A swing arm and wheel-track switching robot for crossing

Abstract

The present application belongs to the field of robot technology, and relates to a swing arm for crossing and a wheel-track switching robot. The swing arm for crossing comprises an outer baffle and an inner baffle, the outer baffle and the inner baffle are connected in cooperation, one end of the outer baffle and the inner baffle is rotationally provided with a support rod shaft, a hinge gear is arranged in the middle of the support rod shaft, the two ends of the support rod shaft extend out of the outer baffle and the inner baffle, and the two ends are respectively provided with support rod wheels, the other end of the outer baffle and the inner baffle is rotationally provided with a hinge inner gear, the hinge gear and the hinge inner gear are connected through a hinge, and the hinge is provided with a hinge tooth. The present application provides a swing arm for crossing, which comprises a hinge and a support rod wheel, the hinge is provided with a hinge tooth, the swing arm can be rotated to support the robot, and the hinge drives the hinge tooth to rotate, so that the robot can be dragged.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology and relates to a swing-arm and wheel-track switching robot for traversing. Background Technology

[0002] Wheel-track switching robots switch to wheel mode on relatively flat surfaces, offering faster movement speeds and allowing them to quickly reach their destinations and complete tasks. When moving on uneven, rugged, or muddy terrain, they switch to track mode. The tracks distribute the load more evenly and provide better traction, offering advantages in patrolling farmland, mining areas, and construction sites, particularly in uneven, rugged, slippery fields, irregular terrain, and areas with vegetation. They can traverse difficult terrains such as rubble, mud, and slopes to search for survivors or carry rescue supplies. They can perform tasks such as reconnaissance, material transport, and explosive ordnance disposal, making them suitable for battlefields, dangerous scenarios, harsh weather conditions, and areas inaccessible to humans, thereby improving personnel safety and survival rates. Wheel-track switching robots have wide applications in military and counter-terrorism, mining, agriculture, exploration, and rescue fields.

[0003] Tracked-wheel robots offer significant advantages in navigating complex terrain; however, they also have limitations and drawbacks, including the inability to traverse tall obstacles and climb steep inclines. Tracked robots cannot traverse tall obstacles: While providing stable traction and off-road performance, the track system limits the height of obstacles they can overcome. Because track movement is a relatively planar process, tall obstacles (such as stairs or large obstacles) can impede the robot's passage, as the tracks cannot generate sufficient force to overcome them in a short time. Tracked robots also cannot climb steep inclines. While performing well on rugged terrain, they can be limited when climbing steep slopes. Since the tracks must maintain contact with the ground, excessively steep inclines can cause the tracks to lose sufficient traction, preventing further progress and limiting the robot's mobility in certain terrain conditions.

[0004] Existing wheel-track switching robots typically require a tracked vehicle with long tracks to overcome obstacles. The length of the track in contact with the ground must be significantly greater than the height of the obstacle. A support arm is then used to lift the vehicle to a certain angle before it can climb the obstacle. Therefore, the obstacle-climbing height is strictly limited by the track length. In purely tracked vehicles, scenarios like climbing stairs usually require long tracks to traverse two or more steps, making miniaturization impossible. In wheel-track switching mobile robots, due to their generally smaller size, the track length in tracked vehicle mode is insufficient to climb higher obstacles. Furthermore, existing technologies often fail to overcome embedded obstacles, easily getting stuck and lacking sufficient escape capabilities. On steep slopes, insufficient track traction prevents further progress.

[0005] Furthermore, some wheeled robots have support rods located in the middle of the robot's tail end, which cannot rotate 360 ​​degrees. They are only used to twist downwards when climbing, providing additional torque and support force, resulting in limited climbing height, which is much smaller than the length of the swing arm. At the same time, because the support rods can only rotate at a small angle, the center of gravity of the wheeled robot is never located in the center of the entire structure when the support rods are extended. Using such support rods to assist in crossing ditches can easily lead to rollovers. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention proposes a swing-arm and wheel-track switching robot for traversing obstacles. This robot can climb higher obstacles with a shorter ground track length. Its swing arm is also designed with hooks to hook onto fixed objects and provide pulling force to aid in climbing. The swing arm of the wheel-track switching robot can rotate 360°, and its various movements allow it to adapt to more scenarios. In certain specific situations, it can also assist in getting out of trouble.

[0007] The technical solution of this invention to solve the above problems is: a swing arm for vaulting, which is characterized by:

[0008] It includes an outer baffle and an inner baffle, which are connected together.

[0009] A strut shaft is rotatably mounted at one end of the outer and inner baffles. A hinge gear is located in the middle of the strut shaft. Both ends of the strut shaft extend out of the outer and inner baffles, and each end is equipped with a strut wheel.

[0010] The outer baffle and the inner baffle are rotatably equipped with a hinge internal gear at the other end. The hinge gear and the hinge internal gear are connected by a hinge, and the hinge is equipped with a coiled tooth.

[0011] Furthermore, the aforementioned strut shaft is mounted on the outer baffle and the inner baffle via bearings.

[0012] Furthermore, the outer baffle is provided with an outer baffle hinge internal gear fixing seat, and the inner baffle is provided with an inner baffle hinge internal gear fixing seat. The hinge internal gear is mounted on the inner baffle hinge internal gear fixing seat and the outer baffle hinge internal gear fixing seat through bearings.

[0013] Furthermore, a support wheel fixing shaft is provided on one side of the aforementioned support wheel, and a groove is provided at the end of the support wheel fixing shaft to cooperate with the support shaft. The end of the support shaft extends into the groove of the support wheel fixing shaft and is fixed by screws.

[0014] Furthermore, the outer baffle is fixedly provided with an outer baffle shaft, which extends out of the inner baffle after passing through the hinge internal gear.

[0015] Furthermore, the inner baffle is provided with inner baffle fastening posts at intervals, and the ends of the inner baffle fastening posts are provided with screw holes. The outer baffle is fixed to the inner baffle by screws.

[0016] Furthermore, the number of coiled teeth mentioned above is two, and the two coiled teeth are spaced apart.

[0017] In addition, the present invention also proposes a wheel-track switching robot, including a robot body, wherein the above-mentioned swing arms for vaulting are respectively provided on the middle part of both sides of the robot, and the swing arms are connected to the robot body through an outer baffle shaft.

[0018] Each swing arm is driven by two motors. One motor drives the outer baffle shaft to rotate, enabling the swing arm to rotate 360°. The other motor is connected to a spur gear, which meshes with the inner gear of the hinge, driving the inner gear of the hinge to rotate, thus enabling the hinge and strut wheel to rotate.

[0019] This invention also proposes a method for the above-mentioned wheel-track switching robot to traverse ditches, which is characterized by including the following steps:

[0020] Step 1: The support wheel of one side of the wheeled switching robot contacts the plane behind it;

[0021] Step 2: The other side of the swing arm starts to rotate forward until the swing arm contacts the plane on the opposite side of the ditch. The position information feedback from the motor can be used to confirm whether the strut wheel has contacted the opposite plane.

[0022] Step 3: Once contact with the plane is confirmed, the wheel-track switching robot rotates through the wheels and strut wheel 1, driving the entire robot forward. When the robot moves to the air above the ditch, the main body of the robot is suspended in the air and the wheels stop rotating.

[0023] Step 4: The strut wheel continues to rotate, driving the wheel-track switching robot forward until it crosses the ditch.

[0024] This invention also proposes another method for the above-mentioned wheel-track switching robot to traverse obstacles with large-angle slopes, which is characterized by including the following steps:

[0025] The wheel-track switching robot rotates its left and right swing arms forward while simultaneously rotating its hinges, causing the hinge teeth to hook onto obstacles and provide drag force. It then rotates its tracks, enabling the wheel-track switching robot to climb over obstacles on steeper slopes.

[0026] This invention also proposes another method for the above-mentioned wheel-track switching robot to traverse stepped obstacles, which is characterized by including the following steps:

[0027] Step 1: When the wheel-track switching robot comes into contact with an obstacle, it measures the height of the obstacle by swinging the swing arm upward. When the swing arm is against the obstacle and the ground, it measures the distance between the vehicle and the obstacle. It then determines whether it can be overtaken by measuring the height and distance of the obstacle.

[0028] Step 2: If it is determined that the obstacle can be overcome, the wheel-track switching robot moves to the closest distance to the obstacle, rotates the left and right swing arms until the lower hinge contacts the obstacle, rotates the hinge to make the coilover hook the obstacle to achieve dragging, and at the same time the swing arms rotate to drag and support.

[0029] Step 3: Continue until the bottom track section of the wheel-track switching robot is in the appropriate position, the track will rotate to make the vehicle move forward;

[0030] Step 4: Rotate the left and right swing arms backward to support the wheel-track switching robot;

[0031] Step 5: The strut wheel and track rotate, finally enabling the robot to switch between wheel and track and cross the step obstacle.

[0032] This invention also proposes another method for the above-mentioned wheel-track switching robot to travel on narrow roads with inconsistent heights. The ground heights on both sides of the robot's wheel assembly are inconsistent. To ensure the robot maintains stable passage, the following steps are included:

[0033] Step 1: The motor drives the swing arm on the side with the lower ground height to rotate, supporting the robot to reach the appropriate height and keeping the robot basically level.

[0034] Step 2: As the tracks move, the strut wheels of the swing arm rotate, ultimately enabling the robot to walk smoothly.

[0035] Advantages of this invention:

[0036] 1. The present invention provides a swing arm for vaulting, which includes a hinge and a strut wheel. The hinge is provided with a hinge tooth. When the swing arm rotates, it can be used to support the robot. The hinge drives the hinge tooth to rotate, which can realize the dragging of the robot.

[0037] 2. The present invention also provides a wheel-track switching robot, wherein a swing arm for climbing is provided on each of the two sides of the middle part, which can climb steep slope obstacles and high step-like obstacles, and can climb over ditches. The swing arm can rotate 360 ​​degrees, and the FOC motor can accurately provide support force in all directions. The coil teeth on the swing arm can hook onto fixed objects to provide additional pulling force, greatly increasing flexibility and adapting to more scenarios. In certain specific situations, it can also help get out of trouble. Attached Figure Description

[0038] Figure 1 This is a diagram of the swing arm structure for vaulting proposed in this invention;

[0039] Figure 2 for Figure 1 View with the outer baffle, strut wheel, and screws hidden;

[0040] Figure 3 for Figure 2 View after hiding the strut shaft, bearing, hinge, and coilover;

[0041] Figure 4 This is a structural diagram of the inner side of the outer baffle and the strut wheel;

[0042] Figure 5 This is an assembly drawing of the overall swing arm and wheeled robot;

[0043] Figure 6 An illustration of a wheeled robot crossing a ditch.

[0044] Figure 7 A flowchart illustrating a wheeled robot crossing a ditch;

[0045] Figure 8 A motion diagram illustrating the movement of a wheeled robot traversing a steep slope.

[0046] Figure 9 A motion diagram showing a wheeled robot traversing a relatively high obstacle;

[0047] Figure 10 Overall flowchart for a wheeled robot to cross tall obstacles;

[0048] Figure 11 This is a diagram illustrating the motion of a wheeled robot traversing terrain with uneven ground heights on both sides.

[0049] in:

[0050] 1. Strut wheel; 2. Screw; 3. Screw; 4. Outer baffle; 5. Strut shaft; 6. Angular contact ball bearing; 7. Hinge; 8. Coil gear; 9. Hinge gear; 10. Inner baffle fastening post; 11. Threaded hole; 12. Inner baffle; 13. Spur gear; 14. Hinge internal gear; 15. Inner baffle hinge internal gear fixing seat; 16. Outer baffle hinge internal gear fixing seat; 17. Outer baffle shaft groove; 18. Strut wheel fixing shaft. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0052] Example

[0053] See Figures 1 to 4 This invention proposes a swing arm for vaulting, comprising an outer baffle 4 and an inner baffle 12, which are connected in a cooperative manner; a strut shaft 5 is rotatably mounted at one end of the outer baffle 4 and the inner baffle 12, and a hinge gear 9 is provided in the middle of the strut shaft 5; both ends of the strut shaft 5 extend out of the outer baffle 4 and the inner baffle 12, and strut wheels 1 are respectively provided at both ends; a hinge internal gear 14 is rotatably mounted at the other end of the outer baffle 4 and the inner baffle 12, and the hinge gear 9 and the hinge internal gear 14 are connected by a hinge 7, on which two coil teeth 8 are provided, and the two coil teeth 8 are equally spaced.

[0054] In a preferred embodiment of the present invention, the strut shaft 5 is mounted on the outer baffle 4 and the inner baffle 12 by a pair of angular contact ball bearings 6, and the strut shaft 5 is rotatably connected to the outer baffle 4 and the inner baffle 12 by the angular contact ball bearings 6.

[0055] As a preferred embodiment of the present invention, see [link to previous document]. Figure 3 and Figure 4 The outer baffle 4 is provided with an outer baffle hinge inner gear fixing seat 16, and the inner baffle 12 is provided with an inner baffle hinge inner gear fixing seat 15. The hinge inner gear 14 is mounted on the inner baffle hinge inner gear fixing seat 15 and the outer baffle hinge inner gear fixing seat 16 through bearings.

[0056] As a preferred embodiment of the present invention, see [link to previous document]. Figure 4The aforementioned strut wheel 1 has a strut wheel fixing shaft 18 on one side. The end of the strut wheel fixing shaft 18 has a groove that mates with the strut shaft 5. The end of the strut shaft 5 extends into the groove of the strut wheel fixing shaft 18 and is fixed by screws.

[0057] As a preferred embodiment of the present invention, see [link to previous document]. Figure 4 The outer baffle 4 is vertically fixed to the inner side with an outer baffle shaft 17, which extends out of the inner baffle 12 after passing through the hinge internal gear 14.

[0058] As a preferred embodiment of the present invention, see [link to previous document]. Figure 3 and Figure 4 The inner baffle 12 is provided with inner baffle fastening posts 10 at intervals. The end of the inner baffle fastening post 10 is provided with a screw hole. The outer baffle 4 is provided with a threaded hole 11. The outer baffle 4 is fixed to the inner baffle 12 by screws. The screws pass through the threaded hole 11 on the outer baffle 4 and the threaded hole at the end of the inner baffle fastening post 10 in sequence. The inner baffle 12 and the outer baffle 4 are maintained at a certain distance by the inner baffle fastening posts 10, so that the hinge gear 9, the hinge internal gear 14 and the hinge 7 can be installed in the middle.

[0059] In addition, this invention also proposes a wheel-track switching robot, see [link to relevant documentation]. Figure 5 The system includes a robot body, which can employ a wheeled track movement device as described in Chinese Patent Application Publication No. CN103342138A. Each side of the robot has a swing arm for vaulting, connected to the robot body via an outer baffle shaft 17. Each swing arm is driven by two motors: one motor rotates the outer baffle shaft 17, enabling 360° rotation of the swing arm; the other motor is connected to a spur gear 13, which meshes with an internal hinge gear 14, causing the internal hinge gear 14 to rotate, thus rotating the hinge 7 and the support wheel 1.

[0060] See Figure 6 and Figure 7 The present invention also proposes a method for the above-mentioned wheel-track switching robot to traverse ditches, comprising the following steps:

[0061] Step 1: As Figure 6 The wheel-track switching robot switches to wheel mode, such as... Figure 6 (a) When the wheeled vehicle encounters a ditch in front, the strut wheel 1 of one side of the swing arm contacts the plane behind it. The position information feedback from the motor can confirm whether the swing arm wheel has contacted the opposite plane.

[0062] Step 2: Once the plane is confirmed, such as... Figure 6 (b) The other side of the swing arm begins to rotate forward until the swing arm contacts the plane opposite the ditch. The position information feedback from the motor can confirm whether the strut wheel 1 has contacted the opposite plane.

[0063] Step 3: Once contact with the plane is confirmed, the wheel-tracked robot rotates its wheels and strut wheel 1, propelling the entire robot forward. When the wheel-tracked vehicle advances to... Figure 6 (c) State: When the robot moves to the airspace above the ditch, the main body of the robot is suspended in the air and the wheels stop rotating.

[0064] Step 4: As Figure 6 (d) The strut wheel 1 continues to rotate, driving the wheel-track switching robot forward until it crosses the ditch.

[0065] See Figure 8 The present invention also proposes another method for the above-mentioned wheel-track switching robot to traverse obstacles with large-angle slopes, including the following steps:

[0066] In tracked mode, the left and right swing arms are at the same angle and parallel, used for pulling or supporting. When on a steep slope, the left and right swing arms rotate forward while the hinges rotate, causing the hinge teeth to hook onto obstacles, providing drag force, and rotating the tracks, enabling the robot to climb over obstacles on steep slopes.

[0067] See Figure 9 and Figure 10 The present invention also proposes another method for the above-mentioned wheel-track switching robot to traverse stepped obstacles, comprising the following steps:

[0068] Step 1: Wheel-track switching. When the robot is in tracked mode and encounters an obstacle, it uses its swing arm to measure the obstacle's height. The swing arm then rests against the obstacle and the ground to measure the distance between the robot and the obstacle. Based on the obstacle's height and distance, it determines whether it can be overcome. When crossing higher obstacles, the process is as follows... Figure 9 As shown, Figure 9 (a) However, when an obstacle that cannot be directly passed is detected, the angle θ1 between the lower swing arm and the horizontal plane and the length of the lower swing arm are known. Therefore, the distance d1 between the main body of the wheeled robot and the step can be calculated. The track length is d2, and the distance d between the wheeled robot and the step is d1. e The distance is d1-d2. The robot prepares to climb over and continues to move forward a distance d2, while the support pole rotates counterclockwise until it touches the step, reaching its destination. Figure 9 (b) The length of d2 is known, and the angle θ2 can be measured by the strut. Thus, the size of h2 can be calculated, i.e., h2 = d2 * sinθ2. The height of the step is h2 + h1. Based on the height of the step, the system can determine whether it is possible to climb the step.

[0069] Step 2: If it is determined that the obstacle can be overcome, then enter drag-and-drop mode, such as... Figure 9(c) The wheel-track switching robot moves to the closest distance to the obstacle, rotates the left and right swing arms until the lower hinge contacts the obstacle, rotates the hinge 7 to make the coiled teeth 8 hook the obstacle to achieve dragging, and at the same time the swing arms rotate to drag and support.

[0070] Step 3: Continue until the bottom track section of the wheel-track switching robot is in the appropriate position, the track will rotate to make the vehicle move forward;

[0071] Step 4: After reaching a certain height, rotate the support rod clockwise, as follows: Figure 9 (d) The left and right swing arms rotate backward. After the support rod touches the ground, the support rod continues to rotate, supporting the robot.

[0072] Step 5: The strut wheel 1 and the track rotate until... Figure 9 (f) In this state, since the robot's height is fixed, the angle of the support pole must remain consistent as the robot moves forward until the robot crosses the obstacle.

[0073] See Figure 11 The present invention also proposes another method for the above-mentioned wheel-track switching robot to travel on narrow roads with inconsistent heights. The ground heights on both sides of the robot's wheel assembly are inconsistent. To ensure the robot maintains stable passage, the following steps are included:

[0074] Step 1: The motor drives the swing arm on the side with the lower ground height to rotate, supporting the robot to reach the appropriate height and keeping the robot basically level.

[0075] Step 2: As the tracks move, the strut wheels of the swing arm rotate, ultimately enabling the robot to walk smoothly.

[0076] In summary, this invention proposes a wheel-track switching robot equipped with swing arms. The robot can first identify difficult terrain ahead, such as ditches, obstacles, steep slopes, and uneven surfaces, through visual or tactile sensing. For different terrains, the swing arms perform different actions and functions. When facing ditches, the swing arms support the robot to traverse them; when facing steep slopes, the hooks on the swing arms can hook onto fixed objects for dragging; when facing obstacles, the swing arms combine support and dragging to overcome them; when facing uneven ground, the wheel-track switching robot integrates a level, allowing adjustment of the angles of the two swing arms relative to the horizontal plane, thus ensuring that the height of both wheels is consistent and enabling stable movement.

[0077] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related system fields, are similarly included within the scope of protection of the present invention.

Claims

1. A swing arm for vaulting, characterized in that: It includes an outer baffle (4) and an inner baffle (12), which are connected together. A strut shaft (5) is rotatably mounted on one end of the outer baffle (4) and the inner baffle (12). A hinge gear (9) is provided in the middle of the strut shaft (5). Both ends of the strut shaft (5) extend out of the outer baffle (4) and the inner baffle (12), and strut wheels (1) are provided at both ends respectively. The other end of the outer baffle (4) and the inner baffle (12) is rotatably provided with a hinge internal gear (14). The hinge gear (9) and the hinge internal gear (14) are connected by a hinge (7). The hinge (7) is provided with a coil tooth (8). The coil tooth (8) is used to hook the obstacle to achieve dragging. The outer baffle (4) is fixedly provided with an outer baffle shaft (17). The outer baffle shaft (17) passes through the hinge internal gear (14) and extends out of the inner baffle (12). The swing arm is connected to the robot body through the outer baffle shaft (17). Each swing arm is driven by two motors. One motor drives the outer baffle shaft (17) to rotate, and the other motor is connected to a spur gear (13). The spur gear (13) meshes with the hinge internal gear (14).

2. The swing arm for vaulting according to claim 1, characterized in that: The strut shaft (5) is mounted on the outer baffle (4) and the inner baffle (12) via bearings.

3. The swing arm for vaulting according to claim 1 or 2, characterized in that: The outer baffle (4) is provided with an outer baffle hinge internal gear fixing seat (16), and the inner baffle (12) is provided with an inner baffle hinge internal gear fixing seat (15). The hinge internal gear (14) is mounted on the inner baffle hinge internal gear fixing seat (15) and the outer baffle hinge internal gear fixing seat (16) through bearings.

4. The swing arm for vaulting according to claim 1 or 2, characterized in that: The support wheel (1) has a support wheel fixing shaft (18) on one side. The end of the support wheel fixing shaft (18) has a groove that cooperates with the support shaft (5). The end of the support shaft (5) extends into the groove of the support wheel fixing shaft (18) and is fixed by screws.

5. The swing arm for vaulting according to claim 1 or 2, characterized in that: The inner baffle (12) is provided with inner baffle fastening posts (10) spaced apart. The ends of the inner baffle fastening posts (10) are provided with screw holes. The outer baffle (4) is fixed to the inner baffle (12) by screws.

6. The swing arm for vaulting according to claim 1 or 2, characterized in that: The number of the coiled teeth (8) is two, and the two coiled teeth (8) are spaced apart.

7. A wheel-track switching robot, characterized in that: The robot includes a main body, and each of its two sides is provided with a swing arm for vaulting as described in any one of claims 1-6, the swing arm being connected to the main body via an outer baffle shaft (17). Each swing arm is driven by two motors. One motor drives the outer baffle shaft (17) to rotate, realizing the swing arm to rotate 360°. The other motor is connected to a spur gear (13). The spur gear (13) meshes with the hinge inner gear (14), driving the hinge inner gear (14) to rotate, realizing the rotation of the hinge (7) and the strut wheel (1).

8. A method for a wheel-track switching robot to traverse ditches based on claim 7, characterized in that, Includes the following steps: Step 1: The support wheel (1) of one side arm of the wheel-track switching robot contacts the plane behind it; Step 2: The other swing arm begins to rotate forward until it contacts the plane opposite the ditch; Step 3: When it is confirmed that it has made contact with the plane, the wheel-track switching robot rotates through the wheels and strut wheels (1) to drive the entire robot forward. When the robot moves forward to the top of the ditch, the main body of the robot is suspended in the air and the wheels stop rotating. Step 4: The strut wheel (1) continues to rotate, driving the wheel-track switching robot forward until it crosses the ditch.

9. A method for a wheel-track switching robot to traverse a slope obstacle according to claim 7, characterized in that, Includes the following steps: The wheel-track switching robot rotates its left and right swing arms forward while simultaneously rotating its hinges, causing the coilovers to hook onto obstacles and provide drag force. It then rotates its tracks or wheels to enable the wheel-track switching robot to traverse ramp obstacles.

10. A method for a wheel-track switching robot to traverse stepped obstacles based on claim 7, characterized in that, Includes the following steps: Step 1: When the wheel-track switching robot comes into contact with an obstacle, it measures the height of the obstacle by swinging the swing arm upward. When the swing arm is against the obstacle and the ground, it measures the distance between the robot and the obstacle. It then determines whether it can be overtaken by measuring the height and distance of the obstacle. Step 2: If it is determined that it can be climbed over, the wheel-track switching robot moves to the closest distance to the obstacle, rotates the left and right swing arms until the lower hinge contacts the obstacle, rotates the hinge (7) so that the coilover (8) hooks the obstacle to achieve dragging, and at the same time the swing arms rotate to drag and support. Step 3: Continue until the bottom track section of the wheel-track switching robot is in the appropriate position, the track will rotate to make the vehicle move forward; Step 4: Rotate the left and right swing arms backward to support the wheel-track switching robot; Step 5: The tracks and strut wheels (1) rotate, and finally the wheel-track switching robot crosses the step obstacle.

11. A method for traversing narrow roads with inconsistent heights using a wheel-track switching robot as described in claim 7, characterized in that, Includes the following steps: Step 1: The motor drives the swing arm on the side with the lower ground height to rotate, supporting the robot to reach the appropriate height and keeping the robot basically level. Step 2: As the tracks or wheels move, the strut wheels of the swing arm rotate, ultimately enabling the robot to walk smoothly.

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