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

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...

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.

Images