The invention discloses a stair climbing robot. The stair climbing robot comprises an advancing mechanism, a frame mechanism driven by a four-wheel set, a sensing unit and a driving control unit, wherein the sensing unit and the driving control unit are arranged on the frame mechanism, the sensing unit is used for sensing a posture of the robot, parameters of stairs in front of the robot and parameters of surrounding walls and transmitting the parameters to the driving control unit, and the driving control unit is used for driving deformable wheels in the advancing mechanism to walk and steer.The stair climbing robot adopts modular and dynamic gear type advancing mechanism design. Parameter detection during climbing on flat ground and stairs is carried out based on a multi-sensor fusion method. Free switching of the wheel set between a flat ground state and a stair state is realized, and the four-wheeled robot suspension mechanism with the four-bar linkage mechanism as the basic motion unit is selected; and the stair climbing robot is good in geometric trafficability, reasonable in drive circuit design, easy to control and good in endurance, and can be widely applied to luggage cases, baby carriages, large garbage cans and other articles.

    本发明公开了一种爬楼梯机器人,包括行进机构、由四轮组驱动的车架机构、感知单元和驱动控制单元;其中感知单元、驱动控制单元配置于车架机构上,感知单元用于感知机器人姿态、前方楼梯及四周墙壁的参数,并将其传达给驱动控制单元,驱动控制单元用于驱动行进机构中的可变形车轮的行走和转向;本发明采用模块化,动态齿轮式的行进机构设计,基于多传感器融合的方法进行平地和楼梯攀爬时的参数检测,实现轮组在平地和楼梯状态自由切换,具有良好的环境适应性,选取以四连杆机构为基本运动单元的四轮式机器人悬架机构,几何通过性好,驱动电路设计合理,控制易于实现,具有良好的续航能力,可广泛用于行李箱、婴儿推车、大型垃圾桶等物品。


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    Titel :

    Stair climbing robot


    Weitere Titelangaben:

    一种爬楼梯机器人


    Beteiligte:
    HU QINGSONG (Autor:in) / JIA SHENGYU (Autor:in) / LUO DAWEI (Autor:in) / CHENG YONG (Autor:in) / YANG JUNWEI (Autor:in)

    Erscheinungsdatum :

    2020-06-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60B VEHICLE WHEELS , Räder für Fahrzeuge



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