Climbing method for a robot capable of climbing steps with any angle of rotation and any step surface

Abstract

The invention provides a robot capable of climbing steps with any angle of rotation and any step surface and a climbing method thereof. The robot includes an outer four-leg support structure and an inner four-leg support structure, wherein the front sides of the two outer legs located at the front of the first support plate are respectively provided with first laser ranging sensors and the second laser ranging sensor, the front sides of the two inner legs at the front of the second support plate are respectively provided with the third laser ranging sensor and the fourth laser ranging sensor, the four outer legs and the four inner legs The lower ends of the legs are provided with a base, and the lower side of the base is provided with a collision sensor. The present invention uses a laser ranging sensor, combined with the control method designed by the present invention, to propose a clever path planning for rotating stairs, thereby realizing the climbing of steps with any rotation angle and any style (the rotation angle of each step is different). climb.

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.

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