阶梯攀爬机器人结构及控制方案设计

针对阶梯攀爬机器人工作过程中的楼梯攀爬及避障问题,对阶梯攀爬机器人机械结构、机器人阶梯攀爬方式、差速驱动方式下机器人运动方程进行了分析,对阶梯攀爬机器人行驶过程中障碍物检测、避障控制策略进行了研究;基于模糊控制原理,建立了阶梯攀爬机器人模糊避障规则,提出了一种基于MC9S12XS128单片机以及超声波传感器的阶梯攀爬机器人障碍物检测、避障及楼梯攀爬控制系统,并利用所研制的阶梯攀爬机器人样机进行了机器人避障、楼梯攀爬测试。测试结果表明,基于变形轮与行星轮相结合的阶梯攀爬机器人机构可以实现阶梯攀爬机器人避障及攀爬楼梯的功能,控制系统可以准确、迅速判断障碍物以及楼梯所处位置,并依据所建立模糊避障规则完成避障及楼梯攀爬任务。

Structure and control scheme of stair climbing robot

Aiming at the problem of climbing stair and avoiding obstacles in the working process of stair climbing robot, mechanical struc-ture, climbing method and the motion equation of the stair climbing robot were analyzed, the obstacle detection and obstacle avoidance con-trol strategy for the climbing robot were studied. The fuzzy obstacle avoidance rule for stair climbing robot was established which was based on the principle of fuzzy control, MC9S12XS128 singlechip and the ultrasonic sensor obstacle detection were used in forming the stair climbing robot's control system of obstacle detection, obstacle avoidance and stair climbing. The obstacle avoidance and stair climbing test was carried out by using the stair climbing robot prototype, the results indicate that stair climbing robot mechanical structure based on deformation wheels and planetary wheels can realize obstacle avoidance and climb the stairs, the control system can accurately and quickly determine the location of obstacles and stairs, and complete the task of obstacle avoidance and stair climbing task based on the established fuzzy obstacle avoidance rules.