Stairs climbing control method for crawler moving robot with guide arm

The invention relates to a stair-climbing method for a crawler-type mobile robot with guide arms, which is characterized by comprising the following steps: step one: the robot moves near the stair, the guide arms rotate downward; the robot is lifted after being contacted with the stair step and climbs the stair forward; when an ultrasonic and infrared distance-measuring sensor on the robot measures that the distance between the robot and the object at the front is larger than the width of the stair step and judges that the robot climbs to the top of the stair, the robot can stop climbing; step two: the guide arms rotate downward till the front ends of the guide arms are contacted with the ground; when the rotating shafts of the guide arms generate torque M which is larger than the set value, the guide arms stop rotating, the robot climbs upward continuously, the guide arms are separated from the ground with the climbing of the robot, the torque M disappears and the robot stops climbing; step three: the step two is repeated, a two-dimensional attitude sensor measures that the inclined angle Phi between the body and the horizontal plane is reduced with the climbing of the robot, and when the robot climbs continuously till the inclined angle Phi is not reduced, the robot stops climbing, the guide arms rotate backward and stop rotating when the inclined angle Theta between the guide arms and the body is 45 degrees.