Technical Field

The invention relates to the technical field of robots, in particular to a wheel type obstacle crossing robot chassis.

Background

With the development of national economic technology and the improvement of living standard of people, robots have started to play a role in the service field in solving the rigidity requirement of the last kilometer. In the field of mobile robots, a robot chassis is a key technology, and the existing mobile robots mostly adopt wheels, have the advantages of high speed and strong stability, but have the defects of complex structure, poor obstacle crossing capability and the like.

Disclosure of Invention

The invention provides a wheel type obstacle crossing robot chassis which comprises a chassis main body, a driving wheel, obstacle crossing wheels, an obstacle crossing assembly and a laser radar navigation module.

Another object of the present invention is to provide a laser radar navigation obstacle avoidance method, which updates an environment map by acquiring surrounding environment data in real time, so as to plan a path and effectively avoid obstacles.

The technical scheme of the invention is as follows:

a wheeled obstacle-surmounting robot chassis comprising:

a chassis main body;

a driving wheel rotatably supported on the chassis main body;

one end of the mounting rack is detachably connected with the chassis main body;

the obstacle crossing wheel is rotatably supported at the other end of the mounting rack;

the obstacle crossing assembly is arranged between the mounting frame and the obstacle crossing wheels, and can enable the obstacle crossing wheels to slide along the mounting frame so as to climb over the obstacle;

and the laser radar navigation module is connected with the chassis main body and is used for identifying obstacles and planning paths.

Preferably, the mounting bracket includes:

a housing having a mounting cavity;

the first limiting mechanism is arranged at one end of the shell and can be connected with one end of the obstacle crossing wheel in a sliding manner;

the second limiting mechanism is arranged at the other end of the shell and can be connected with the other end of the obstacle crossing wheel in a sliding manner;

and the degree of freedom of the second limiting mechanism is greater than that of the first limiting mechanism.

Preferably, the barrier crossing assembly comprises:

the first spring is arranged between the first limiting mechanism and the obstacle crossing wheel, and can enable one end of the obstacle crossing wheel to slide along the first limiting mechanism;

the second spring is arranged between the second limiting mechanism and the obstacle crossing wheel, and can enable the other end of the obstacle crossing wheel to slide along the second limiting mechanism;

wherein, first spring and the alternative flexible wheel of climbing that can make of second spring can make and hinder more upwards climb.

Preferably, the first and second limit mechanisms each include:

the limiting column is arranged in the mounting cavity and is connected with one end of the spring;

the limiting guide rail is arranged on the shell;

and the shaft pin is arranged on the limit guide rail in a sliding manner, one end of the shaft pin is connected with the other end of the spring, and the other end of the shaft pin is connected with the obstacle crossing wheel, so that the obstacle crossing wheel can slide along the limit guide rail.

Preferably, the curb rail includes a first rail and a second rail;

the first sliding rail is arranged on one side of the shell;

the second slide rail is arranged on the other side of the shell;

the pivot is disposed between the first slide rail and the second slide rail.

Preferably, the obstacle crossing wheel is a universal wheel.

Preferably, the first spring and the second spring are both high-strength springs.

Preferably, the obstacle identification and path planning comprises the steps of:

collecting a frame of laser radar data;

dividing laser radar data into a plurality of equal square blocks, and screening out an interested area block;

setting neighborhood and minimum density value, traversing the interested region blocks to obtain the central point of each interested region block;

if the center points of the adjacent interested areas are connected in density, the adjacent interested areas are classified as an obstacle cluster;

extracting the geometric characteristics of the obstacle cluster, and drawing a rectangular frame of the obstacle;

correlating two adjacent frames of laser radar data, filtering and predicting the position and the speed of an obstacle by adopting a Kalman filter, and drawing an environment map;

and planning a path according to the environment map.

Preferably, the step of screening the region of interest comprises the following steps:

respectively calculating the ratio of each square block;

taking the square block with the proportion value larger than the proportion threshold value as an interested area block;

wherein, the ratio value and the ratio threshold value are obtained by calculation

Wherein rho represents a ratio, A represents the number of pixel points in the square block, m represents the length of the square block, n represents the height of the square block, and rho_desRepresenting the occupancy threshold, k the lidar angular resolution, Δ ω the measurement error, N the threshold parameter, λ the lidar ground clearance, and H the threshold factor.

Preferably, the neighborhood and lowest density values are calculated as:

wherein d is_minDenotes the lowest density value, σ denotes the density mean value, κ denotes the correction coefficient, R denotes the width of the transmit waveform, θ denotes the angle error of the lidar, x_maxRepresenting a single blockMaximum projection number, x, of pixel points on the horizontal axis_minRepresenting the minimum number of projections, y, of a single block pixel on the horizontal axis_maxRepresenting the maximum number of projections, y, of a single block pixel on the vertical axis_minThe minimum projection number of the pixel points of the single block on the vertical axis is represented, epsilon represents a neighborhood, x represents the projection length of the single pixel points on the horizontal axis, y represents the projection length of the single pixel points on the horizontal axis, and a represents an interference coefficient.

The invention has the beneficial effects that:

1. the invention provides a wheel type obstacle crossing robot chassis which comprises a chassis main body, a driving wheel, obstacle crossing wheels, an obstacle crossing assembly and a laser radar navigation module.

2. According to the wheel type obstacle crossing robot chassis provided by the invention, two ends of an obstacle crossing wheel are respectively connected with the first limiting mechanism and the second limiting mechanism, the degree of freedom of the second limiting mechanism is greater than that of the first limiting mechanism, when an obstacle is encountered, the upward sliding displacement of the two ends of the obstacle crossing wheel is different, the displacement close to one end of the obstacle is smaller than that far away from one end of the obstacle, one end of the obstacle crossing wheel close to the obstacle is jacked up, and the obstacle can climb over the obstacle.

3. When the chassis of the robot meets an obstacle, the first spring and the second spring are compressed, the compression amount of the second spring is larger than that of the first spring, and then the first spring and the second spring stretch alternately to enable the obstacle crossing wheel to climb upwards continuously to cross the obstacle.

4. The invention also provides a laser radar navigation obstacle avoidance method, which is used for planning a path and effectively avoiding obstacles by acquiring surrounding environment data in real time and updating an environment map.

Drawings

Fig. 1 is a schematic structural diagram of a chassis of a wheeled obstacle-surmounting robot provided by the invention.

Fig. 2 is a schematic view of a bottom structure of a chassis of the wheel type obstacle crossing robot provided by the invention.

Fig. 3 is a schematic view of a connection structure of a mounting bracket and an obstacle crossing assembly according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a mounting frame in an embodiment of the invention.

Fig. 5 is a side view of a mounting bracket and obstacle detouring wheel connection structure according to an embodiment of the present invention.

Fig. 6 is a cross-sectional view of a mounting bracket and obstacle detouring assembly connection structure according to an embodiment of the present invention.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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 invention.

It should be noted that in the description of the present invention, the terms "in", "upper", "lower", "lateral", "inner", etc. indicate directions or positional relationships based on those shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 3, the wheel type obstacle crossing robot chassis provided by the invention comprises a chassis main body 100, a driving wheel 200, an obstacle crossing wheel 300 mounting frame 400, an obstacle crossing assembly 500 and a laser radar navigation obstacle avoidance module 600.

The driving wheel 200 is rotatably supported on the chassis main body 100, one end of the installation frame 400 is detachably connected with the chassis main body 100, the obstacle crossing wheel 300 is rotatably supported at the other end of the installation frame 400, the obstacle crossing assembly 500 is arranged between the installation frame 400 and the obstacle crossing wheel 300, the obstacle crossing wheel 300 can slide along the installation frame 400 to climb over an obstacle, and the laser radar navigation module 600 is connected with the chassis main body 100 and used for obstacle identification and path planning.

The working process of the robot chassis comprises the steps that the laser radar navigation obstacle avoidance module is used for planning a path, the driving wheel 200 rotates, when an unavoidable obstacle is encountered, the obstacle crossing wheel 300 firstly contacts the bottom of the obstacle, under the action of the forward thrust of the driving wheel and the gravity of the chassis, the obstacle crossing wheel 300 upwards slides along the installation frame 400, the obstacle crossing wheel 300 is bounced, and one end of the robot chassis gradually climbs upwards to slowly climb over the obstacle.

Preferably, the obstacle crossing wheels 300 are universal wheels.

Preferably, the outer diameter of the driving wheel 200 is larger than the outer diameter of the obstacle detouring wheel 300.

Preferably, the capstan 200 includes a first drive wheel 210 and a second drive wheel 220.

Further, the chassis main body 100 integrally includes a base plate 110, a first support 120, a second support 130, a battery holder 140, and a third support 150. The first support frame 120 is disposed on one side of the bottom plate 110, the second support frame 130 is disposed on the other side of the bottom plate 110, the third support frame 150 is disposed at one end of the bottom plate 110, and the battery holder 140 is disposed at the center of the bottom plate 110 and has a cavity for accommodating a battery.

Preferably, the first support frame 120 and the second support frame 130 are located on the horizontal axis of the base plate 110, and the third support frame 150 and the mounting frame 400 are located on the vertical axis of the base plate 110.

Preferably, the chassis main body 110 is provided with anti-collision members around the chassis main body, in a specific embodiment, the anti-collision members may be silicone strips, elastic airbags, elastic rubbers, and the like, and the anti-collision members can sufficiently relieve the collision force and protect the chassis main body from being damaged by collision or paint falling.

Further, the robot further comprises a driven wheel 700 which is rotatably connected with the third support frame 150, the first driving wheel 210 is rotatably connected with the first support frame 120, the second driving wheel 220 is rotatably connected with the second support frame 130, and the lower ends of the driving wheel 200, the obstacle crossing wheel 300 and the driven wheel 700 are located on the same horizontal line in a natural state, that is, when the robot chassis is placed on a plane, the driving wheel 200, the obstacle crossing wheel 300 and the driven wheel/700 are in uniform ground contact.

Each part directly links firmly with bottom plate main part 110, compact structure, and product safe and reliable reduces current cost of labor simultaneously, improves work efficiency, and bottom plate modular production promotes the bulk strength of robot, can let the robot load more, promotes the practicality of product, reliability and better experience impression.

The mounting bracket 400 includes a housing 410, a first stop mechanism 420, and a second stop mechanism 430. The housing 410 has a mounting cavity, the first limiting mechanism 420 is disposed at one end of the housing 410 and slidably connected to one end of the obstacle crossing wheel 300, and the second limiting mechanism 420 is disposed at the other end of the housing 410 and slidably connected to the other end of the obstacle crossing wheel 300.

Further, the degree of freedom of the second position limiting mechanism 430 is greater than the degree of freedom of the first position limiting mechanism 420.

As shown in fig. 4-6, the obstacle crossing assembly 500 includes a first spring 510 and a second spring 520. The first spring 510 is arranged between the first limiting mechanism 420 and the obstacle crossing wheel 300, one end of the obstacle crossing wheel 300 can slide along the first limiting mechanism 420, the second spring 520 is arranged between the second limiting mechanism 430 and the obstacle crossing wheel 300, the other end of the obstacle crossing wheel 300 can slide along the second limiting mechanism 430, and the first spring 510 and the second spring 520 alternately stretch and retract to enable the obstacle crossing wheel to climb upwards.

Preferably, the first spring 510 and the second spring 520 are high-strength springs.

The first position-limiting mechanism 420 and the second position-limiting mechanism 430 have the same structure, and the second position-limiting mechanism 420 includes a position-limiting column 421, a position-limiting guide rail 422 and a shaft pin 423. Wherein, spacing post 421 sets up in the installation cavity, and the one end of connecting spring, and spacing guide rail 422 sets up on casing 410, and pivot 423 slidable sets up on spacing guide rail 422, and the other end of one end connecting spring, and the other end is connected and is hindered wheel 300 more to what make hinder wheel 300 more can slide along spacing guide rail.

Further, the degree of freedom of the limiting guide rail 422 in the first limiting mechanism 420 is greater than the limiting guide rail 432 in the second limiting mechanism 430, when the chassis of the robot encounters an obstacle, under the action of the front thrust of the main driving wheel 200 and the chassis gravity, the first spring 510 and the second spring 520 are compressed, the two ends of the obstacle crossing wheel 300 respectively slide upwards along the limiting guide rails and are limited by the degree of freedom of the limiting guide rails, and the first spring 510 and the second spring 520 are caused to alternately extend and retract due to different compression amounts, so that the obstacle crossing wheel 300 continuously climbs upwards.

Further, the limiting guide rail comprises a first slide rail and a second slide rail, the first slide rail is arranged on one side of the shell 410, the second slide rail is arranged on the other side of the shell 410, and the shaft pin is arranged between the first slide rail and the second slide rail so as to improve the stability of the robot chassis.

The invention provides a wheel type obstacle crossing robot chassis, which comprises the following steps of obstacle identification and path planning:

1. and collecting a frame of laser radar data.

2. The method comprises the steps of dividing laser radar data into a plurality of equal square blocks, setting an occupation ratio threshold value, calculating the occupation ratio value of each square block, taking the square blocks with the occupation ratio values larger than the occupation ratio threshold value as interested areas, taking the square blocks with the occupation ratio values smaller than the occupation ratio threshold value as noise points, removing the noise points, only keeping the approximate outline of an obstacle, primarily screening the radar data, and effectively improving the obstacle identification efficiency.

Wherein, the ratio value and the ratio threshold value are obtained by calculation

Wherein rho represents a ratio, A represents the number of pixel points in the square block, m represents the length of the square block, n represents the height of the square block, and rho_desRepresenting the occupancy threshold, k the lidar angular resolution, Δ ω the measurement error, N the threshold parameter, λ the lidar ground clearance, and H the threshold factor.

3. Setting neighborhood and minimum density value, traversing the interested region blocks to obtain the central point of each interested region block, and calculating the neighborhood and minimum density value to obtain:

wherein d is_minDenotes the lowest density value, σ denotes the density mean value, κ denotes the correction coefficient, R denotes the width of the transmit waveform, θ denotes the angle error of the lidar, x_maxRepresenting the maximum projection length, x, of a single pixel point on the horizontal axis_minRepresents the minimum projection length, y, of a single pixel point on the horizontal axis_maxRepresenting the maximum projection length, y, of a single pixel point on the vertical axis_minThe minimum projection length of a single pixel point on the vertical axis is represented, epsilon represents a neighborhood, x represents the projection length of the single pixel point on the horizontal axis, y represents the projection length of the single pixel point on the horizontal axis, and a represents an interference coefficient.

Taking any point P in the block as a starting point, and according to the neighborhood epsilon and the lowest density value d_minFinding all points reachable from the P point density, if the center point, then all points in the epsilon neighborhoodThe candidate points are grouped into a cluster and this cluster is then further expanded by looking at the density of candidate points until finally the complete cluster is found. If P is not the center point, continue searching the next point until all points are searched.

4. And if the center points of the adjacent interested areas are connected in density, the adjacent interested areas are classified as an obstacle cluster.

Density connected means that for a given neighborhood ε and lowest density value d_minIf there is a point Q, two center points P of the adjacent blocks are made_d1And point P_d2The density can be reached, then point P_d1And point P_d2The densities are connected.

Density reachable means that for a given neighborhood ε and lowest density value d_minIf there is a seriesDotAnd P is_i+1From P_iThe direct density can be reached, thenTo P₁The density can be reached.

5. Extracting the geometric characteristics of the obstacle cluster, and drawing a rectangular frame of the obstacle;

extracting main geometrical characteristics of the obstacle, including vertex coordinates, deviation angle of an x axis, length and width, extracting convex points by using Graham scanning, and then extracting a rectangular frame of the obstacle by using a simplified fuzzy line segment method.

6. And correlating the two adjacent frames of laser radar data, filtering and predicting the position and the speed of the obstacle by adopting a Kalman filter, and drawing an environment map.

The method is characterized in that a measurement result has a large error due to the influence of measurement noise and the motion of a robot chassis, and in order to solve the problems that the target motion track is greatly changed due to the measurement noise in target tracking, the influence on the predicted target motion track is caused, and the position of a predicted target needs to be filtered and predicted by a Kalman filter in the obstacle association.

Establishing a geometric feature list of each obstacle, establishing an association relation according to geometric features between the obstacles, performing data association on the obstacles between two adjacent frames, and filtering and predicting the position and the speed of the target obstacle by adopting a Kalman filter.

7. And planning a path according to the environment map.

The process of implementing the chassis work of the wheel type obstacle crossing robot is as follows: the laser radar navigation obstacle avoidance module 600 draws an environment map in real time, plans a path, rotates the driving wheel 200 to drive the obstacle crossing wheel 300 to rotate, the chassis of the robot moves forwards, when the obstacle crossing wheel 300 contacts with an obstacle, the obstacle crossing wheel 300 firstly contacts with the obstacle, the driving wheel 200 rotates to provide a horizontal forward driving force for the obstacle crossing wheel 300, a resultant force is formed by the driving wheel and the self gravity of the chassis of the robot, the resultant force is in contact with the ground and the obstacle, the first spring 510a and the second spring 520 are driven to compress, two ends of the obstacle crossing wheel 300 slide upwards along the limiting guide rail, because the degrees of freedom of two sides of the obstacle crossing wheel 300 are different, the compression amount of the second spring 520 is greater than that of the first spring 510, the sliding displacement amount of one end of the obstacle crossing wheel 300 far away from the obstacle is greater than that of one end close to the obstacle, one end of the ground plate on one side of the obstacle tilts, and the resilience force of the second, the rebound of the second spring 520 stretches the first spring 510, the rebound of the first spring 510 stretches the second spring 520, under the continuous action of the forward thrust and the gravity, the first spring 510 and the second spring 520 are repeatedly and alternately stretched, and two ends of the obstacle crossing wheel 300 like two ends of a seesaw are alternately tilted, so that one end of the chassis of the robot is continuously lifted, the obstacle crossing wheel 300 is continuously climbed, and finally the obstacle is climbed.

According to the wheel type obstacle crossing robot chassis, the chassis which is integrally die-cast is used, so that the structure is more compact, the bottom plate is produced in a modularized mode, the overall strength of the robot is improved, the load of the robot can be more, meanwhile, the obstacle crossing assembly is arranged between the chassis main body and the obstacle crossing wheels, when the robot chassis meets an obstacle, the obstacle crossing wheels slide to lift one end of the chassis main body to climb over the obstacle, the structure is simple, the cost is low, the working efficiency is high, and the development and popularization of the robot are further promoted.

The invention also provides a method for identifying the chassis barrier of the robot and planning a path, which predicts the position and the speed of the barrier by acquiring the surrounding environment data in real time and draws an environment map so as to plan the path and effectively avoid the barrier, and has accurate result and high efficiency.

The above descriptions are only examples of the present invention, and common general knowledge of known specific structures, characteristics, and the like in the schemes is not described herein too much, and it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Without departing from the invention, several changes and modifications can be made, which should also be regarded as the protection scope of the invention, and these will not affect the effect of the invention and the practicality of the patent.