CN103963865B - The method of discrimination of elevating and telescopic type corridor cleaning robot stair activity - Google Patents
The method of discrimination of elevating and telescopic type corridor cleaning robot stair activity Download PDFInfo
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- CN103963865B CN103963865B CN201410192412.XA CN201410192412A CN103963865B CN 103963865 B CN103963865 B CN 103963865B CN 201410192412 A CN201410192412 A CN 201410192412A CN 103963865 B CN103963865 B CN 103963865B
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Abstract
The invention discloses a kind of method of discrimination of elevating and telescopic type corridor cleaning robot stair activity, proximity transducer is equipped with respectively in the position, upper, middle and lower of robot automobile body front end, and body rear end installs the proximity transducer of sensing downwards; Whether be stair by the proximity transducer combination distinguishing front of three positions, upper, middle and lower; Upstairs time, the proximity transducer of front lower portion is for differentiating whether fuselage rises to reasonable altitudes, and the proximity transducer of rear end is for differentiating whether fuselage reaches perch; Downstairs time, robot upper front end proximity transducer is obliquely for differentiating whether front is downward stair; When robot prepares upstairs or goes downstairs, two proximity transducers below two of front lower portion proximity transducers or rear end are utilized to judge that robots are in just to the attitude at stair edge.Above-mentioned a series of differentiation ensure that robot is reliably downstairs upper, method of the present invention easy realization with low cost.
Description
Technical field
The present invention relates to a kind of method of elevating and telescopic type corridor cleaning robot stair activity, belong to robot and field of intelligent control.
Background technology
World today's explosive population growth, in order to effectively utilize limited ground space, people are more and more developed toward eminence, the building that various high buildings and large mansions, lecture theater, conference hall, Stadium etc. comprise stair is more and more common, the work that corridor cleans obviously increases, and the market demand of this respect is arisen at the historic moment.On the other hand, the clean robot overwhelming majority having come into people's daily life is indoor level land clean robot, is therefore necessary research and development stair clean robot.Stair activity determination methods is wherein the importance of research stair clean robot, and the relevant knowledge property right of this type of research at present not yet has shaping, and the present invention is expected to fill up this type of blank, and therefore this research is significant.
Structure about stair climbing robot mainly comprises: wheeled, crawler type, leg formula, rolling type.Wherein crawler type and rolling type complex structure, is difficult to design clean-up device.The more employing satellite gear of wheeled stair climbing robot or other compound wheel type, huge structure is complicated, and also seldom take into account stair cleaning function, practicality is had a greatly reduced quality.Leg formula stair climbing robot more employing apery walking, mechanism is complicated, and cost is high, seems and wastes one's talent on a petty job, and is unfavorable for marketing.
On elevating and telescopic type corridor cleaning robot, downstairs mode is simple, can take into account cleaning function when walking in stair very well, be expected to marketing.Therefore the upper determination methods downstairs of this robot of research and design has certain practical value.
Summary of the invention
The object of the present invention is to provide a kind of method of discrimination easily and effectively ensureing the elevating and telescopic type corridor cleaning robot stair activity that robot is reliably above gone downstairs.
Technical solution of the present invention is:
A kind of method of discrimination of elevating and telescopic type corridor cleaning robot stair activity, it is characterized in that: described elevating and telescopic type corridor cleaning robot is made up of vehicle body, lifting mechanism, telescoping mechanism and cleaning mechanism, wherein lifting and telescoping mechanism adopt rack pinion mode to realize straight-line motion, ensure that robot realizes upper action downstairs, below robot automobile body, front and back end has a cardan wheel front-wheel and cardan wheel trailing wheel respectively; Proximity transducer is equipped with respectively in the position, upper, middle and lower of robot automobile body front end, and direction is respectively obliquely, horizontal forward and horizontal forward, and wherein lower position is each proximity transducer around; Separately carry out downstairs judging at robot upper front end installation direction proximity transducer obliquely; Body rear end installs two proximity transducers sensed downwards;
When the upper position proximity transducer sensing direction of robot automobile body front end is unobstructed, and in robot automobile body front end, upper/lower positions sensor orientation is when blocking, robot judges that front is as stair; The lower position proximity transducer of robot automobile body front end is also for detecting short obstacle;
If the sensing direction of the upper position proximity transducer of robot automobile body front end is blocked, be directly obstacle by judgement robot front, this kind of obstacle is higher, and robot cannot pass through this kind of obstacle, needs to make robot carry out keeping away barrier;
The medium position proximity transducer of robot automobile body front end can be used for detection and stairway step height is suitable, but is only protruding obstacle;
When the proximity transducer sensing direction, three, position, upper, middle and lower of robot automobile body front end does not all have shelter, robot judges front clear;
Process upstairs:
Robot judges that front is after stair, prepares to climb building, and robot automobile body rises by lifting mechanism drives, and the outer front of the lower position proximity transducer of robot automobile body front end is blocked this moment; When the lower position proximity transducer front of robot automobile body front end is just unobstructed, control continues a bit of distance y that rises, y is the lower position proximity transducer of robot automobile body front end and the distance on ground, ensure that the drive wheel of robot reaches the height of stair thus, avoid vehicle body to stretch out forward and collide single order stair step edge, then make vehicle body stretch out;
Robot automobile body is stretched out by telescoping mechanism drives, and two proximity transducers of rear end detect unobstructed; Two proximity transducers reaching body rear end when robot automobile body have detected and have blocked, after showing robot, cardan wheel has been fallen in stair step, then pack up bracing frame by lifting mechanism, then by flexible, supporting frame part is recovered to initial condition forward;
Process downstairs:
When robot prepares downstairs, if gone downstairs from half space, switch from level walking owing to relating to the state of going downstairs, robot needs to judge that whether front is stair down; Situation when being in stair step for robot is current, owing to itself being in overall process downstairs, therefore not needing this judgement, marks time and clean, then continue the process of going downstairs; Whether front is stair down, uses proximity transducer to judge; The direction proximity transducer obliquely installed in robot upper front end is utilized to carry out judging downstairs, direction proximity transducer detection direction obliquely and horizontal direction angle are θ, as the proximity transducer detection obliquely of robot direction is tiltedly blocked below, illustrate that robot does not arrive near stair; As unobstructed in the oblique below of proximity transducer detection obliquely, direction, illustrate that robot has arrived near stair, prepare downstairs; Angle 30 ° of < θ <60 °;
When robot prepares downstairs, after robot judges that front is stair down, turn round 180 ° by rear in the face of stair, two proximity transducers of body rear end have detected downwards and have blocked this moment, and robot does not arrive the edge that crosses of half space and stair; Then robot retreats, utilize two proximity transducers of body rear end, unobstructed below two proximity transducers of body rear end detect, illustrate that robot has retreated the edge that crosses going to half space and stair, robot stops retreating, and robot performs action downstairs.
When robot prepares upstairs or goes downstairs, first adjust attitude, just to the edge that crosses of mark time edge or half space and the stair of stairway step.
When preparing upstairs, rely on the lower position proximity transducer of robot automobile body front end; If one, left side proximity transducer first detects that front is blocked in the lower position proximity transducer of robot automobile body front end, robot inverse hour hands are then made to turn to, block when lower position two proximity transducers of robot automobile body front end have all detected, judge that robot is in the attitude at edge of just marking time to upper class step; If the right proximity transducer in the lower position of robot automobile body front end two proximity transducers first detects front and blocks, robot cw is then made to turn to, block when lower position two proximity transducers of robot automobile body front end have all detected, judge that robot is in the attitude at edge of just marking time to upper class step;
When preparing downstairs, rely on the proximity transducer that robot rear end senses downwards, if wherein the sensor on the right is unobstructed below first detecting, robot inverse hour hands are then made to turn to, unobstructed below two, robot rear end proximity transducer all detects, judge robot just to the attitude when the attitude of front step nosing edge or the edge that crosses of half space and stair; If wherein the sensor on the left side is unobstructed below first detecting, robot cw is then made to turn to, unobstructed below two, robot rear end proximity transducer all detects, judge robot just to the attitude at the edge that crosses when front step nosing edge or half space and stair.
The present invention easily and effectively can ensure that robot is reliably downstairs upper, easy to operate.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 judges sensor location schematic diagram upstairs.
Fig. 2-Fig. 6 is that robot judges stair schematic diagram.
Fig. 7 is robot process schematic upstairs.
Fig. 8-Figure 10 is robot automobile body uphill process schematic diagram.
Figure 11-Figure 12 is that robot automobile body stretches out upper class step step surface schematic diagram.
Figure 13, Figure 14 whether be down if being front stair judge schematic diagram.
Figure 15-Figure 20 is that robot is gone downstairs process schematic.
Figure 21 be robot prepare upstairs or downstairs time general attitude schematic top plan view.
Figure 22 be robot prepare upstairs or downstairs time just to stair attitude schematic top plan view.
Detailed description of the invention
A kind of method of discrimination of elevating and telescopic type corridor cleaning robot stair activity, elevating and telescopic type corridor cleaning robot is made up of vehicle body 10, lifting mechanism 8, telescoping mechanism 11 and cleaning mechanism 9, wherein lifting and telescoping mechanism adopt rack pinion mode straight-line motion, ensure that robot realizes upper action downstairs, below robot automobile body, front and back end has a cardan wheel front-wheel 6 and cardan wheel trailing wheel 7 respectively; Driving wheel 12,13 is also housed below vehicle body; The position, upper, middle and lower of robot automobile body front end is equipped with proximity transducer 3,2,1 respectively, and direction is respectively obliquely, horizontal forward and horizontal forward, and wherein lower position is each proximity transducer 1 around; Separately carry out downstairs judging at robot upper front end installation direction proximity transducer 5 obliquely; Body rear end installs two proximity transducers 4 sensed downwards; Proximity transducer, for detecting stair information, for upper action downstairs provides relevant basis for estimation, makes robot reliably downstairs upper.
When proximity transducer is without return signal, illustrate that robot front is for empty, when there being return signal, illustrates that the front that sensor detects is blocked.The present invention adopts the mode of sensor combinations to judge that the road conditions in front are vacant lot, stair or obstacle according to this principle.The installation site of proximity transducer 1,2,3 is as Fig. 1.
Proximity transducer 3,2,1 is fixed on the vehicle body of robot front end, neutralizes lower three positions, and direction is respectively obliquely, horizontal forward and horizontal forward, and in FIG, it is represented by dashed line that sensor 3 senses direction, and the elevation angle of sensing direction and horizontal direction is α.
In Fig. 2 to Fig. 6, sensor density bullet, represents that sensing direction is blocked; White represents unobstructed.When sensor 3, to sense direction unobstructed, and when 1 and 2 two sensor orientation is blocked, robot judges that front is as stair.As shown in Figure 2.
Sensor 1 for detecting short obstacle, as Fig. 3.If therefore do not adopt sensor 2, cannot distinguish low obstructions and stair, as Fig. 2, Fig. 3, and low obstructions is more common in life, and as a paper, a fragment of brick, a box, therefore the present invention devises sensor 2 and simply distinguishes.
If the sensing direction of sensor 3 is blocked, be directly obstacle by judgement robot front, as shown in Figure 4, and need not consider the state of sensor 1 and 2,3 is black, indicates and blocks.Although this kind of obstacle is higher, robot still possibly cannot pass through this kind of obstacle, needs to make robot carry out keeping away barrier.
It is suitable with stairway step height that sensor 2 can be used for detection, but be only protruding obstacle, as Fig. 5.
When 1,2 and 3 three sensor sensing direction does not all have shelter, robot judges front clear, as shown in Figure 6.
Table 1 provides robot stair and judges sensor states table, and logical zero represents that there is shelter in sensor sensing direction, and logical one represents sensor sensing direction have no occluder.
Table 1: stair judging rules
In the specific implementation, according to " architectural stair design regulation " that country promulgates, stair step width should not be less than 0.26m, step height should not be greater than 0.175m, and comparatively comfortable stair step width is 0.28m, and step height is 0.16m, the edge line of two-stage stairway step is from the horizontal by about 30 ° of angles, as Fig. 1, therefore make angle of elevation alpha=30 ° of sensor 3, the height at least 160mm that sensor 3 is fixing; Sensor 1 is fixed on below robot, and distance ground 40mm, detects forward short obstacle, as Fig. 3; Sensor 2 is fixed in the middle part of the front of robot, and distance floor level 100mm, combines with sensor 1 and judge stair, interpretable stair riser more than altitude range 100mm.Spend short and small in 100mm for stair riser is high, sensor 2 can be lowered and make it and need differentiate that the height of stair is suitable.
About process upstairs:
Elevating and telescopic type corridor cleaning robot adopts in lifting and flexible array mode and goes downstairs, and as shown in Figure 7, robot is after judging stair, and robot automobile body first rises, until rise to the height of stair step riser by lifting mechanism; Robot automobile body is stretched out and is delivered to by vehicle body on upper class step step surface by telescoping mechanism; And robot bracing frame is regained by lifting mechanism; Bracing frame is regained rear telescoping mechanism and bracing frame is recovered to robot automobile body both sides.So far, robot completes action upstairs.
In process upstairs, lifting mechanism makes robot automobile body rise, if do not rise to the height making robot automobile body return pulley higher than upper class step, be can not carry out next step stretch out motion.Therefore, sensor is needed to judge whether to reach relevant height.On robot automobile body to be delivered to and marked time by telescoping mechanism, if vehicle body stretches out deficiency, cause robot trailing wheel not fallen on upper class step step surface, bracing frame can not be packed up by lifting mechanism.Because center of gravity is very close to robot rear this moment, if there is no the support of robot trailing wheel, and pack up bracing frame robot will be caused to tumble backward.Therefore, whether telescoping mechanism stretches out to put in place also needs sensor to judge.Rise and stretch out the proximity transducer judging to use, its distribution sensor 1 and 4 as shown in Figure 8.
Robot judges that front is after stair, carries out action upstairs.Robot is in uphill process, and whether robot automobile body rises to stair height to utilize sensor 1 to judge, if Fig. 8 is that robot arrival stair edge prepares to climb building, robot automobile body rises by lifting mechanism drives, and sensor 1 front is blocked this moment.When sensor 1 front is just unobstructed, as Fig. 9, control continues a bit of distance y that rises, y is the distance on sensor 1 and ground, specifically get 40mm, ensure that the drive wheel of robot reaches the height of stair thus, avoid vehicle body to stretch out forward and collide single order stair step edge, as shown in Figure 10, vehicle body then can be made to stretch out.
After robot automobile body is stretched out, whether robot automobile body stretches out fully, and namely whether cardan wheel trailing wheel is fallen on upper class step step surface to utilize sensor 4 to judge.Sensor 4 is arranged on robot lower shoe rear portion, and down, at the rear of cardan wheel trailing wheel, sensor 4 has two, is distributed in the both sides of cardan wheel trailing wheel in direction.Robot automobile body is stretched out by telescoping mechanism drives, and sensor 4 detects unobstructed, as Figure 11.Detected block when robot automobile body reaches sensor 4, after showing robot, cardan wheel has been fallen in stair step, as Figure 12.Then pack up bracing frame by lifting mechanism, then supporting frame part is recovered to initial condition forward, as the uppermost state of Fig. 7 by flexible.
About the process of going downstairs:
When robot prepares downstairs, if gone downstairs from half space, switch from level walking owing to relating to the state of going downstairs, robot needs to judge that whether front is stair down.Situation when being in stair step for robot is current, owing to itself being in overall process downstairs, therefore not needing this judgement, marks time and clean, then continue the process of going downstairs.Whether front is stair down, uses proximity transducer to judge.Proximity transducer 5 is installed in both sides, robot front end carry out downstairs judging, direction obliquely, be θ with horizontal direction angle, as shown in the figure, it is unobstructed that Figure 13 is that robot proximity transducer 5 detects tiltedly below, illustrates that robot does not arrive near stair, and Figure 14 is that robot proximity transducer 5 detects tiltedly and blocks, illustrate that robot has arrived near stair, prepare downstairs.
During concrete enforcement, according to the staircase design standard of national regulation, the angle of depression is down 30 °, therefore angle 30 ° of < θ <60 °.
The process downstairs of robot is the inverse process of process shown in Fig. 7, therefore, after robot judges that front is stair down, 180 ° need be turned round by rear in the face of stair, as Figure 15, sensor 4 has detected downwards and has blocked this moment, and robot also arrives stair riser edge; Then robot retreats, and utilizes sensor 4, unobstructed below sensor 4 detects, and illustrates that robot has gone to stair riser edge, and as Figure 16, robot stops retreating; Then utilize telescoping mechanism, supporting frame part is stretched out, as Figure 17 to stair direction; Then decline past for bracing frame, until support is to lower single order stair step face, as shown in figure 18; Be exactly finally that robot automobile body is regained and resets, as shown in Figure 19,20.
When robot prepares upper going downstairs, first must adjust attitude, just to the edge of marking time of stairway step.When preparing upstairs, rely on two, the left and right proximity transducer 1 that robot front end forwards senses.As Figure 21, if left side proximity transducer 1 first detects that front is blocked, then make robot inverse hour hands turn to, two proximity transducers 1 have all been detected and blocks; If the right proximity transducer 1 first detects front and blocks, then make robot cw turn to, make two proximity transducers 1 all detect front and block.Above-mentioned two situations all judge that robot is in the attitude at the edge of just marking time to (namely vertical) upper class step as Figure 22, then can perform action upstairs.Whether proximity transducer 1 detects front has the distance of blocking can be adjusted to X in advance.
When preparing downstairs, rely on two proximity transducers 4 that robot rear end senses downwards, as Figure 15-Figure 22.As Figure 21, if the sensor on the right is unobstructed below first detecting, then make robot inverse hour hands turn to, make two proximity transducers 4 all detect below unobstructed; If it is unobstructed that the sensor on the left side first detects below, then make robot cw turn to, make two proximity transducers 4 all detect front unobstructed.Above-mentioned two situations all judge robot be in as Figure 22 just to (namely vertical) attitude when the edge that crosses of front step nosing edge or half space and stair, then can perform action of going downstairs.
Claims (1)
1. the method for discrimination of an elevating and telescopic type corridor cleaning robot stair activity, it is characterized in that: described elevating and telescopic type corridor cleaning robot is made up of vehicle body, lifting mechanism, telescoping mechanism and cleaning mechanism, wherein lifting and telescoping mechanism adopt rack pinion mode to realize straight-line motion, ensure that robot realizes upper action downstairs, below robot automobile body, front and back end has a cardan wheel front-wheel and cardan wheel trailing wheel respectively; Proximity transducer is equipped with respectively in the position, upper, middle and lower of robot automobile body front end, and direction is respectively obliquely, horizontal forward and horizontal forward, and wherein lower position is each proximity transducer around; Separately carry out downstairs judging at robot upper front end installation direction proximity transducer obliquely; Body rear end installs two proximity transducers sensed downwards;
When the upper position proximity transducer sensing direction of robot automobile body front end is unobstructed, and in robot automobile body front end, upper/lower positions sensor orientation is when blocking, robot judges that front is as stair; The lower position proximity transducer of robot automobile body front end is also for detecting short obstacle;
If the sensing direction of the upper position proximity transducer of robot automobile body front end is blocked, be directly obstacle by judgement robot front, this kind of obstacle is higher, and robot cannot pass through this kind of obstacle, needs to make robot carry out keeping away barrier;
The medium position proximity transducer of robot automobile body front end can be used for detection and stairway step height is suitable, but is only protruding obstacle;
When the proximity transducer sensing direction, three, position, upper, middle and lower of robot automobile body front end does not all have shelter, robot judges front clear;
Process upstairs:
Robot judges that front is after stair, prepares to climb building, and robot automobile body rises by lifting mechanism drives, and the lower position proximity transducer front of robot automobile body front end is blocked this moment; When the lower position proximity transducer front of robot automobile body front end is just unobstructed, control continues a bit of distance y that rises, y is the lower position proximity transducer of robot automobile body front end and the distance on ground, ensure that the drive wheel of robot reaches the height of stair thus, avoid vehicle body to stretch out forward and collide single order stair step edge, then make vehicle body stretch out;
Robot automobile body is stretched out by telescoping mechanism drives, and two proximity transducers of rear end detect unobstructed; Two proximity transducers reaching body rear end when robot automobile body have detected and have blocked, after showing robot, cardan wheel has been fallen in stair step, then pack up bracing frame by lifting mechanism, then by flexible, supporting frame part is recovered to initial condition forward, complete action upstairs;
Process downstairs:
When robot prepares downstairs, if gone downstairs from half space, switch from level walking owing to relating to the state of going downstairs, robot needs to judge that whether front is stair down; Situation when being in stair step for robot is current, owing to itself being in overall process downstairs, therefore not needing this judgement, marks time and clean, then continue the process of going downstairs; Whether front is stair down, uses proximity transducer to judge; The direction proximity transducer obliquely installed in robot upper front end is utilized to carry out judging downstairs, direction proximity transducer detection direction obliquely and horizontal direction angle are θ, as the proximity transducer detection obliquely of robot direction is tiltedly blocked below, illustrate that robot does not arrive near stair; As unobstructed in the oblique below of proximity transducer detection obliquely, direction, illustrate that robot has arrived near stair, prepare downstairs; Angle 30 ° of < θ <60 °;
When robot prepares downstairs, after robot judges that front is stair down, turn round 180 ° by rear in the face of stair, two proximity transducers of body rear end have detected downwards and have blocked this moment, and robot does not arrive the edge that crosses of half space and stair; Then robot retreats, utilize two proximity transducers of body rear end, unobstructed below two proximity transducers of body rear end detect, illustrate that robot has retreated the edge that crosses going to half space and stair, robot stops retreating, and robot performs action downstairs.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510655329.6A CN105151151B (en) | 2014-05-08 | 2014-05-08 | Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs |
| CN201510655330.9A CN105197123B (en) | 2014-05-08 | 2014-05-08 | The method of discrimination of elevating and telescopic type corridor cleaning robot stair activity easy to operate |
| CN201410192412.XA CN103963865B (en) | 2014-05-08 | 2014-05-08 | The method of discrimination of elevating and telescopic type corridor cleaning robot stair activity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410192412.XA CN103963865B (en) | 2014-05-08 | 2014-05-08 | The method of discrimination of elevating and telescopic type corridor cleaning robot stair activity |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510655330.9A Division CN105197123B (en) | 2014-05-08 | 2014-05-08 | The method of discrimination of elevating and telescopic type corridor cleaning robot stair activity easy to operate |
| CN201510655329.6A Division CN105151151B (en) | 2014-05-08 | 2014-05-08 | Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs |
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| Publication Number | Publication Date |
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| CN103963865A CN103963865A (en) | 2014-08-06 |
| CN103963865B true CN103963865B (en) | 2016-03-30 |
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| CN201410192412.XA Expired - Fee Related CN103963865B (en) | 2014-05-08 | 2014-05-08 | The method of discrimination of elevating and telescopic type corridor cleaning robot stair activity |
| CN201510655330.9A Expired - Fee Related CN105197123B (en) | 2014-05-08 | 2014-05-08 | The method of discrimination of elevating and telescopic type corridor cleaning robot stair activity easy to operate |
| CN201510655329.6A Expired - Fee Related CN105151151B (en) | 2014-05-08 | 2014-05-08 | Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
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| CN201510655330.9A Expired - Fee Related CN105197123B (en) | 2014-05-08 | 2014-05-08 | The method of discrimination of elevating and telescopic type corridor cleaning robot stair activity easy to operate |
| CN201510655329.6A Expired - Fee Related CN105151151B (en) | 2014-05-08 | 2014-05-08 | Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs |
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Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104828172A (en) * | 2015-04-29 | 2015-08-12 | 东华大学 | Stair height and depth detection device and stair height and depth detection method used for stair-climbing robot |
| CN104973151A (en) * | 2015-07-20 | 2015-10-14 | 北京理工大学 | Microminiature robot capable of walking up and down stairs automatically |
| CN105824313A (en) * | 2016-03-15 | 2016-08-03 | 深圳市华讯方舟科技有限公司 | Barrier avoidance method and device |
| IL262025B2 (en) * | 2016-03-31 | 2023-11-01 | Miraikikai Inc | Self-propelled robot |
| CN105996910B (en) * | 2016-05-19 | 2018-06-29 | 上海电机学院 | Domestic stair automatic cleaning machine people |
| CN106394721B (en) * | 2016-12-05 | 2018-09-21 | 深圳市华海科技研发有限公司 | The upright mobile conveyor of multiple road conditions and transportation resources |
| CN106798528B (en) * | 2017-02-14 | 2019-02-15 | 上海电机学院 | Domestic stair all-around mobile clean robot |
| CN107942983A (en) * | 2017-12-05 | 2018-04-20 | 常州大学怀德学院 | A kind of unmanned environmental management system of teaching building |
| CN108908348B (en) * | 2018-09-17 | 2021-11-23 | 国网福建省电力有限公司 | Intelligent crawling robot for tower patrol |
| CN109229224B (en) * | 2018-09-20 | 2023-09-05 | 深圳大学 | Control system and control method of full-automatic ladder climbing robot |
| CN109363844A (en) * | 2018-12-13 | 2019-02-22 | 西安交通大学 | A kind of obstacle crosses over control device and control method |
| CN109850029B (en) * | 2019-02-28 | 2024-04-02 | 深圳大学 | Stair climbing robot and stair climbing control method thereof |
| CN109932977A (en) * | 2019-04-18 | 2019-06-25 | 合肥泛米智能科技有限公司 | A kind of smart home device based on cloud computing |
| CN110063691B (en) * | 2019-04-29 | 2023-10-20 | 温州大学 | Sweeping robot capable of going upstairs and downstairs and application method thereof |
| CN110338713A (en) * | 2019-08-12 | 2019-10-18 | 侨银环保科技股份有限公司 | A kind of stair cleaning machine device people of solar energy |
| CN112224300B (en) * | 2020-12-15 | 2021-03-30 | 之江实验室 | Stable walking method for biped robot to descend steps |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4993912A (en) * | 1989-12-22 | 1991-02-19 | Chamberlain Mrc, Division Of Duchossois Industries, Inc. | Stair climbing robot |
| TWI462718B (en) * | 2010-03-19 | 2014-12-01 | Univ Chung Chou Sci & Tech | Climb ladder robot |
| CN201683852U (en) * | 2010-06-08 | 2010-12-29 | 德州学院 | Corridor cleaning robot |
| WO2012086604A1 (en) * | 2010-12-24 | 2012-06-28 | 住友重機械工業株式会社 | Cleaning device |
| CN102631172B (en) * | 2012-04-20 | 2013-05-08 | 南通大学 | Lifting telescopic corridor cleaning robot |
| CN103273985B (en) * | 2013-06-18 | 2015-07-08 | 辰星（天津）自动化设备有限公司 | Quadruped stair climbing robot mechanism |
| CN103359198A (en) * | 2013-07-08 | 2013-10-23 | 东华大学 | All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method |
-
2014
- 2014-05-08 CN CN201410192412.XA patent/CN103963865B/en not_active Expired - Fee Related
- 2014-05-08 CN CN201510655330.9A patent/CN105197123B/en not_active Expired - Fee Related
- 2014-05-08 CN CN201510655329.6A patent/CN105151151B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105197123B (en) | 2017-08-04 |
| CN105151151A (en) | 2015-12-16 |
| CN105151151B (en) | 2017-05-03 |
| CN105197123A (en) | 2015-12-30 |
| CN103963865A (en) | 2014-08-06 |
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