The invention discloses an obstacle crossing method of a mobile robot, which is characterized in that through the change of angles of a rear swing arm track and a front swing arm track on two sides of a main body track, when the robot adopting the method walks on a flat ground, a front swing arm and a rear swing arm can be turned back to a robot main body to be transformed into a robot with a small structure, and the robot can adapt to a narrow field; when the robot needs to climb over stairs or climb over high obstacles, the front swing arm and the rear swing arm are unfolded to climb over stairs and cross obstacles, the robot can adapt to more complex sites, the use scenes of the robot are increased, and the arrangement of the rear swing arm crawler belt and the front swing arm crawler belt can meet the requirement of a crawler-type robot and can also adapt to a wheeled robot.
本发明公开了一种移动机器人的越障方法,通过后摆臂履带和前摆臂履带在主体履带两侧角度的变化,采用这种方法的机器人在平地行走时,可以将前后双摆臂旋回机器人主体,变形成结构小巧的机器人,可以适应狭小的场地,当需要爬越楼梯或者翻越高障碍物时,前后双摆臂展开,进行爬越楼梯和越障的动作,可适应更加复杂场地,增加机器人的使用场景,并且后摆臂履带和前摆臂履带的设置既可满足履带式机器人也可适应轮式机器人。
Obstacle crossing method of mobile robot
一种移动机器人的越障方法
2023-05-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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