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The continuous stair climbing method and the stair descending method of the automatic rolling walking device

A walking device and stair technology, which is applied in the direction of motor vehicles, transportation and packaging, non-electric variable control, etc., can solve the problems of increasing inclination angle, easy to overturn, and the inability of the whole machine to complete continuous and stable up and down stairs, etc., to achieve continuous and stable Simple effect of up and down and control process

Active Publication Date: 2021-09-17
坎德拉(深圳)智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] When the automatic rolling walking device in the prior art, such as single-wheel / two-wheel balance car, two-wheel robot, spherical robot, etc. goes up and down stairs, a driving torque is applied at the center of the wheel; the main body will tilt due to the reaction torque of the driving torque, and Under the action of gravity, the inclination angle increases rapidly, the main body cannot maintain balance, and it is easy to overturn, and the wheels cannot obtain the maximum driving torque, so the whole machine cannot complete continuous and stable up and down stairs

Method used

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  • The continuous stair climbing method and the stair descending method of the automatic rolling walking device
  • The continuous stair climbing method and the stair descending method of the automatic rolling walking device
  • The continuous stair climbing method and the stair descending method of the automatic rolling walking device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0094] 1. Use the yaw motor to yaw the gyro to the maximum utilization position.

[0095] 2. The yaw motor swings the gyro at a certain speed, and the gyro torque generated makes the main body lean back.

[0096] 3. Detect whether it has reached the edge of the stairs. When the gyro precession angular velocity is greater than a certain threshold, it is determined that the edge of the stairs to be descended has been reached.

[0097] 4. The next time the stairs, the main drive motor drives the wheels forward and slowly drives downstairs.

[0098] 5. Confirm that the descent of the stairs was successful. In the process of descending the stairs, the direction of the gravity moment on the gyroscope is different. When the whole machine goes down the stairs successfully, the yaw direction of the gyro changes. At this time, the sensor detects the direction change and judges that it is successfully going down the stairs.

[0099] 6. Repeat step 4 and step 5 until it is detect...

Embodiment 2

[0102] 1. Get ready for the stairs.

[0103] Use the yaw motor to yaw the gyro to the maximum available angle.

[0104] 2. Determine whether to reach the edge of the stairs to go down.

[0105] When the precession angular velocity of the gyro is greater than a certain threshold, it is determined that the robot has reached the edge of the stairs to be descended.

[0106] 3. Go down the first staircase.

[0107] The drive motor drives the wheels forward to drive down the stairs, and the gyro will naturally deflect in a certain direction at this time, but at this time the given speed of the drive motor is zero (that is, there is no relative position change between the main body and the gyro), and the deflection is used to The motor applies a reverse yaw moment to the gyroscope. At this time, the robot slowly descends the stairs under the action of the drive motor and the yaw motor, and the main body and the whole machine roll together.

[0108] 4. Confirm the success of the...

Embodiment 3

[0120] 1. Get ready to go down the stairs. Use the yaw motor to yaw the gyro to the maximum utilization position, but keep the main body in a vertical state.

[0121] 2. Determine whether the robot has reached the edge of the stairs to go down. When the precession angular velocity of the gyro is greater than the set threshold, it is determined that the edge of the stairs to be descended has been reached.

[0122] 3. Go down a flight of stairs. The drive motor drives the wheels forward to drive down the stairs, and the gyro will have a natural tendency to yaw at this time. At this time, the given speed of the drive motor is zero, and the yaw motor is used to apply a reverse yaw moment to the gyro. Under the action of the driving motor and the yaw motor, it slowly rolls down the stairs. At this time, the main body and the whole machine roll together, and the main body leans forward.

[0123] 4. After going down a section of stairs, adjust the main body to a vertical state. S...

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Abstract

The present invention relates to a method for continuously ascending stairs and descending stairs of an automatic rolling walking device, comprising the following steps in turn: ① controlling the driving motor of the walking device to drive the wheels, utilizing the gyro torque generated by the gyro deflection in the main body of the walking device Stabilize the main body of the walking device, and the wheels of the walking device roll to complete the up / down stairs; ② If the walking device detects that there is no up / down stairs ahead, the walking device ends the up / down stairs mode; ③ If The walking device detects that there is still going up / down stairs ahead, then controls the gyroscope to swing back, and then returns to step ①. Compared with the prior art, the technical effect of the present invention is that it can go up and down stairs continuously and steadily, and the control process is simple.

Description

technical field [0001] The invention relates to a walking device control technology, in particular to the process control of climbing and descending stairs of products such as robots. Background technique [0002] When the automatic rolling walking device in the prior art, such as single-wheel / two-wheel balance car, two-wheel robot, spherical robot, etc. goes up and down stairs, a driving torque is applied at the center of the wheel; the main body will tilt due to the reaction torque of the driving torque, and Under the action of the gravity moment, the inclination angle increases rapidly, the main body cannot maintain balance, and it is easy to overturn, and the wheels cannot obtain the maximum driving torque, so the whole machine cannot complete continuous and stable up and down stairs. Contents of the invention [0003] The technical problem to be solved by the present invention is to avoid the deficiencies of the prior art and propose a method for continuously going up...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08B62D61/00
CPCB62D61/00G05D1/0891
Inventor 贺智威刘利唐斌朱阳
Owner 坎德拉(深圳)智能科技有限公司
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