The invention discloses a method and system for a quadruped robot dog to climb industrial stairs, and relates to the technical field of quadruped robot dogs, and the method comprises the steps that the quadruped robot dog is started, the quadruped robot dog adopts front and back elbow type movement, and when a robot advances and encounters steps, the height of the steps is calculated by calculating the time used in the leg falling process; when the two front legs stride on the steps, the elevation angle of the robot dog is adjusted according to the estimated height of the steps, and the elevation angle is determined according to the height of the steps; after the two rear legs stably stride on the steps, one-time bending action is carried out, so that the machine body is adjusted to a horizontal posture; and sending a completion signal through an internal feedback mechanism to inform an operator to complete the task. According to the industrial stair climbing method of the four-footed machine dog, the success rate of climbing the industrial stair by the four-footed machine dog is remarkably improved, the energy consumption of climbing the industrial stair by the four-footed machine dog is effectively reduced, the climbing strategy is adjusted according to the actual electric quantity and the attributes of steps, and the speed and stability of climbing the industrial stair by the four-footed machine dog are improved.
本发明公开了一种四足机器狗爬工业楼梯的方法及系统,涉及四足机器狗技术领域,包括:启动四足机器狗,四足机器狗采用前后肘式运动,当机器人前进遇到台阶时,通过计算腿下落过程中所用的时间计算台阶高度;当两条前腿都迈到台阶上时,估算出的台阶高度调整机器狗的仰角,仰角根据台阶高度确定;在两条后腿也稳定地迈到台阶上后,进行一次俯动作,使机身调整回水平姿态;通过内部反馈机制发送完成信号,通知操作者完成任务。本发明提供的四足机器狗爬工业楼梯的方显著提高四足机器狗爬工业楼梯的成功率,有效降低四足机器狗爬工业楼梯的能耗,据实际电量和台阶的属性调整攀爬策略,提高四足机器狗爬工业楼梯的速度和稳定性。
Method and system for quadruped robot dog to climb industrial stairs
一种四足机器狗爬工业楼梯的方法及系统
2023-10-20
Patent
Electronic Resource
Chinese
IPC: | B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G06V |
The driving device to climb stairs and its driving method
European Patent Office | 2019
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