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Robot capable of climbing steps with any rotation angle and any step surface and climbing method thereof

A step surface and robot technology, applied in the field of stair-climbing robots, can solve the problems of not being completely parallel, uneven ground, unsuitable for handling, etc., and achieve a wide range of applications

Inactive Publication Date: 2015-12-16
DONGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, carrying things upstairs or the elderly and disabled people going upstairs has brought a lot of trouble to people; in another situation, the stone steps of mountain scenic spots such as Huangshan and Huashan are not completely parallel, and the ground is not flat. Can only rely on mountain pickers to pick and transport goods up the mountain
However, most of the handling equipment or stair-climbing robots at this stage are star-wheel and crawler-type, which are only suitable for straight stairs due to the constraints of their wheels or crawlers. Humanoid robots can climb spiral stairs, but they are not suitable for handling.

Method used

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  • Robot capable of climbing steps with any rotation angle and any step surface and climbing method thereof
  • Robot capable of climbing steps with any rotation angle and any step surface and climbing method thereof
  • Robot capable of climbing steps with any rotation angle and any step surface and climbing method thereof

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Embodiment

[0024] Such as figure 1 As shown, the robot of the present invention that can climb any angle of rotation and any step surface includes an outer four-leg support structure 4 and an inner four-leg support structure 3, and the outer four-leg support structure 4 includes a first support plate and Four telescopic outer legs fixed on the lower side of the first support board, among the four outer legs, two are located at the front of the first support board, and the other two are located at the rear of the first support board, so The inner four-leg support structure 3 includes a second support plate and four telescopic inner legs fixed on the lower side of the second support plate, and among the four inner legs, two are located at the front of the second support plate , and the other two are located at the rear of the second support plate.

[0025] The first support plate is located on the upper side of the second support plate, and the first support plate and the second support p...

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Abstract

The invention provides a robot capable of climbing steps with any rotation angle and any step surface and a climbing method thereof. The robot comprises an outer four-leg supporting structure and an inner four-leg supporting structure and is characterized in that a first laser ranging sensor and a second laser ranging sensor are arranged on the front sides of two outer legs in the front of a first supporting plate respectively, a third laser ranging sensor and a fourth laser ranging sensor are arranged on the front sides of two inner legs in the front of a second supporting plate respectively, bases are arranged at the lower ends of four outer legs and four inner legs, and collision sensors are arranged on the lower sides of the bases. By using the laser ranging sensors in combination with the designed control method, an ingenious rotation stair climbing path plan is provided, and therefore the robot can climb steps with any rotation angle or steps of any type, wherein the rotation angles of the steps are different.

Description

technical field [0001] The invention relates to a robot and a climbing method capable of climbing steps with any rotation angle and any step surface, and belongs to the field of stair climbing robots. Background technique [0002] With the improvement of people's quality of life and aesthetic level, spiral staircases can be seen everywhere, such as villas, canteens, shopping centers, gymnasiums, etc. However, carrying things upstairs or the elderly and disabled people going upstairs has brought a lot of troubles to people; in another situation, the stone steps of mountain scenic spots such as Huangshan and Huashan are not completely parallel, and the ground is not flat. We can only rely on mountain pickers to pick and transport goods up the mountain. However, most of the handling equipment or stair-climbing robots at this stage are star-wheel and crawler-type, which are only suitable for straight stairs due to the constraints of their wheels or crawlers. Humanoid robots can...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 孙书行周其洪朱庆云陈革
Owner DONGHUA UNIV
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