Intelligent walking equipment self-adaptive stair climbing method, chassis structure and intelligent walking equipment

Abstract

The invention relates to a self-adaptive stair climbing method for intelligent walking equipment, and belongs to the technical field of intelligent walking equipment, and the method comprises the following steps: during stair climbing, lifting a first-stage support, and when a detection value of a distance sensor of the first-stage support changes, enabling the first-stage support to fall; lifting the second-stage support to ensure that the wheel support of the second-stage support smoothly passes through the step; wheels of the second-stage support are lapped on the first-stage step, then the third-stage support is lifted to be flush with the second-stage support, the first-stage support is lifted again, the intelligent walking equipment moves forwards as a whole, and when a detection value of a distance sensor of the first-stage support changes, the first-stage support falls; and so on, when the fourth-stage support to the Nth-stage support needs to be lifted by one step, the intelligent walking equipment can move forwards as a whole only by lifting the support to be flush with the previous-stage support. The method has the advantages that the intelligent walking equipment can quickly determine the positions and heights of the stair steps, real-time response of the intelligent walking equipment is achieved, and misjudgment is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent walking devices, and in particular to an adaptive stair climbing method for intelligent walking devices, a chassis structure and an intelligent walking device. Background Art

[0002] With the rapid development of intelligent robot technology, more and more robots are being used in complex environments, especially those tasks that require autonomous movement and navigation. Among them, stair climbing robots, as an intelligent device that can move freely in buildings, have received extensive attention and research. Such robots can be used in emergency rescue, home assistance, industrial transportation and other scenarios, greatly improving work efficiency and reducing the labor burden of humans.

[0003] Some current stair climbing robots use a three-level structure of a front rod (front support), a middle rod (middle support) and a rear rod (rear support) to climb stairs, such as the stair climbing robots disclosed in announcement numbers: CN115432081A and CN113734318A. There are also stair climbing robots that use a two-level structure of a front rod (front support) and a rear rod (rear support) to climb stairs, such as the stair climbing robots disclosed in announcement numbers: CN212243612U and CN116834867A. When climbing stairs, the above-mentioned stair climbing robots usually need to rely on laser radar or depth cameras to model and obtain stereoscopic information of the environment, and then identify the height and position of the steps through calculation. There are also ultrasonic sensors that use ultrasonic reflection time to determine the distance between the object and the sensor, and identify the height of the steps through calculation, and then decide when to lift the corresponding components. However, this method of identifying stair climbing has a complex algorithm, large amount of calculation, high power consumption, slow response speed, and complex calculation and perception algorithms are prone to misjudgment. Summary of the invention

[0004] In order to enable an intelligent walking device to quickly determine the position and height of stair steps, achieve real-time response of the intelligent walking device and reduce misjudgment, the present application provides an intelligent walking device adaptive stair climbing method, chassis structure and intelligent walking device.

[0005] The present application provides an adaptive stair climbing method for an intelligent walking device using the following technical solutions: An adaptive stair climbing method for an intelligent walking device comprises the following steps: The front support is defined as the first-level support, the rear support is defined as the N-level support, and the second-level support to the N-1-level support are all medium supports; Install a distance sensor on the side of the primary support close to the secondary support; After the intelligent walking device recognizes that there are stairs ahead, when climbing the stairs, the first-level support is lifted to the maximum value of its lifting travel range, and then the intelligent walking device moves towards the direction of the stairs. When the detection value of the distance sensor of the first-level support changes, the first-level support falls until the detection value of the distance sensor of the first-level support returns to the initial value, at which time the first-level support falls on the first step; Lift the secondary support until the bottom of the secondary support is higher than the bottom of the primary support, and the height difference between the bottom of the secondary support and the bottom of the primary support is greater than the L value, ensuring that the wheel support of the secondary support can pass the steps smoothly; The intelligent walking device moves forward, the wheels of the secondary support are placed on the first step, then the tertiary support is raised to be flush with the secondary support, and the primary support is raised again to the maximum value of the lifting travel range, and the intelligent walking device moves forward as a whole. When the detection value of the distance sensor of the primary support changes, the primary support falls until the detection value of the distance sensor of the primary support returns to the initial value; At this time, the second-level support and the third-level support are located on the first step, the first-level support is located on the second step, and so on. From the fourth-level support to the N-level support, every time you want to go up a step, you only need to lift it to be flush with the previous level support, and the intelligent walking device can move forward as a whole; Repeat the above steps until the smart walking device completes climbing stairs.

[0006] By adopting the above technical solution, the numerical changes of the laser rangefinder are used to control the lifting and lowering, making the control logic relatively simple and not requiring complex calculations and perception algorithms. This can significantly reduce the difficulty of system development and the load on the processor, thereby achieving fast and reliable motion control.

[0007] The front support is raised to the highest position each time, and the laser rangefinder can detect the height of the steps in real time. When the value changes, it immediately triggers the front support to descend. The fast response speed ensures that the robot can quickly adapt to steps of different heights.

[0008] Since the logic of the system is relatively simple, the value directly fed back by the laser rangefinder can accurately reflect the step height, reducing misjudgments caused by complex calculations and perception algorithms. At the same time, the simplified control logic makes the cost of system debugging, maintenance and troubleshooting lower.

[0009] Since a high-performance processor is not required for complex calculations, the entire system has low power consumption and is suitable for long-term continuous work, especially for tasks such as climbing and descending stairs. This design can save electricity and improve work efficiency.

[0010] Since the distance sensor is installed on the side of the first support close to the second support, when the measurement data of the distance sensor changes, it means that the first support is completely above the step. This can avoid the situation where the wheels of the first support do not fall on the step when falling, causing the chassis to get stuck, ensuring that the stair climbing function can be achieved.

[0011] Optionally, a distance sensor is installed on the side of the secondary support close to the primary support, and a distance sensor is installed on the side of the tertiary support close to the secondary support, and so on, a distance sensor is installed on the side of the N-level support close to the N-1-level support; When going downstairs, the intelligent walking device moves, and when the detection value of the distance sensor of the N-level support changes, the N-level support falls until the detection value of the distance sensor of the N-level support returns to the initial value, and at this time, the N-level support falls on the Nth step; The intelligent walking device continues to move. When the detection value of the distance sensor of the N-1 support changes, the N-1 support falls until the detection value of the distance sensor of the N-1 support returns to the initial value. At this time, the N-1 support falls on the Nth step. By analogy, the second to Nth level supports are carried out in the same way; When the third level support falls to the N-1th step, the first level support can fall to the Nth step; Repeat the above steps until the intelligent walking device has completed going downstairs.

[0012] By adopting the above technical solution, when going downstairs, the installation position of the distance sensor ensures that the bottom of the middle support and the rear support will not drop until they are fully extended over the steps, thereby avoiding the tipping over of the intelligent walking device when going downstairs and improving the stability of going downstairs.

[0013] Optionally, the value of N is 3, that is, the front support is the first-level support, the rear support is the third-level support, and the second-level support is the middle support; After the intelligent walking device recognizes that there are stairs ahead, when climbing the stairs, the first-level support is lifted to the maximum value of its lifting travel range, and then the intelligent walking device moves towards the direction of the stairs. When the detection value of the distance sensor of the first-level support changes, the first-level support falls until the detection value of the distance sensor of the first-level support returns to the initial value, at which time the first-level support falls on the first step; Lift the secondary support until the bottom of the secondary support is higher than the bottom of the primary support, and the height difference between the bottom of the secondary support and the bottom of the primary support is greater than the L value, ensuring that the wheel support of the secondary support can pass the steps smoothly; The intelligent walking device moves forward, the wheels of the secondary support are placed on the first step, then the tertiary support is raised to be flush with the secondary support, and the primary support is raised again to the maximum value of the lifting travel range, and the intelligent walking device moves forward as a whole. When the detection value of the distance sensor of the primary support changes, the primary support falls until the detection value of the distance sensor of the primary support returns to the initial value; At this time, the secondary support and the tertiary support are located on the first step, and the primary support is located on the second step. Repeat the above steps until the intelligent walking device completes the climbing process. When going downstairs, the intelligent walking device moves, and when the detection value of the distance sensor of the three-level support changes, the three-level support falls until the detection value of the distance sensor of the three-level support returns to the initial value, and then the three-level support falls on the Nth step; The intelligent walking device continues to move. When the detection value of the distance sensor of the secondary support changes, the secondary support falls until the detection value of the distance sensor of the secondary support returns to the initial value. At this time, the secondary support falls on the Nth step. The intelligent walking device continues to move. When the detection value of the distance sensor of the third-level support changes, the third-level support falls until the detection value of the distance sensor of the third-level support returns to the initial value. At this time, the third-level support falls on the N-1th step, and the first-level support can fall on the Nth step at the same time; Repeat the above steps until the intelligent walking device has completed going downstairs.

[0014] Optionally, the distance sensors supported at each level are all infrared macro distance measuring instruments, and the number of the distance sensors supported at each level is at least two; When climbing stairs, the first-level support will only descend when the measured values ​​of all distance sensors of the first-level support change; When going downstairs, the falling of the secondary support to the N-level support depends on: when the measured values ​​of the distance sensors of the corresponding level supports all change, the corresponding level supports will execute the falling.

[0015] By adopting the above technical solution and cooperating with multiple distance sensors, it is further ensured that the chassis of the corresponding level support is completely above the steps, and when falling, within the retractable range of the shock absorber, it is ensured that the measurement values ​​of all distance sensors are restored to the initial values ​​(large obstacles are judged by laser radar and the equipment is moved sideways before climbing the stairs), which can ensure that the wheels of the corresponding level support are on the ground, avoiding the situation where some wheels fall on the protrusions on the step surface and the rest of the wheels are suspended and spinning.

[0016] Optionally, the L value is L=Ls-Lf+R, where: Ls represents the overall length of the shock absorber of the intelligent walking device in the suspended state; Lf represents the original length of the shock absorber in its natural state without external force; R represents the range of the measured data among multiple numerical sensors of the primary support; When climbing stairs, the secondary support needs to be raised until the height difference between its bottom and the bottom of the primary support is greater than the L value by 1-5mm.

[0017] By adopting the above technical solution, it can be ensured that the wheels of the secondary support can move onto the steps, avoiding the wheels of the secondary support from pressing against the vertical surface of the steps due to the expansion and contraction of the shock absorber and the error in the sensor measurement data.

[0018] Optionally, the number of distance sensors of the front support and the rear support are both two, and the two distance sensors of the front support are respectively installed on both sides of the front support, and the two distance sensors of the rear support are respectively installed on both sides of the rear support, and independently drivable driving wheels are installed on both sides of the left and right sides of the intelligent walking device; When only one of the measured values ​​of the two distance sensors changes, the travel speed of the driving wheels on the left and right sides is adjusted until the measured value of the other distance sensor changes.

[0019] By adopting the above technical solution, it can be achieved that when the intelligent walking device enters the stairs from an oblique direction, the angle at which the intelligent walking device enters the stairs can be adaptively adjusted to ensure that the width direction of the intelligent walking device remains parallel to the width direction of the steps before climbing or going down the stairs. At the same time, the intelligent walking device can also climb spiral stairs.

[0020] Optionally, a laser radar is installed on the side of the front support away from the middle support, and a laser radar is installed on the rear end of the side of the rear support away from the middle support; when the intelligent walking device goes upstairs, it continuously receives obstacle information sent by the laser radar on the front support; when the intelligent walking device goes downstairs, it continuously receives obstacle information sent by the laser radar on the rear support; when the received obstacle information shows that there is an obstacle, stop the device from moving and start timing until the received obstacle information shows that there is no obstacle; when the timing reaches the preset duration threshold, control the device to move horizontally until the received obstacle information shows that there is no obstacle.

[0021] By adopting the above technical solution, the intelligent walking device can automatically move away after identifying an obstacle, and then climb the stairs after avoiding the obstacle, thereby improving the ability of the intelligent walking device to cope with different situations.

[0022] The present application also provides a chassis structure adopting the following technical solution; A chassis structure, on which the above-mentioned intelligent walking device adaptive stair climbing method is applied, comprises a front chassis, at least one middle chassis and a rear chassis, both ends of the front chassis are equipped with front drive wheels, the front drive wheels are located on the side of the front chassis away from the middle chassis, and both ends of the middle chassis are equipped with rear drive wheels, the rear drive wheels are located on the side of the middle chassis close to the rear chassis; the front drive wheels and the rear drive wheels are driven by independent motors; Both ends of the front chassis close to the middle chassis, both ends of the middle chassis close to the front chassis, and both ends of the rear chassis close to the middle chassis are installed with proximity sensors; The number of the middle chassis is the same as the number of the middle supports and corresponds one to one. The front chassis is the base of the front support, the middle chassis is the base of the middle support, and the rear chassis is the base of the rear support.

[0023] Optionally, transverse wheels are installed on the front chassis, the middle chassis and the rear chassis, and all the transverse wheels are driven by independent motors.

[0024] The present application also provides an intelligent walking device that adopts the following technical solution: An intelligent walking device, using the above-mentioned chassis structure, includes a front bracket, a middle bracket and a rear bracket, the number of the middle bracket is one, the number of the middle chassis is one, the front bracket is installed on the front chassis, the middle bracket is installed on the middle chassis, and the rear bracket is installed on the rear chassis, the front bracket and the rear bracket are both slidably connected to the middle bracket, the middle bracket is rotatably connected with a front lead screw and a rear lead screw, the front lead screw is threadedly connected with a front lifting frame, the front lifting frame is connected to the front bracket, the rear lead screw is threadedly connected with a rear lifting frame, the rear lifting frame is connected to the rear bracket, and the front lead screw and the rear lead screw are both driven by independent motors.

[0025] By adopting the above technical solution, the front lifting frame can be driven to rotate to drive the front bracket to lift, and the rear lifting frame can be driven to rotate to drive the rear bracket to lift. When the front bracket and the rear bracket are both supported on the ground, the middle bracket can be lifted by driving the front screw and the rear screw to rotate at the same time. That is, the front bracket and the rear bracket are pressed on the ground and then the middle bracket rises, thereby ensuring stability during the lifting process and avoiding the situation where the uneven step surface causes the moving equipment to be unstable during lifting.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. Using the numerical changes of the laser rangefinder to control the lifting makes the control logic relatively simple and does not require complex calculations and perception algorithms. This can significantly reduce the difficulty of system development and the load on the processor, thereby achieving fast and reliable motion control; 2. The laser rangefinder can detect the height of the steps in real time. When the value changes, it immediately triggers the lifting and lowering of the front, middle and rear chassis. The fast response speed ensures that the robot can quickly adapt to steps of different heights. 3. Since the logic of the system is relatively simple, the value directly fed back by the laser rangefinder can accurately reflect the step height, reducing misjudgments caused by complex calculations and perception algorithms. At the same time, the simplified control logic makes the cost of system debugging, maintenance and troubleshooting lower; 4. Since high-performance processors are not required for complex calculations, the power consumption of the entire system is low, which is suitable for long-term continuous work, especially for tasks such as climbing and descending stairs. This design can save power and improve work efficiency; 5. Through the cooperation of multiple distance sensors, it is further ensured that the chassis of the corresponding level support is completely above the step, and when falling, within the retractable range of the shock absorber, it can be ensured that the measurement values ​​of all distance sensors are restored to the initial value (large obstacles are judged by laser radar and the equipment is moved sideways before climbing the stairs), which can ensure that the wheels of the corresponding level support are all on the ground, avoiding the situation where some wheels fall on the protrusions on the step surface, and the rest of the wheels are suspended and idling; 6. When the intelligent walking device enters the stairs from an oblique direction, it can adaptively adjust the angle at which the intelligent walking device enters the stairs, ensuring that the width direction of the intelligent walking device remains parallel to the width direction of the steps before climbing or going down the stairs. At the same time, the intelligent walking device can also climb spiral stairs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a flow chart of the intelligent walking device adaptively going upstairs in an embodiment of the present application.

[0028] Figure 2 This is a flow chart of the intelligent walking device identifying obstacles when going upstairs and adjusting the front support before it descends in an embodiment of the present application.

[0029] Figure 3 This is a flow chart of the adaptive stair descent of the intelligent walking device in an embodiment of the present application.

[0030] Figure 4 This is a flow chart of the intelligent walking device identifying obstacles when going downstairs and adjusting the rear support before descending in an embodiment of the present application.

[0031] Figure 5 It is a structural schematic diagram used to reflect the chassis structure of an embodiment of the present application.

[0032] Figure 6 It is a structural diagram of an embodiment of the present application for embodying an intelligent walking device.

[0033] Explanation of the accompanying drawings: 1. front chassis; 11. front drive wheel; 2. middle chassis; 21. rear drive wheel; 3. rear chassis; 4. short-range sensor; 5. transverse wheel; 6. front bracket; 7. middle bracket; 71. front screw; 72. rear screw; 73. front lifting frame; 74. rear lifting frame; 8. rear bracket. DETAILED DESCRIPTION

[0034] The following is combined with Figure 1-6 This application is described in further detail.

[0035] The embodiment of the present application discloses an adaptive stair climbing method for an intelligent walking device.

[0036] The adaptive stair climbing method of an intelligent walking device comprises the following steps: The front support is defined as the first-level support, the rear support is defined as the N-level support, and the second-level support to the N-1-level support are all medium supports; Install a distance sensor on the side of the primary support close to the secondary support; After the intelligent walking device recognizes that there are stairs ahead, when climbing the stairs, the first-level support is lifted to the maximum value of its lifting travel range, and then the intelligent walking device moves towards the direction of the stairs. When the detection value of the distance sensor of the first-level support changes, the first-level support falls until the detection value of the distance sensor of the first-level support returns to the initial value, at which time the first-level support falls on the first step; Lift the secondary support until the bottom of the secondary support is higher than the bottom of the primary support, and the height difference between the bottom of the secondary support and the bottom of the primary support is greater than the L value, ensuring that the wheel support of the secondary support can pass the steps smoothly; The intelligent walking device moves forward, the wheels of the secondary support are placed on the first step, then the tertiary support is raised to be flush with the secondary support, and the primary support is raised again to the maximum value of the lifting travel range, and the intelligent walking device moves forward as a whole. When the detection value of the distance sensor of the primary support changes, the primary support falls until the detection value of the distance sensor of the primary support returns to the initial value; At this time, the second-level support and the third-level support are located on the first step, the first-level support is located on the second step, and so on. From the fourth-level support to the N-level support, every time you want to go up a step, you only need to lift it to be flush with the previous level support, and the intelligent walking device can move forward as a whole; Repeat the above steps until the smart walking device completes climbing stairs.

[0037] Install a distance sensor on the side of the secondary support close to the primary support, install a distance sensor on the side of the tertiary support close to the secondary support, and so on, install a distance sensor on the side of the N-level support close to the N-1-level support; When going downstairs, the intelligent walking device moves, and when the detection value of the distance sensor of the N-level support changes, the N-level support falls until the detection value of the distance sensor of the N-level support returns to the initial value, and at this time, the N-level support falls on the Nth step; The intelligent walking device continues to move. When the detection value of the distance sensor of the N-1 support changes, the N-1 support falls until the detection value of the distance sensor of the N-1 support returns to the initial value. At this time, the N-1 support falls on the Nth step. By analogy, the second to Nth level supports are carried out in the same way; When the third level support falls to the N-1th step, the first level support can fall to the Nth step; Repeat the above steps until the intelligent walking device has completed going downstairs.

[0038] Specifically, taking the N value of 3 as an example, the front support is a first-level support, the rear support is a third-level support, the second-level support is a middle support, and a laser radar is installed on the side of the front support away from the middle support, and a laser radar is installed at the rear end of the side of the rear support away from the middle support. The number of distance sensors of the front support, the middle support and the rear support are two and are respectively installed on both sides of the front support, the middle support and the rear support. Separately drivable driving wheels are installed on both sides of the intelligent walking device, and the driving wheel of the middle support is installed on the side of the middle support away from the front support.

[0039] like Figure 1 and Figure 2 , the intelligent walking device goes upstairs including the following steps: S1.1. Identify stairs; use the LiDAR / depth camera to determine whether there are stairs ahead (no depth modeling is required to calculate the height of the stair steps and the distance between the device and the stairs); S1.2, obstacle identification: When the intelligent walking device moves toward the stairs, it continuously receives obstacle information sent by the laser radar on the front support (only obstacles with a height above the compressible amount of the shock absorber are identified); S1.21. When the obstacle information received indicates that there is an obstacle, stop the device from moving and start timing until the obstacle information received indicates that there is no obstacle; S1.22. When the timed duration reaches the preset duration threshold, the device is controlled to move horizontally until the obstacle information received indicates that there is no obstacle; S1.3, lifting the front support; after receiving the obstacle information that there is no obstacle, the front support is lifted to the maximum value of its lifting and lowering travel range, and the intelligent walking device moves in the direction close to the stairs until the detection value of the distance sensor of the front support changes; S1.31, if the detection values ​​of the two distance sensors change at the same time, the front support lowering action is executed; S1.32, if only one distance sensor detects a change in value, the drive wheel on the same side of the distance sensor whose detection value has changed will stop, and the drive wheel on the same side of the distance sensor whose detection value has not changed will move forward, until both distance sensors of the front supports change and then the front support lowering action will be executed; S1.4, the front support falls; the front support falls until the detection values ​​of all the distance sensors of the front support return to the initial values, and the front support falls on the first step; S1.5. Middle support lifting: The middle support is lifted until its bottom is higher than the bottom of the front support, and the height difference between the bottom of the middle support and the bottom of the front support is greater than the L value. The L value is L=Ls-Lf+R, where: Ls represents the overall length of the shock absorber of the intelligent walking device in the suspended state; Lf represents the original length of the shock absorber in its natural state without external force; R represents the range of the measured data among multiple numerical sensors of the primary support; When climbing stairs, the intermediate support needs to be raised until the height difference between its bottom and the bottom of the previous support is greater than the L value of 3mm; S1.6. The intelligent walking device continues to move forward until the middle support is fully supported on the step; The forward distance of the intelligent walking device can be controlled by installing a micro switch on the wheel of the middle support; it can also be programmed according to the width of the support slot so that after the middle support is lifted, the intelligent walking device moves forward a distance equal to the width of the middle support; S1.7. Lift the rear support until its bottom is flush with the bottom of the middle support; S1.8. Repeat steps S1.2-S1.6 until the front support is on the second step, and the middle support and the rear support are on the first step; S1.9, repeat steps S1.2-S1.8 multiple times to complete the intelligent walking device going upstairs; like Figure 3 and Figure 4 , the intelligent walking device goes downstairs including the following steps: S2.1, identify stairs: use the laser radar / depth camera to determine whether there are stairs ahead; S2.2, identifying obstacles: when the intelligent walking device moves toward the stairs, it continuously receives obstacle information sent by the laser radar on the front support; S2.21. When the obstacle information received indicates that there is an obstacle, stop the device from moving and start timing until the obstacle information received indicates that there is no obstacle; S2.22. When the timed duration reaches the preset duration threshold, the device is controlled to move horizontally until the obstacle information received indicates that there is no obstacle; S2.3, the intelligent walking device moves forward until the detection value of the distance sensor of the rear support changes; S2.31, if the detection values ​​of the two distance sensors change at the same time, the front support lowering action is executed; S2.32, if only one distance sensor detects a change in value, the drive wheel on the same side of the distance sensor whose detection value has changed will stop, and the drive wheel on the same side of the distance sensor whose detection value has not changed will move forward, until both distance sensors of the rear supports change and then the front support lowering action will be executed; S2.4, the rear support descends; the rear support falls until the detection values ​​of the two distance sensors of the rear support return to the initial values, and the rear support falls on the Nth step; S2.5. The intelligent walking device continues to move forward until the detection values ​​of the two distance sensors of the middle support change; S2.6, the middle support descends; the middle support falls until the detection values ​​of the two distance sensors of the middle support return to the initial values, and the middle support falls on the Nth step; S2.7, repeat steps S2.2-S2.4, and then control the front support to fall on the Nth step, at which time the middle support is located on the Nth step, and the rear support is located on the N-1th step; S2.8. Repeat steps S2.2-S2.7 multiple times to complete the intelligent walking device going downstairs.

[0040] In other embodiments, when the value of N is 4, the steps for the intelligent walking device to go upstairs are: Execute steps S1.1-S1.4; S1.5. Lift the secondary support until its bottom is higher than the bottom of the front support, and the height difference between the bottom of the middle support and the bottom of the front support is greater than the L value; S1.6. Lift the front support to the maximum value of its lifting range, and lift the third-level support to be flush with the bottom of the second-level support; S1.7, the intelligent walking device continues to move forward, and then executes steps S1.3-S1.4 until the front support falls on the second step, and the second and third supports fall on the first step; S1.8, the fourth-level support is lifted until its bottom is flush with the bottom of the third-level support; the second-level support is lifted until its bottom is higher than the bottom of the previous support; S1.9, the intelligent walking device moves forward, the front support and the secondary support fall on the second step, and the third and fourth support fall on the first step; S1.10, repeat steps S1.2-1.9 multiple times to complete the intelligent walking device going upstairs; The steps for the intelligent walking device to go downstairs are: Execute steps S2.1-S2.6; S2.7, execute steps S2.2-S2.4 again, and the second-level support performs the fall, at which time the fourth-level support is located on the N-1th step, and the second-level support and the third-level support are located on the Nth step; S2.8, execute steps S2.5-S2.6 again, and the first-level support performs the fall, at which time the third-level support and the fourth-level support are located on the N-1th step, and the second-level support and the third-level support are located on the Nth step; S2.9. Repeat steps S2.2-S2.8 to complete the intelligent walking device going downstairs.

[0041] In other embodiments, when the value of N is 2, the steps for the intelligent walking device to go upstairs are: Execute steps S1.1-S1.4; S1.5, the rear support is lifted; the rear support is lifted until its bottom is higher than the bottom of the front support, and the height difference between the bottom of the rear support and the bottom of the front support is greater than the L value; S1.6. The intelligent walking device continues to move forward until the rear support is fully supported on the step; S1.7, repeat steps S1.2-S1.6 to complete the intelligent walking device climbing stairs; The steps for the intelligent walking device to go downstairs are: Execute steps S2.1-S2.4; S2.5. The intelligent walking device continues to move forward until the detection values ​​of the two distance sensors of the front support change; S2.6, the front support falls until the detection values ​​of the two distance sensors of the front support return to the initial values, and the front support falls on the Nth step; S2.7, repeat steps S2.2-S2.6 to complete the intelligent walking device going downstairs; When N takes other values, the steps can be adaptively adjusted.

[0042] This approach has the following advantages: 1. Using the numerical changes of the laser rangefinder to control the lifting makes the control logic relatively simple and does not require complex calculations and perception algorithms. This can significantly reduce the difficulty of system development and the load on the processor, thereby achieving fast and reliable motion control; 2. The laser rangefinder can detect the height of the steps in real time. When the value changes, it immediately triggers the lifting and lowering of the front, middle and rear chassis. The fast response speed ensures that the robot can quickly adapt to steps of different heights. 3. Since the logic of the system is relatively simple, the value directly fed back by the laser rangefinder can accurately reflect the step height, reducing misjudgments caused by complex calculations and perception algorithms. At the same time, the simplified control logic makes the cost of system debugging, maintenance and troubleshooting lower; 4. Since high-performance processors are not required for complex calculations, the power consumption of the entire system is low, which is suitable for long-term continuous work, especially for tasks such as climbing and descending stairs. This design can save power and improve work efficiency; 5. Through the cooperation of multiple distance sensors, it is further ensured that the chassis of the corresponding level support is completely above the step, and when falling, within the retractable range of the shock absorber, it can be ensured that the measurement values ​​of all distance sensors are restored to the initial value (large obstacles are judged by laser radar and the equipment is moved sideways before climbing the stairs), which can ensure that the wheels of the corresponding level support are all on the ground, avoiding the situation where some wheels fall on the protrusions on the step surface, and the rest of the wheels are suspended and idling; 6. When the intelligent walking device enters the stairs from an oblique direction, it can adaptively adjust the angle at which the intelligent walking device enters the stairs, ensuring that the width direction of the intelligent walking device remains parallel to the width direction of the steps before climbing the stairs. At the same time, the intelligent walking device can also climb spiral stairs.

[0043] like Figure 5 The embodiment of the present application further provides a chassis structure, which is applied to the device of the adaptive stair climbing method when the N value is 3, and includes a front chassis 1, a middle chassis 2 and a rear chassis 3. Front driving wheels 11 are installed at both ends of the front chassis 1, and the front driving wheels 11 are located on the side of the front chassis 1 away from the middle chassis 2. Rear driving wheels 21 are installed at both ends of the middle chassis 2, and the rear driving wheels 21 are located on the side of the middle chassis 2 close to the rear chassis 3. The front driving wheels 11 and the rear driving wheels 21 are driven by independent motors. Both ends of the front chassis 1 close to the middle chassis 2, both ends of the middle chassis 2 close to the front chassis 1, and both ends of the rear chassis 3 close to the middle chassis 2 are all installed with proximity sensors 4; A transverse wheel 5 is installed on the front chassis 1. The transverse wheel 5 is located between the two front drive wheels 11 and is installed on a side of the front chassis 1 away from the middle chassis 2. Two transverse wheels 5 are installed on the middle chassis 2. The two transverse wheels 5 are located at one end of the middle chassis 2 and at one side of the middle chassis 2 close to the front chassis 1. A transverse wheel 5 is also mounted on the rear chassis 3. The transverse wheel 5 of the rear chassis 3 is arranged opposite to the transverse wheel 5 of the front chassis 1 and is located on a side of the rear chassis 3 away from the middle chassis 2. All the traverse wheels 5 are driven by independent motors; The front chassis 1 is installed as the chassis of the front support, the middle chassis 2 is installed as the chassis of the middle support, and the rear chassis 3 is installed as the chassis of the rear support. When encountering obstacles and moving sideways, all the traverse wheels 5 work together to realize the traverse of the intelligent walking device; The front driving wheel 11 and the rear driving wheel 21 on one side are stationary, and the front driving wheel 11 and the rear driving wheel 21 on the other side rotate to realize the steering of the intelligent walking device.

[0044] like Figure 6 The embodiment of the present application also provides an intelligent walking device, using the chassis structure of the embodiment of the present application, including a front bracket 6, a middle bracket 7 and a rear bracket 8, the front bracket 6 is installed on the front chassis 1, the middle bracket 7 is installed on the middle chassis 2, and the rear bracket 8 is installed on the rear chassis 3. The front bracket 6 and the rear bracket 8 are both slidably connected to the middle bracket 7, and the middle bracket 7 is rotatably connected with a front lead screw 71 and a rear lead screw 72, the front lead screw 71 is threadedly connected with a front lifting frame 73, the front lifting frame 73 is connected to the front bracket 6, the rear lead screw 72 is threadedly connected with a rear lifting frame 74, the rear lifting frame 74 is connected to the rear bracket 8, and the front lead screw 71 and the rear lead screw 72 are both driven by independent motors installed on the middle chassis 2.

[0045] By driving the front screw 71 to rotate, the front lifting frame 73 can drive the front bracket 6 to lift, and by driving the rear screw 72 to rotate, the front lifting frame 73 can drive the rear bracket 8 to lift. When the front bracket 6 and the rear bracket 8 are both supported on the ground, the middle bracket 7 can be lifted by driving the front screw 71 and the rear screw 72 to rotate at the same time, that is, the front bracket 6 and the rear bracket 8 are pressed against the ground and then the middle bracket 7 rises. Combined with the adaptive stair climbing method of the embodiment of the present application, stable going up and down stairs can be achieved, and stability in the lifting process can be guaranteed, thereby avoiding the situation where the uneven step surface causes the mobile equipment to be unstable during lifting.

[0046] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An adaptive stair climbing method for an intelligent walking device, characterized in that: The following steps are involved: The front support is defined as the first-level support, the rear support is defined as the N-level support, and the second-level support to the N-1-level support are all medium supports; Install a distance sensor on the side of the primary support close to the secondary support; After the intelligent walking device recognizes that there are stairs ahead, when climbing the stairs, the first-level support is lifted to the maximum value of its lifting travel range, and then the intelligent walking device moves towards the direction of the stairs. When the detection value of the distance sensor of the first-level support changes, the first-level support falls until the detection value of the distance sensor of the first-level support returns to the initial value, at which time the first-level support falls on the first step; Lift the secondary support until the bottom of the secondary support is higher than the bottom of the primary support, and the height difference between the bottom of the secondary support and the bottom of the primary support is greater than the L value, ensuring that the wheel support of the secondary support can pass the steps smoothly; The intelligent walking device moves forward, the wheels of the secondary support are placed on the first step, then the tertiary support is raised to be flush with the secondary support, and the primary support is raised again to the maximum value of the lifting travel range, and the intelligent walking device moves forward as a whole. When the detection value of the distance sensor of the primary support changes, the primary support falls until the detection value of the distance sensor of the primary support returns to the initial value; At this time, the second-level support and the third-level support are located on the first step, the first-level support is located on the second step, and so on. From the fourth-level support to the N-level support, every time you want to go up a step, you only need to lift it to be flush with the previous level support, and the intelligent walking device can move forward as a whole; Repeat the above steps until the smart walking device completes climbing stairs.

2. The method for adaptive stair climbing of an intelligent walking device according to claim 1, characterized in that: Install a distance sensor on the side of the secondary support close to the primary support, install a distance sensor on the side of the tertiary support close to the secondary support, and so on, install a distance sensor on the side of the N-level support close to the N-1-level support; When going downstairs, the intelligent walking device moves, and when the detection value of the distance sensor of the N-level support changes, the N-level support falls until the detection value of the distance sensor of the N-level support returns to the initial value, and at this time, the N-level support falls on the Nth step; The intelligent walking device continues to move. When the detection value of the distance sensor of the N-1 support changes, the N-1 support falls until the detection value of the distance sensor of the N-1 support returns to the initial value. At this time, the N-1 support falls on the Nth step. By analogy, the second to Nth level supports are carried out in the same way; When the third level support falls to the N-1th step, the first level support can fall to the Nth step; Repeat the above steps until the intelligent walking device has completed going downstairs.

3. The adaptive stair climbing method for an intelligent walking device according to claim 2, characterized in that: The N value is 3, that is, the front support is the first-level support, the rear support is the third-level support, and the second-level support is the middle support; After the intelligent walking device recognizes that there are stairs ahead, when climbing the stairs, the first-level support is lifted to the maximum value of its lifting travel range, and then the intelligent walking device moves towards the direction of the stairs. When the detection value of the distance sensor of the first-level support changes, the first-level support falls until the detection value of the distance sensor of the first-level support returns to the initial value, at which time the first-level support falls on the first step; Lift the secondary support until the bottom of the secondary support is higher than the bottom of the primary support, and the height difference between the bottom of the secondary support and the bottom of the primary support is greater than the L value, ensuring that the wheel support of the secondary support can pass the steps smoothly; The intelligent walking device moves forward, the wheels of the secondary support are placed on the first step, then the tertiary support is raised to be flush with the secondary support, and the primary support is raised again to the maximum value of the lifting travel range, and the intelligent walking device moves forward as a whole. When the detection value of the distance sensor of the primary support changes, the primary support falls until the detection value of the distance sensor of the primary support returns to the initial value; At this time, the secondary support and the tertiary support are located on the first step, and the primary support is located on the second step. Repeat the above steps until the intelligent walking device completes the climbing process. When going downstairs, the intelligent walking device moves, and when the detection value of the distance sensor of the three-level support changes, the three-level support falls until the detection value of the distance sensor of the three-level support returns to the initial value, and then the three-level support falls on the Nth step; The intelligent walking device continues to move. When the detection value of the distance sensor of the secondary support changes, the secondary support falls until the detection value of the distance sensor of the secondary support returns to the initial value. At this time, the secondary support falls on the Nth step. The intelligent walking device continues to move. When the detection value of the distance sensor of the third-level support changes, the third-level support falls until the detection value of the distance sensor of the third-level support returns to the initial value. At this time, the third-level support falls on the N-1th step, and the first-level support can fall on the Nth step at the same time; Repeat the above steps until the intelligent walking device has completed going downstairs.

4. The adaptive stair climbing method for an intelligent walking device according to claim 3, characterized in that: The distance sensors supported at each level are all infrared macro distance measuring instruments, and the number of distance sensors supported at each level is at least two; When climbing stairs, the first-level support will only descend when the measured values ​​of all distance sensors of the first-level support change; When going downstairs, the falling of the secondary support to the N-level support depends on: when the measured values ​​of the distance sensors of the corresponding level supports all change, the corresponding level supports will execute the falling.

5. The adaptive stair climbing method for an intelligent walking device according to any one of claims 1 or 3, characterized in that: The L value is L=Ls-Lf+R, where: Ls represents the overall length of the shock absorber of the intelligent walking device in the suspended state; Lf represents the original length of the shock absorber in its natural state without external force; R represents the range of the measured data among multiple numerical sensors of the primary support; When climbing stairs, the secondary support needs to be raised until the height difference between its bottom and the bottom of the primary support is greater than the L value by 1-5mm.

6. The method for adaptive stair climbing of an intelligent walking device according to claim 4, characterized in that: The number of distance sensors of the front support and the rear support are both two, and the two distance sensors of the front support are respectively installed on both sides of the front support, and the two distance sensors of the rear support are respectively installed on both sides of the rear support, and driving wheels that can be driven separately are installed on both sides of the left and right sides of the intelligent walking device; When only one of the measured values ​​of the two distance sensors changes, the travel speed of the driving wheels on the left and right sides is adjusted until the measured value of the other distance sensor changes.

7. The adaptive stair climbing method for an intelligent walking device according to claim 3, characterized in that: A laser radar is installed on the side of the front support away from the middle support, and a laser radar is installed on the rear end of the side of the rear support away from the middle support. The laser radar only provides information feedback for obstacles at a height above the compressible amount of the shock absorber of the intelligent walking device; When the intelligent walking device goes upstairs, it continuously receives obstacle information sent by the laser radar on the front support; When the intelligent walking device goes downstairs, it continuously receives obstacle information sent by the laser radar on the rear support; When the obstacle information received indicates that there is an obstacle, the device stops moving and starts timing until the obstacle information received indicates that there is no obstacle; When the timing duration reaches the preset duration threshold, the device is controlled to move horizontally until the obstacle information received indicates that there is no obstacle.

8. A chassis structure, characterized in that: The device using the adaptive stair climbing method for an intelligent walking device according to any one of claims 2 to 7 comprises a front chassis (1), at least one middle chassis (2) and a rear chassis (3); front driving wheels (11) are installed at both ends of the front chassis (1), and the front driving wheels (11) are located on a side of the front chassis (1) away from the middle chassis (2); rear driving wheels (21) are installed at both ends of the middle chassis (2), and the rear driving wheels (21) are located on a side of the middle chassis (2) close to the rear chassis (3); the front driving wheels (11) and the rear driving wheels (21) are driven by independent motors; Both ends of the front chassis (1) close to the middle chassis (2), both ends of the middle chassis (2) close to the front chassis (1), and both ends of the rear chassis (3) close to the middle chassis (2) are all installed with proximity sensors (4); The number of the middle chassis (2) is the same as the number of the middle supports and corresponds one to one. The front chassis (1) is the base of the front support, the middle chassis (2) is the base of the middle support, and the rear chassis (3) is the base of the rear support.

9. The chassis structure according to claim 8, characterized in that: Transverse wheels (5) are installed on the front chassis (1), the middle chassis (2) and the rear chassis (3), and all the transverse wheels (5) are driven by independent motors.

10. An intelligent walking device, characterized in that: The chassis structure according to any one of claims 8 to 9 comprises a front bracket (6), a middle bracket (7) and a rear bracket (8), wherein the number of the middle bracket (7) is one, the number of the middle chassis (2) is one, the front bracket (6) is mounted on the front chassis (1), the middle bracket (7) is mounted on the middle chassis (2), and the rear bracket (8) is mounted on the rear chassis (3), the front bracket (6) and the rear bracket (8) are both slidably connected to the middle bracket (7), the middle bracket (7) is rotatably connected with a front lead screw (71) and a rear lead screw (72), the front lead screw (71) is threadedly connected with a front lifting frame (73), the front lifting frame (73) is connected to the front bracket (6), the rear lead screw (72) is threadedly connected with a rear lifting frame (74), the rear lifting frame (74) is connected to the rear bracket (8), and the front lead screw (71) and the rear lead screw (72) are both driven by independent motors.

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