Research On Test System Of Mobile Robot's Overcoming Obstacle Ability

With the rapid development of mobile robot technology and the gradual deepening of related research,mobile robots have a broader application background,which puts forward higher requirements for their structure and functions.It is expected that mobile robots have a certain environmental adaptability to deal with complex working environment.The obstacle-overcoming ability test of a mobile robot is a key part of the mobile robot research process.However,in the traditional obstacle-overcoming ability test,the conventional method is to let the mobile robot overcome the obstacle test bench with specific parameters,and then test it by manual judging obstacle-overcoming performance.However,the obstacle test rig with specific parameters cannot quickly adjust the parameters according to the requirements of the obstacle-overcoming test,which makes the efficiency of the obstacle-overcoming test lower,and it cannot test the maximum obstacle overcoming ability of the mobile robot more accurately,which has certain limitations.This thesis designs an obstacle-overcoming ability test system that includes an adjustable obstacle-overcoming test bench and an obstacle-overcoming performance test unit,which can greatly improve the limitations of the above-mentioned obstacleovercoming ability test and improve the assessment method of the actual obstacleovercoming ability of mobile robots.It is helpful to improve the test level of the robot's obstacle-overcoming ability,so as to promote the improvement of the mobile robot's obstacle-overcoming performance.First of all,the overall scheme of the mobile robot's obstacle-overcoming performance test system is designed,and the key technology and working principle of the test system application are researched and analyzed.Secondly,design the mechanical structure of the obstacle crossing test bench.Based on the design of vertical wall barriers and trench barriers,we further optimized the design of a vertical wall and trench integrated mechanism,and checked the strength and rigidity of the mechanism to ensure that it can meet the needs of the actual obstacle crossing test process.Thirdly,the control part of the obstacle test bench is studied,a reasonable control plan is designed,and the control function is realized according to the technical parameters of the obstacle-overcoming test to achieve the adjustability and controllability of the obstacle test bench.In addition,a reasonable plan for testing the operating status of the obstacle test bench is designed to test the mobile robot's ability to overcome obstacles more efficiently and accurately.Finally,the design and analysis of the obstacle-overcoming performance test unit are completed,and the software and hardware of each functional module are tested and analyzed.The experimental results show that the system has the ability to test the obstacle-overcoming performance of mobile robots.