Control method for crawler type mobile robot with guiding arms automatically going upstairs and downstairs

The invention discloses a control method for a crawler type mobile robot with guiding arms automatically going upstairs and downstairs. The control method for the crawler type mobile robot with the guiding arms automatically going upstairs and downstairs can enable the mobile robot to achieve automatic stair alignment through carried binocular visual sensor and three-axial force sensor before the mobile robot automatically goes upstairs or downstairs and not deviate from the stairs during the process that the mobile robot automatically goes upstairs or downstairs. The control method for the crawler type mobile robot with the guiding arms automatically going upstairs and downstairs is applicable to linear stairs, arc-shaped stairs and spiral stairs. The mobile robot can work out the steep degree of the stairs through the carried binocular visual sensor before automatically going upstairs or downstairs, a going upstairs or downstairs command sent out from an operator is rejected and a warning message is sent to the operator if the steep degree which is excessive large exceeds the highest climbing capability of the mobile robot, and overturn accidents caused by operator judgment error and fault command giving are reduced due to the stair steep degree analysis performed by the mobile robot.