技术领域technical field
本发明涉及移动机器人领域，特别涉及一种带有双杆臂的小型履带式移动机器人自主攀爬楼梯控制方法。The invention relates to the field of mobile robots, in particular to a control method for autonomous climbing of stairs by a small crawler-type mobile robot with a double-rod arm.
背景技术Background technique
移动机器人是一个集环境感知、动态决策与规划、行为控制与执行等多种功能于一体的综合系统。目前，移动式机器人被大量应用于各种复杂环境，特别是履带式移动机器人的应用更为广泛。履带式移动机器人不同于一般的轮式移动机器人，它能通过各种复杂的地形，并且可以工作在火场、自然灾害、反恐防爆、军事作业、核设施检查等恶劣的环境下，代替人执行一些具有危险性的工作。这些应用场合要求机器人具有体积小、机动性强、转向灵活等特点，而且要能够通过自身携带的传感器使其具有一定的自主功能。本专利所采用的小型履带式移动机器人具有体积小、机动性强、转向灵活和对复杂环境的适应能力较强等优点，可较好地完成反恐防爆、灾难营救和军事侦察等任务。A mobile robot is a comprehensive system that integrates multiple functions such as environment perception, dynamic decision-making and planning, behavior control and execution. At present, mobile robots are widely used in various complex environments, especially crawler mobile robots are more widely used. Tracked mobile robots are different from ordinary wheeled mobile robots. They can pass through various complex terrains, and can work in harsh environments such as fires, natural disasters, anti-terrorism and explosion-proof, military operations, and nuclear facility inspections. Hazardous work. These applications require that the robot has the characteristics of small size, strong mobility, and flexible steering, and it must be able to have certain autonomous functions through the sensors it carries. The small tracked mobile robot adopted in this patent has the advantages of small size, strong maneuverability, flexible steering and strong adaptability to complex environments, etc., and can better complete tasks such as anti-terrorist explosion protection, disaster rescue and military reconnaissance.
履带式移动机器人攀爬楼梯的问题一直是有待解决的重点和难点。根据国内外相关研究进展，攀爬楼梯的履带式移动机器人大多相对尺寸过大(相对于楼梯高度)，这对于机器人侦查的隐蔽性、携带的便携性以及抛投的距离等都会起到很大的限制作用，因此可单人单手携带的小型履带式移动机器人应用灵活性更好。但是对于相对尺寸较小的(相对于楼梯高度)小型履带式移动机器人来说，由于受到自身尺寸的限制，不能采用普通的履带式移动机器人攀爬楼梯的控制方法，因此，本发明针对小型履带式移动机器人，提出了一种自主攀爬楼梯的控制方法。The problem of crawler mobile robot climbing stairs has always been an important and difficult point to be solved. According to the relevant research progress at home and abroad, most of the crawler mobile robots that climb stairs are relatively large (relative to the height of the stairs), which will play a big role in the concealment of robot detection, portability and throwing distance. Therefore, the application flexibility of small tracked mobile robots that can be carried by one person and one hand is better. But for relatively small (relative to the height of the stairs) small crawler mobile robot, due to the limitation of its own size, the control method of ordinary crawler mobile robot climbing stairs cannot be adopted. Therefore, the present invention aims at small crawler A mobile robot, proposed a control method for autonomous climbing stairs.
发明内容Contents of the invention
本发明所要解决的技术问题是针对上述现有技术的不足，而提供一种能自主攀爬楼梯的履带式移动机器人的控制方法。The technical problem to be solved by the present invention is to provide a control method for a crawler-type mobile robot capable of autonomously climbing stairs in view of the above-mentioned deficiencies in the prior art.
为解决上述技术问题，本发明采用的技术方案是：In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:
一种履带式移动机器人爬楼梯的控制方法，所述履带式移动机器人包括前轮、后轮以及包覆在所述前轮和后轮上的履带，其特征在于：在所述前轮设置有转动角度可控的双杆臂，通过调整所述双杆臂的转角逐步提升所述履带式移动机器人的重心位置完成攀爬。A control method for a crawler-type mobile robot climbing stairs, the crawler-type mobile robot includes a front wheel, a rear wheel, and a track covered on the front wheel and the rear wheel, and it is characterized in that: the front wheel is provided with The dual-rod arm with controllable rotation angle gradually raises the position of the center of gravity of the crawler-type mobile robot to complete climbing by adjusting the rotation angle of the dual-rod arm.
所述通过调整所述双杆臂的转角逐步提升所述履带式移动机器人的重心位置完成攀爬的具体步骤是：The specific steps for gradually raising the center of gravity of the tracked mobile robot by adjusting the angle of rotation of the double-bar arm to complete climbing are:
步骤1：确定攀爬台阶的高度，如果攀爬台阶的高度大于最大可攀爬楼梯高度，则停止攀爬；如果攀爬台阶的高度小于最大可攀爬楼梯高度，则进入步骤2；Step 1: Determine the height of the climbing steps. If the height of the climbing steps is greater than the maximum climbable stair height, stop climbing; if the height of the climbing steps is less than the maximum climbable stair height, go to step 2;
步骤2：驱动履带向前运动并用码盘测速，使左右履带的运动速度相同，直至到达车头的履带恰好与第一节台阶相接触，驱动双杆臂按顺时针方向旋转，进入步骤3；Step 2: Drive the crawler to move forward and measure the speed with the code disc, so that the moving speed of the left and right crawlers is the same, until the crawler that reaches the front of the car is just in contact with the first step, drive the double-rod arm to rotate clockwise, and enter step 3;
步骤3：杆臂按顺时针方向旋转，使车体与地面成一定的角度为θ，杆臂停止转动，θ计算公式为：Step 3: Rotate the lever arm clockwise so that the vehicle body and the ground form a certain angle θ, and the lever arm stops rotating. The calculation formula for θ is:
θ＝arccos((L-R)/D)*180/π，θ=arccos((L-R)/D)*180/π,
其中L为杆臂的长度，R前轮的半径，D为前后轮中心之间的距离；Where L is the length of the lever arm, R is the radius of the front wheel, and D is the distance between the centers of the front and rear wheels;
保持车体与踏步面的角度不变，进入步骤4；Keep the angle between the car body and the tread surface unchanged, and go to step 4;
步骤4：杆臂逆时针转动直到与车体成一定角度β，杆臂停止转动，β角保持不变。驱动轮驱动履带向前运动，车体与地面成90度角时，停止运动进入步骤6；Step 4: The lever arm rotates counterclockwise until it forms a certain angle β with the car body, the lever arm stops rotating, and the angle β remains unchanged. The drive wheel drives the track to move forward, and when the car body forms an angle of 90 degrees with the ground, stop moving and enter step 6;
其中β计算公式为：β＝180-arcsin(R/L)*180/π；The calculation formula for β is: β=180-arcsin(R/L)*180/π;
步骤6：杆臂按逆时针转动，同时驱动轮驱动履带转动抬起车体，直到杆臂与地面成90度，进入步骤7；Step 6: The lever arm rotates counterclockwise, and at the same time, the drive wheel drives the crawler to rotate and lift the car body until the lever arm is 90 degrees to the ground, then go to step 7;
步骤7：驱动轮驱动履带继续转动，直至整个车身完全在楼梯的台阶上，停止运动攀爬一节楼梯结束，进入步骤8；Step 7: The drive wheel drives the track to continue to rotate until the entire body is completely on the steps of the stairs, stop the movement and climb a section of stairs, and go to step 8;
步骤8：重复步骤2到步骤7，完成剩余节楼梯的攀爬。Step 8: Repeat steps 2 to 7 to complete the climbing of the remaining sections of stairs.
本发明的优选方案，在步骤1中，车头垂直第一节台阶的具体实现方法是：对两个红外传感器进行校正，找到红外传感器与台阶的距离对应电压值，通过单片机对两个红外传感器测量的电压值进行分析，得到两个传感器到台阶的距离相等，此时，车头与第一节台阶垂直。通过测速码盘，保证两边履带的速度相同，直至机器人的履带恰好与第一节台阶相接触。In the preferred solution of the present invention, in step 1, the specific implementation method of the first vertical step of the front of the vehicle is: correct the two infrared sensors, find the corresponding voltage value of the distance between the infrared sensor and the step, and measure the two infrared sensors through the single-chip microcomputer Analyze the voltage value, and get the same distance from the two sensors to the step. At this time, the front of the car is perpendicular to the first step. Through the speed measuring code disc, ensure that the speed of the crawlers on both sides is the same until the crawler of the robot just touches the first step.
本发明的优选方案，机器人角度的测量是通过姿态传感器来实现的，具体的实现方法，当机器人发生翻转时，用姿态传感器测量得到一个粗略的角度，机器人停止翻转，延迟1秒钟，再重新测量，如果达到所需的角度，则停止翻转，如果角度过大，则向角度偏小的方向翻转，如果角度过小，则向角度偏大的方向进行翻转，从而达到所需要的角度。In the preferred solution of the present invention, the measurement of the angle of the robot is achieved by an attitude sensor. The specific implementation method is that when the robot is overturned, a rough angle is obtained by measuring with the attitude sensor, the robot stops overturning, delays for 1 second, and restarts. Measure, if the required angle is reached, stop turning, if the angle is too large, turn to the direction of smaller angle, if the angle is too small, turn to the direction of larger angle, so as to achieve the required angle.
本发明的优选方案，在步骤1中，机器人攀爬第一节台阶之前需要测量台阶的高度，以用来确定机器人能否翻越该台阶，这个功能是通过机器人前端的摄像头来实现的，机器人前端的摄像头通过建模和图像处理得出攀爬楼梯的踏步梯面高度，与最大可攀爬楼梯高度进行对比，如果攀爬台阶的高度大于最大可攀爬楼梯高度，则取消攀爬任务，向操控终端发出报警信息；如果攀爬台阶的高度小于最大可攀爬楼梯高度，则自动进行攀爬任务。In the preferred solution of the present invention, in step 1, the robot needs to measure the height of the step before climbing the first step to determine whether the robot can climb over the step. This function is realized by the camera at the front end of the robot. The camera obtains the tread height of the climbing stairs through modeling and image processing, and compares it with the maximum climbable stair height. If the height of the climbing steps is greater than the maximum climbable stair height, the climbing task is cancelled, and the The control terminal sends out an alarm message; if the height of the climbing steps is less than the maximum climbable stair height, the climbing task will be performed automatically.
有益效果：与现有技术相比，本发明具有如下优点：Beneficial effect: compared with the prior art, the present invention has the following advantages:
(1)现有此类机器人大多通过履带臂直接搭在台阶上，进行攀爬任务，而这种攀爬台阶的控制方法要求机器人的相对尺寸都比较大。本发明提出的一种攀爬台阶的控制方法，适用于相对尺寸较小，无法通过传统的控制方法实现自主攀爬台阶的小型履带式移动机器人。本发明提出的一种新的控制方法能够实现小型履带式移动机器人攀爬楼梯的功能。(1) Existing robots of this type are mostly directly placed on the steps by crawler arms to carry out climbing tasks, and the control method for this climbing step requires that the relative size of the robot is relatively large. A control method for climbing steps proposed by the present invention is suitable for small crawler-type mobile robots that are relatively small in size and cannot autonomously climb steps through traditional control methods. A new control method proposed by the invention can realize the function of a small crawler-type mobile robot climbing stairs.
(2)由于遥操作机器人系统中不可避免的会出现时延的问题，导致对机器人控制的实时性较差，而攀爬楼梯的过程对实时性要求较高，因此，机器人在攀爬楼梯的过程中，机器人通过自身所携带的传感器实现自主控制，则能有效地避免时延问题，提高了控制精度。(2) Due to the inevitable time delay problem in the teleoperation robot system, the real-time performance of the robot control is poor, and the process of climbing stairs requires high real-time performance. Therefore, the robot is climbing the stairs. During the process, the robot realizes autonomous control through the sensors carried by itself, which can effectively avoid the delay problem and improve the control accuracy.
(3)本控制方法在攀爬楼梯的过程中，首先通过机器人车头前端的红外传感器实现机器人车头与踏步梯面相垂直，再通过编码器使两侧履带的速度相同，从而使机器人的车头始终与踏步梯面相垂直，防止在攀爬楼梯的过程中发生侧滑。(3) In the process of climbing stairs in this control method, firstly, the infrared sensor at the front end of the robot realizes that the front of the robot is perpendicular to the step surface, and then the speed of the crawlers on both sides is the same through the encoder, so that the front of the robot is always in line with the step surface. The treads are perpendicular to each other to prevent side slipping when climbing the stairs.
附图说明Description of drawings
图1是本发明的整体系统示意图。Figure 1 is a schematic diagram of the overall system of the present invention.
图2是本发明的履带式移动机器人的结构示意图。Fig. 2 is a structural schematic diagram of the crawler mobile robot of the present invention.
图3是本发明的履带式移动机器人的攀爬楼梯开始状态示意图。Fig. 3 is a schematic diagram of the start state of climbing stairs of the crawler mobile robot of the present invention.
图4是本发明的履带式移动机器人的攀爬楼梯准备状态示意图。Fig. 4 is a schematic diagram of a crawler mobile robot of the present invention in a ready state for climbing stairs.
图5是本发明的履带式移动机器人车体与踏步面成最大角度示意图。Fig. 5 is a schematic diagram showing the maximum angle between the body of the crawler mobile robot and the tread surface of the present invention.
图6是本发明的履带式移动机器人杆臂与踏步梯面相切示意图。Fig. 6 is a schematic diagram of the tangency between the lever arm of the crawler-type mobile robot and the step surface of the present invention.
图7是本发明的履带式移动机器人杆臂与车身成一定角度示意图。Fig. 7 is a schematic diagram showing that the lever arm of the crawler-type mobile robot of the present invention forms a certain angle with the vehicle body.
图8是本发明的履带式移动机器人车身与踏步面垂直示意图。Fig. 8 is a vertical schematic diagram of the crawler-type mobile robot body and the step surface of the present invention.
图9-11是本发明的履带式移动机器人杆臂抬起车体示意图。9-11 are schematic diagrams of the crawler-type mobile robot arm lifting the car body of the present invention.
图12是本发明的履带式移动机器人重心通过踏步面示意图。Fig. 12 is a schematic diagram of the center of gravity of the crawler-type mobile robot passing through the tread surface of the present invention.
图13是本发明的履带式移动机器人攀爬楼梯结束示意图。Fig. 13 is a schematic diagram of the crawler mobile robot of the present invention climbing stairs.
具体实施方式Detailed ways
下面结合附图和实施例，对本发明的工作原理和工作过程作进一步详细说明。The working principle and working process of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
实施例：参考图1，本实例的整体系统包括操控终端和带有双杆臂的小型履带式移动机器人，其中操纵终端与小型履带式移动机器人之间通过WIFI进行无线通信。参考图2，本实例所采用的带有双杆臂的小型履带式移动机器人是由车体1、驱动轮2-3、支撑轮4-5、杆臂6-7、摄像头8、红外传感器9-10、履带11-12等组成。机器人的尺寸是长200毫米，宽180毫米，高60毫米，杆臂的长度为150毫米。本实例的最大可攀爬高度为157毫米。Embodiment: Referring to FIG. 1, the overall system of this example includes a control terminal and a small crawler-type mobile robot with a double-rod arm, wherein wireless communication is performed between the control terminal and the small crawler-type mobile robot through WIFI. With reference to Fig. 2, the small crawler type mobile robot that this example adopts has double rod arm is made up of car body 1, drive wheel 2-3, support wheel 4-5, lever arm 6-7, camera 8, infrared sensor 9 -10, track 11-12 and so on. The dimensions of the robot are 200 mm in length, 180 mm in width, and 60 mm in height, and the length of the lever arm is 150 mm. This example has a maximum climbable height of 157 mm.
本实施例所使用的楼梯是符合国家标准的直线型楼梯，根据《民用建筑设计通则》规定，公共建筑室内外台阶踏步宽度不宜小于30厘米，踏步高度在10到15厘米之间。本实例所使用的楼梯梯段宽度为100厘米，踏步梯面高度为15厘米，踏步面的宽度为35厘米。The stairs used in this embodiment are linear stairs that meet the national standard. According to the "General Rules for Civil Building Design", the step width of indoor and outdoor steps in public buildings should not be less than 30 cm, and the step height should be between 10 and 15 cm. The stair section width used in this example is 100 centimeters, the height of the step surface is 15 centimeters, and the width of the step surface is 35 centimeters.
小型履带式移动机器人自主攀爬控制方法首先通过摄像头8建模和图像处理得出攀爬楼梯的踏步梯面高度，与最大可攀爬楼梯高度进行对比，如果攀爬台阶的高度大于最大可攀爬高度，则取消攀爬任务；如果攀爬台阶的高度小于最大可攀爬高度，则自动进行攀爬任务，通过红外传感器9-10，攀爬之前机器人的初始姿态与踏步梯面相垂直。再通过杆臂6-7的旋转运动与履带11-12的配合运动，实现攀爬楼梯的功能。具体主要包括以下步骤：The autonomous climbing control method of the small tracked mobile robot first obtains the tread height of the climbing stairs through camera 8 modeling and image processing, and compares it with the maximum climbable stair height. If the height of the climbing steps is greater than the maximum climbable height Climbing height, then cancel climbing task; If the height of climbing step is less than maximum climbable height, then automatically carry out climbing task, by infrared sensor 9-10, the initial posture of robot is perpendicular to stepping step surface before climbing. Then, the function of climbing stairs is realized through the rotational movement of the lever arm 6-7 and the cooperative movement of the crawler belt 11-12. Specifically, it mainly includes the following steps:
步骤1：首先通过车头前端的两个红外传感器9-10使车头垂直与第一节台阶，同时使杆臂6-7中心线与地面平行，如图3所示，通过摄像头8进行建模和图像分析来确定攀爬台阶的高度为150毫米，攀爬台阶的高度小于最大可攀爬高度，则驱动履带11-12向前运动并用码盘测速，使左右履带的速度相等，直至到达车头的履带11-12恰好与第一节台阶相接触，驱动杆臂6-7按顺时针方向旋转，如图4所示，进入步骤2；Step 1: First, use the two infrared sensors 9-10 at the front of the car to make the front of the car vertical to the first step, and at the same time make the centerline of the lever arm 6-7 parallel to the ground, as shown in Figure 3, and use the camera 8 to model and Image analysis determines that the height of the climbing steps is 150 millimeters, and the height of the climbing steps is less than the maximum climbable height, then drive the crawler belt 11-12 to move forward and measure the speed with the code disc, so that the speeds of the left and right crawler belts are equal until reaching the front of the car The crawler belt 11-12 is just in contact with the first step, and the driving lever arm 6-7 rotates clockwise, as shown in Figure 4, and enters step 2;
步骤2：杆臂6-7按顺时针方向旋转，车体1被缓慢抬起，通过自身携带的姿态传感器使车体1与地面成θ度，杆臂6-7停止转动。θ计算公式为：Step 2: The lever arm 6-7 rotates clockwise, the vehicle body 1 is lifted slowly, and the vehicle body 1 is made to be at θ degrees with the ground through the attitude sensor carried by itself, and the lever arm 6-7 stops rotating. The calculation formula of θ is:
θ＝arccos((L-R)/D)*180/π，θ=arccos((L-R)/D)*180/π,
实例中L为150mm，R为30mm，D为140mm，可计算的θ为30度。In the example, L is 150mm, R is 30mm, D is 140mm, and the calculable θ is 30 degrees.
θ为机器人车体与地面所成的最大角度，如果机器人车体与地面的角度大于θ，杆臂逆时针方向旋转时，杆臂无法通过踏步梯面。θ is the maximum angle between the robot body and the ground. If the angle between the robot body and the ground is greater than θ, the lever arm cannot pass through the step surface when the lever arm rotates counterclockwise.
保持车体1与地面的角度不变，如图5所示，杆臂6-7按逆时针方向转动，同时为了防止机器人下滑，用姿态传感器进行持续的测量角度，保持机器人受力平衡。杆臂6-7按逆时针方向转动时，杆臂与踏步梯面相切时，杆臂恰好能通过踏步梯面的极限位置，如图6所示。对机器人进行受力平衡分析：Keep the angle between the car body 1 and the ground constant, as shown in Figure 5, the lever arm 6-7 rotates counterclockwise, and at the same time, in order to prevent the robot from sliding down, the attitude sensor is used to continuously measure the angle to keep the force balance of the robot. When the lever arm 6-7 was rotated counterclockwise, when the lever arm was tangent to the step surface, the lever arm could just pass through the limit position of the step surface, as shown in Figure 6. Perform force balance analysis on the robot:
对a点列力矩平衡方程：F1*(D*sinθ+R)+f1*L-G*(D/2*cosθ)＝0The moment balance equation for point a: F1*(D*sinθ+R)+f1*L-G*(D/2*cosθ)＝0
对b点列力矩平衡方程：f2*(D*sinθ+R)-F2*L+G*(D/2*cosθ+R)＝0The moment balance equation for point b: f2*(D*sinθ+R)-F2*L+G*(D/2*cosθ+R)＝0
将机器人视为整体对其分析，Analyze the robot as a whole,
X轴：F1＝f2X axis: F1=f2
Y轴：F2+f1＝GY-axis: F2+f1=G
如果角度θ保持不变，则满足f1小于机器人履带与踏步梯面的最大静摩擦力，f2小于机器人履带与踏步面的最大静摩擦力。实例中小型履带式移动机器人满足平衡方程，不会出现下滑的问题，可以保持角度θ为30度不变。进入步骤3；If the angle θ remains unchanged, f1 is less than the maximum static friction force between the robot track and the step surface, and f2 is less than the maximum static friction force between the robot track and the step surface. In the example, the small and medium-sized crawler mobile robot satisfies the balance equation, and there will be no problem of sliding, and the angle θ can be kept at 30 degrees. Go to step 3;
步骤3：杆臂6-7逆时针转动直到与车体1成一定角度β，杆臂6-7停止转动，β角保持不变，β满足当杆臂与地面相接触时，机器人的车体恰好与踏步梯面相平行。如图7所示。驱动轮2-3驱动履带11-12向前运动，车体1与踏步面成90度角时，停止运动，如图8所示。β计算公式为：Step 3: The lever arm 6-7 rotates counterclockwise until it forms a certain angle β with the car body 1, the lever arm 6-7 stops rotating, and the β angle remains unchanged, and β satisfies that when the lever arm contacts the ground, the body of the robot Exactly parallel to the tread of the step. As shown in Figure 7. The drive wheel 2-3 drives the crawler belt 11-12 to move forward, and when the car body 1 forms an angle of 90 degrees with the step surface, it stops moving, as shown in Figure 8. The formula for calculating β is:
β＝90+arcsin(R/L)*180/π，β=90+arcsin(R/L)*180/π,
实例中L为150mm，R为30mm，可计算的β为101.5度。进入步骤4；In the example, L is 150mm, R is 30mm, and the calculated β is 101.5 degrees. Go to step 4;
步骤4：杆臂6-7按逆时针转动，同时驱动轮2-3驱动履带11-12以一定的速度匀速转动，此时车体1被抬起，直到杆臂6-7与踏步面成90度，如图9、图10、图11所示，通过步骤1对台阶梯面高度的判定，此时，机器人的重心已经越过楼梯面的边缘，对图11进行分析，可以得到攀爬台阶的最大高度h，h的计算公式为：Step 4: The lever arm 6-7 rotates counterclockwise, and the drive wheel 2-3 drives the track 11-12 to rotate at a constant speed at the same time. At this time, the car body 1 is lifted until the lever arm 6-7 is in contact with the step surface 90 degrees, as shown in Figure 9, Figure 10, and Figure 11, through step 1 to determine the height of the step surface, at this time, the center of gravity of the robot has crossed the edge of the staircase surface, and analyzing Figure 11, we can get the climbing steps The maximum height h of h, the calculation formula of h is:
有ΔAOB～ΔOCD可得OA/AB＝OC/OD,There are ΔAOB～ΔOCD to get OA/AB=OC/OD,
设OB＝x，可得
即
则在实例中攀爬的最大高度为157mm。进入步骤5；Then the maximum height of climbing in the example is 157mm. Go to step 5;
步骤5：驱动轮2-3驱动履带11-12继续转动，如图12所示，直至整个车身完全在楼梯的第二节台阶上，停止运动。驱动杆臂6-7恢复到初始状态，如图13所示，攀爬一节楼梯结束，重复上述操作，可实现自主攀爬楼梯的功能。Step 5: The drive wheel 2-3 drives the crawler belt 11-12 to continue to rotate, as shown in Figure 12, until the entire vehicle body is completely on the second step of the stairs and stops moving. Drive bar arm 6-7 returns to initial state, as shown in Figure 13, climbs a section of stair and finishes, and repeats above-mentioned operation, can realize the function of climbing stair independently.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510330769.4ACN104875800A (en) | 2015-06-15 | 2015-06-15 | Self-climbing control method of tracked mobile robot with double-rod arm |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510330769.4ACN104875800A (en) | 2015-06-15 | 2015-06-15 | Self-climbing control method of tracked mobile robot with double-rod arm |
| Publication Number | Publication Date |
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| CN104875800Atrue CN104875800A (en) | 2015-09-02 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510330769.4APendingCN104875800A (en) | 2015-06-15 | 2015-06-15 | Self-climbing control method of tracked mobile robot with double-rod arm |
| Country | Link |
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| CN (1) | CN104875800A (en) |
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