CN115056868A - Obstacle crossing method of traveling device and traveling device applying same - Google Patents
Obstacle crossing method of traveling device and traveling device applying same Download PDFInfo
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- 230000005484 gravity Effects 0.000 claims description 28
- 230000008859 change Effects 0.000 claims description 7
- 230000007306 turnover Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 abstract description 5
- 230000004888 barrier function Effects 0.000 description 5
- 230000006698 induction Effects 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
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Abstract
The invention discloses an obstacle crossing method of a traveling device and the traveling device applying the method, and relates to the technical field of traveling devices. The travelling device at least comprises a travelling mechanism for moving and a load-carrying mechanism which can move relative to the travelling device; the environmental factors are detected in the traveling direction, when the environmental factors needing obstacle crossing appear, the traveling mechanism is turned over, and the load mechanism moves for a preset distance relative to the traveling device along the direction to be crossed, so that the obstacle can be smoothly crossed. The traveling device has high motion stability in the obstacle crossing process, and is simple and practical in structure.
Description
Technical Field
The invention relates to the technical field of advancing devices, in particular to an obstacle crossing method of an advancing device and an advancing device applying the method.
Background
In order to cope with complex road conditions, such as obstacles, steps, gullies and the like on the road, the conventional mobile devices such as electric wheelchairs, balance cars, small unmanned vehicles and the like generally adopt a triangular obstacle crossing wheel mechanism (see figure 1) or a crawler wheel mechanism (see figure 2) for crossing obstacles. The triangular obstacle crossing wheel mechanism can assist the moving device in crossing obstacles, but the structure characteristics of the mechanism lead to bumping of the obstacle crossing process, poor stability and higher requirement on a damping system of the moving device. Compared with a triangular obstacle crossing wheel mechanism, the crawler wheel mechanism has better stability, but has more complex structure and larger volume. And the mobility of the crawler wheel is poor, and the crawler wheel cannot flexibly steer.
Disclosure of Invention
The invention aims to: aiming at the problems of complex structure, large volume and poor maneuverability of the existing crawler wheel mechanism, the invention provides an obstacle crossing method of a traveling device and the traveling device applying the method. Because the advancing device adopts a wheel type driving structure, the maneuverability is improved and the whole volume is reduced. Aiming at the problem of poor stability of the existing triangular obstacle crossing wheel mechanism, the invention limits the motion trail of the load-carrying mechanism in a linear guide rail or an annular guide rail (an elliptical guide rail or a polygonal guide rail), when the load-carrying mechanism moves to the end point of the guide rail or the vicinity of an arc part, the road-moving mechanism is overturned, and when the load-carrying mechanism moves along the middle part of the linear guide rail or the linear part of the annular guide rail, the obstacle road surface with gradient is converted into multi-section broken road, so that the motion stability is improved.
The technical scheme adopted by the invention is as follows:
according to the obstacle crossing method of the traveling device, the traveling device at least comprises a traveling mechanism for moving and a loading mechanism capable of moving relative to the traveling device; the environmental factors are detected in the traveling direction, when the environmental factors needing obstacle crossing appear, the traveling mechanism is turned over, and the load mechanism moves for a preset distance relative to the traveling device along the direction to be crossed, so that the obstacle can be smoothly crossed.
After mainly turning over through the mechanism of going on a journey in this scheme, carry out relative motion for the mechanism of going on a journey through load mechanism and realize surmounting the barrier, the upset function can be that arbitrary function or subassembly realize, after the upset, the main part moving mechanism that this scheme will, load mechanism can be steady move on the mechanism of going on a journey, realize gently and high-efficiently surmounting the barrier, through the upset, can deal with the environment that external all kinds of areas surmount the barrier, like last ladder, lower ladder, directly stride across the circumstances such as barrier. The main part thinking in this scheme relies on the upset of road mechanism to change the walking route of load mechanism, and the environment of external obstacle is numerous and complicated, but can both dissolve through the upset, and load mechanism only moves on road mechanism, can resist the change that the external environment waited to hinder the environment more, realizes when about reaching the obstacle, carries out "repairing the road and taking a bridge" and "steepening and become the operation of slowing" through road mechanism, very big reduction the degree of difficulty of crossing the obstacle, promoted the steadiness when crossing the obstacle.
Furthermore, the load mechanism moves a preset distance along the direction needing to be turned to realize the gravity center deviation of the traveling device, the traveling mechanism turns over along the obstacle crossing direction by taking the traveling mechanism as a fulcrum in the gravity center deviation process of the traveling device, and the traveling mechanism is in contact with the next-stage contact surface.
Further, the load mechanism is supported on the travelling mechanism, and the travelling device forms a supporting surface through the driving mechanism which is supported on the ground by the travelling mechanism; the travelling mechanism is provided with at least two end parts; when the overturning is required, the load-carrying mechanism moves circularly between the two ends.
Furthermore, driving wheels are arranged at the end parts of the traveling mechanism, and an induction unit and a control unit are arranged in the traveling mechanism; the obstacle crossing method specifically comprises the following steps:
a) the sensing unit detects environmental factors in the advancing direction, and when the environmental factors needing to be overturned appear; the sensing unit sends a turning signal to the control unit;
b) the control unit receives the turning signal; the control unit controls the driving wheel of the travelling mechanism to stop moving;
c) the control unit controls the load-carrying mechanism to move towards the obstacle-crossing end through the supporting end of the road mechanism, and the moving direction of the load-carrying mechanism in the horizontal direction is consistent with the advancing direction; the load mechanism moves to the overturning-stabilizing boundary point of the obstacle crossing end through the overturning-stabilizing boundary point and the gravity balance critical point of the supporting end, the traveling mechanism vertically overturns to the next stage contact surface by taking the supporting end as a fulcrum, the obstacle crossing end overturns to the front of the supporting end in the traveling direction, and the obstacle crossing end is supported on the ground and is converted into the supporting end; the load-carrying mechanism moves along the direction of the obstacle crossing to complete obstacle crossing;
d) repeating the step c;
e) the sensing unit detects environmental factors within a preset distance in the advancing direction; and when the environmental factors needing to be overturned do not appear, the travelling device stops overturning.
Further, the step d specifically includes:
c1) the control unit controls the load-carrying mechanism to move towards the supporting end of the travelling mechanism, and the moving direction of the load-carrying mechanism is consistent with the travelling direction in the horizontal direction; the load-carrying mechanism moves to a gravity balance critical point of the supporting end through an overturning-stabilizing boundary point of the supporting end, the traveling mechanism vertically overturns by taking the supporting end as a fulcrum, and the obstacle-crossing end is suspended on the ground;
c2) the control unit controls the load-carrying mechanism to move towards the obstacle crossing end, and the moving direction of the load-carrying mechanism is consistent with the advancing direction in the horizontal direction; the load mechanism moves from a balance critical point of the support end to an overturning-stabilizing boundary point of the obstacle crossing end, the traveling mechanism vertically overturns the next-stage contact surface by taking the support end as a fulcrum, the support end and the obstacle crossing end are both supported on the ground, and the support end is positioned behind the obstacle crossing end in the traveling direction.
Further, in the step c1, the load-carrying mechanism moves from the overturning-stabilizing boundary point of the supporting end to the balancing critical point of the supporting end, and the gravity center projection point of the traveling device exceeds the supporting surface first and then returns to the supporting surface along with the movement of the load-carrying mechanism; when turning, the travel mechanism has inertia that turns in the travel direction in the horizontal direction.
Further, in the step c2, the load-carrying mechanism moves from the balance limit point of the support end to the overturn-stability limit point of the obstacle-crossing end, so that the center of gravity of the traveling device is shifted.
Furthermore, when the traveling device is supported on the ground by means of two adjacent end parts of the traveling mechanism, the vertical projection points of the overturning-stabilizing boundary points of the two end parts are both positioned at the edge of the supporting surface, and the vertical projection points of the balance critical points of the two end parts are positioned outside the supporting surface; when the traveling device is supported on the ground by means of one end portion of the travel mechanism and is balanced, the perpendicular projection point of the critical point of balance of the end portion is located within the support plane.
Furthermore, a guide rail is arranged on the travelling mechanism, and the load-carrying mechanism moves along the guide rail; the travelling mechanism is provided with two end parts, and the guide rail is a linear guide rail or an oval guide rail; the end part of the travelling mechanism corresponds to the end point of the linear guide rail or the circular arc part of the elliptic guide rail.
Furthermore, a guide rail is arranged on the travelling mechanism, and the load-carrying mechanism moves along the guide rail; the travelling mechanism is provided with three or more end parts, and the guide rail is a regular polygon guide rail; the end part of the travelling mechanism corresponds to the arc part of the regular polygon guide rail, and the number of the end part is the same as that of the arc part.
The scheme discloses a traveling device which comprises a load-carrying mechanism, a traveling mechanism, a sensing unit and a control unit, wherein the load-carrying mechanism, the traveling mechanism and the sensing unit are respectively connected with the control unit; the load mechanism is supported on the traveling mechanism; the travelling mechanism is provided with two or more end parts, and the end parts are provided with driving wheels; the road mechanism is provided with a guide rail, the load-carrying mechanism is supported on the road mechanism, the load-carrying mechanism moves between the end parts of the road mechanism along the guide rail, and the road mechanism overturns along the obstacle crossing direction by taking the end parts as fulcrums through the movement of the load-carrying mechanism.
Furthermore, the device comprises 2 groups of traveling mechanisms, the two groups of traveling mechanisms are connected through a connecting piece, and the traveling device changes the position of the load-carrying mechanism between the guide rails after the traveling device overturns in a vertical state through each group of traveling mechanisms to realize height position change, so that the height of the load-carrying mechanism is lifted to cross obstacles.
Furthermore, the travelling mechanism is provided with a turnover plane, and driving wheels at the end part of the travelling mechanism rotate in the turnover plane; the traveling mechanism is turned over in a turning plane by taking the end part as a fulcrum.
Further, the load-carrying mechanism is arranged in the travelling mechanism, or the load-carrying mechanism is arranged between the two travelling mechanisms; the load-carrying mechanism moves along the guide rail through the adjusting movement assembly.
Furthermore, the adjusting movement assembly comprises an adjusting driving device and a driving rod which are arranged in the load mechanism, the adjusting driving device drives the driving rod to rotate, the two ends of the driving rod extend out of the load mechanism and are provided with driving gears, racks are arranged on the guide rails, and the driving gears are meshed with the racks.
Furthermore, the travelling mechanism is provided with two end parts, the two end parts of the travelling mechanism are both provided with driving wheels, and the driving wheels are driven by a hub motor; the guide rail is a linear guide rail or an oval guide rail, the end points of the linear guide rail or the arc parts of the oval guide rail correspond to the end parts of the traveling mechanism, and the distance between the end points of the linear guide rail or the distance between the arc parts of the oval guide rail is larger than or equal to the distance between the axle centers of the driving wheels.
Furthermore, the travelling mechanism is provided with three or three end parts on the travelling mechanism, the end parts of the travelling mechanism are provided with driving wheels, and the driving wheels are driven by a hub motor; the guide rail is a regular polygon guide rail, the polygon guide rail is provided with linear parts and arc parts which are arranged at intervals, the arc parts correspond to the end parts of the travelling mechanism, and the number of the arc parts is the same as that of the end parts; the distance between the middle points of the two adjacent circular arc parts is greater than the distance between the axle centers of the two adjacent driving wheels.
Furthermore, an inverted pendulum assembly is arranged on the load mechanism, and after the traveling device is kept balanced in the vertical direction through a control algorithm, the load mechanism moves along the length direction of the guide rail, so that the height position is changed, and the vertical use is realized.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. in the aspect, when an obstacle is encountered, the load-carrying mechanism carries out a certain distance in the direction of the obstacle to be crossed relative to the traveling mechanism to realize efficient obstacle crossing. The traveling mechanism is used for crossing the external environment, and the load-carrying mechanism always stably crosses obstacles.
2. The obstacle crossing method of the traveling device can specifically utilize the movement of the load-carrying mechanism to make the center of gravity of the traveling device shift, and in the traveling direction of the traveling device, the center of gravity projection point of the traveling device is positioned in front of the supporting surface of the traveling device, so that the gravity moment is generated to turn over the traveling mechanism. The obstacle crossing method enables the traveling device applying the method to be simple in structure and small in size, and mechanical automation of obstacle crossing can be achieved.
4. In the obstacle crossing method of the advancing device, the load-carrying mechanism reciprocates along the linear guide rail of the travelling mechanism or circularly moves along the annular guide rail, the obstacle crossing is carried out through the processes of overturning the travelling mechanism and climbing the load-carrying mechanism, particularly when steps or stairs are crossed, the advancing device converts the stairs into the slopes, and the movement of the gravity center is stable, so that the overall movement stability of the advancing device is improved.
Drawings
FIG. 1 is a schematic view of a triangular-type obstacle crossing wheel mechanism;
FIG. 2 is a schematic view of a track wheel mechanism;
FIG. 3 is a cross-sectional view of a traveling apparatus in example 8 of the present invention;
FIG. 4 is a top view of a traveling apparatus in example 8 of the present invention;
FIGS. 5 to 10 are schematic views of example 1 of the present invention;
FIG. 11 is a schematic structural view of a motion pattern of two sets of wheels in embodiment 10 of the present invention;
FIG. 12 is a schematic structural view of a standing mode of two sets of wheels in embodiment 10 of the present invention;
fig. 13 is a schematic structural view of a travel device in a steady mode in embodiment 12 of the present invention;
fig. 14 is a schematic configuration diagram of a traveling apparatus in a normal mode in embodiment 12 of the present invention;
FIG. 15 is a schematic view showing a structure of a traveling apparatus in a standing mode in embodiment 12 of the present invention
The labels in the figure are: 1-a load-carrying mechanism; 2-a travelling mechanism; 3-adjusting the motion assembly; 4-a connector; 201-driving wheels; 202-a guide rail; 301-a drive shaft; 302-gear; 303-rack; a-a support end; b-obstacle crossing end; c-overturning-stabilizing boundary points; d-critical point of equilibrium.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
The embodiment realizes the turnover by gravity center movement; the flipping may also be implemented in other ways, and the present solution is not particularly limited.
An obstacle crossing method of a traveling device, as shown in fig. 5, the traveling device at least comprises a traveling mechanism 2 for moving and a load-carrying mechanism 1 for bearing and adjusting the center of gravity; the running mechanism 2 detects environmental factors in the running direction, when the environmental factors needing to be turned over appear, the load-carrying mechanism 1 moves for a preset distance along the direction needing to be turned over to realize the gravity center offset of the running device, the running mechanism 2 passively and vertically turns over by taking the running mechanism 2 as a fulcrum in the gravity center offset process of the running device, the running mechanism 2 is in contact with a next-stage contact surface, the running path of the load-carrying mechanism 1 becomes an oblique slope, and finally the running device is turned over in a barrier environment once or continuously.
The load mechanism 1 is supported on the traveling mechanism 2, the traveling device forms a supporting surface through a driving mechanism which is supported on the ground by the traveling mechanism 2, and the gravity center line of the traveling device always passes through the load mechanism 1; the running gear 2 has at least two ends; when the vehicle needs to be turned over, the load mechanism 1 moves cyclically between the two end portions, and the center of gravity projection point of the traveling device repeatedly goes beyond and returns to the support surface.
The environmental factors in the scheme are as follows: whether an obstacle exists in the front, whether a recess exists in the front, or whether an obstacle needing to be crossed exists in the front, namely, the operation of going up stairs and going down stairs and the operation of crossing can be realized.
In this embodiment, the driving wheels 201 are arranged at the end parts of the traveling mechanism 2; the obstacle crossing method specifically comprises the following steps:
a) as shown in fig. 5, the sensing unit detects the presence of an obstacle within a predetermined distance in the traveling direction;
b) the induction unit sends a turning signal to the control unit, and the control unit receives the turning signal; the control unit controls the driving wheel 201 of the traveling mechanism 2 to stop moving;
c) as shown in fig. 6-8, the control unit controls the load mechanism 1 to move to the obstacle crossing end through the supporting end of the traveling mechanism 2, and the moving direction of the load mechanism 1 in the horizontal direction is consistent with the traveling direction; the load mechanism 1 moves to the overturning-stabilizing boundary point of the obstacle crossing end through the overturning-stabilizing boundary point of the supporting end and the gravity balance critical point, the traveling mechanism 2 passively and vertically overturns for a preset angle by taking the supporting end as a fulcrum, the obstacle crossing end overturns to the front of the supporting end in the traveling direction, and the obstacle crossing end is supported on the ground and is converted into the supporting end;
d) as shown in fig. 9-10, repeating step c;
e) the sensing unit detects environmental factors of a preset distance in the advancing direction; and when the environmental factors needing to be overturned do not appear, the travelling device stops overturning.
In this embodiment, step d specifically includes:
c1) the control unit controls the load mechanism 1 to move towards the supporting end of the traveling mechanism 2, and the moving direction of the load mechanism 1 is consistent with the advancing direction in the horizontal direction; the load mechanism 1 moves to a gravity balance critical point of the supporting end through an overturning-stabilizing boundary point of the supporting end, the traveling mechanism 2 passively vertically overturns by taking the supporting end A as a fulcrum, and the obstacle crossing end is suspended on the ground, as shown in figure 7;
c2) the control unit controls the load mechanism 1 to move towards the obstacle crossing end, and the moving direction of the load mechanism 1 is consistent with the advancing direction in the horizontal direction; the load mechanism 1 moves from a balance critical point of a support end to an overturning-stabilizing boundary point of an obstacle crossing end, the traveling mechanism 2 passively and vertically overturns by taking the support end as a fulcrum, the support end and the obstacle crossing end are both supported on the ground, and the support end is positioned behind the obstacle crossing end in the traveling direction, as shown in figure 8.
In this embodiment, in step c1, the load-carrying mechanism 1 moves from the overturning-stabilizing boundary point of the supporting end to the balancing critical point of the supporting end, and the gravity center projection point of the traveling device exceeds the supporting surface first and then returns to the supporting surface along with the movement of the load-carrying mechanism 1; at the time of turning, the travel mechanism 2 has inertia to turn in the traveling direction in the horizontal direction.
In this embodiment, in step C2, the load-carrying mechanism 1 moves from the balance critical point D of the supporting end a to the overturning-stabilizing boundary point C of the obstacle-surmounting end, and the center-of-gravity projection point of the traveling device exceeds the supporting surface first and then returns to the supporting surface as the load-carrying mechanism 1 moves.
In this embodiment, when the traveling device is supported on the ground by means of two adjacent end portions of the traveling mechanism 2, the vertical projection points of the overturning-stabilizing boundary points of the two end portions are both located at the edge of the supporting surface, and the vertical projection points of the balance critical points of the two end portions are located outside the supporting surface; when the traveling device is supported on the ground by one end of the travel mechanism 2 and is balanced, the perpendicular projection point of the balance critical point of the end is located within the support plane.
In this embodiment, the guide rail 203 is arranged on the traveling mechanism 2, and the load-carrying mechanism 1 moves along the guide rail 203; the running mechanism 2 is provided with two end parts, and the guide rail 203 is a linear guide rail 203 or an oval guide rail 203; the end of the travel mechanism 2 corresponds to the end point of the linear guide 203 or the arc portion of the elliptical guide 203.
Example 2
The example is essentially the same as example 1, except that:
the obstacle crossing method specifically comprises the following steps:
a) the sensing unit detects that a recess appears within a preset distance in the advancing direction;
b) the induction unit sends a turning signal to the control unit, and the control unit receives the turning signal; the control unit controls the driving wheel 201 of the traveling mechanism 2 to stop moving;
c) the control unit controls the load mechanism 1 to move towards the obstacle crossing end through the supporting end of the road mechanism 2, and the moving direction of the load mechanism 1 in the horizontal direction is consistent with the traveling direction; the load mechanism 1 moves to the overturning-stabilizing boundary point of the obstacle crossing end through the overturning-stabilizing boundary point of the supporting end and the gravity balance critical point, the traveling mechanism 2 passively and vertically overturns for a preset angle by taking the supporting end as a fulcrum, the obstacle crossing end overturns to the front of the supporting end in the traveling direction, and the obstacle crossing end is supported on the ground and is converted into the supporting end;
d) repeating the step c;
e) the sensing unit detects environmental factors of a preset distance in the advancing direction; and when the environmental factors needing to be overturned do not appear, the travelling device stops overturning.
Example 3
The examples are essentially the same as example 1, except that:
the obstacle crossing method specifically comprises the following steps:
a) the sensing unit detects that a ditch to be crossed appears within a preset distance in the advancing direction;
b) the sensing unit sends a turning signal to the control unit, and the control unit receives the turning signal; the control unit controls the driving wheel 201 of the traveling mechanism 2 to stop moving;
c) the control unit controls the load mechanism 1 to move towards the obstacle crossing end through the supporting end of the road mechanism 2, and the moving direction of the load mechanism 1 in the horizontal direction is consistent with the traveling direction; the load mechanism 1 moves to the overturning-stabilizing boundary point of the obstacle crossing end through the overturning-stabilizing boundary point of the supporting end and the gravity balance critical point, the traveling mechanism 2 passively and vertically overturns for a preset angle by taking the supporting end as a fulcrum, the obstacle crossing end overturns to the front of the supporting end in the traveling direction, and the obstacle crossing end is supported on the ground and is converted into the supporting end;
d) repeating the step c;
e) the sensing unit detects environmental factors of a preset distance in the advancing direction; and when the environmental factors needing to be overturned do not appear, the travelling device stops overturning.
Example 4
Example 4 is essentially the same as example 1 or 2 or 3, except that:
the traveling mechanism 2 has three or more end parts, and the guide rail 203 is a regular polygon guide rail 203; the end of the running mechanism 2 corresponds to the arc portion of the regular polygon guide 203, and the number of the end and the arc portion is the same.
Example 5
A traveling device comprises a load-carrying mechanism 1, a traveling mechanism 2, a sensing unit and a control unit, wherein the load-carrying mechanism 1, the traveling mechanism 2 and the sensing unit are respectively connected with the control unit; the loading mechanism 1 is supported on the running mechanism 2; the traveling mechanism 2 has two or more end parts each provided with a driving wheel 201; the guide rail 203 is arranged on the travelling mechanism 2, the load-carrying mechanism 1 is supported on the travelling mechanism 2, the load-carrying mechanism 1 moves between the end parts of the travelling mechanism 2 along the guide rail 203, the gravity center line of the travelling device always passes through the load-carrying mechanism 1, and the travelling mechanism 2 passively vertically overturns by taking the end parts as supporting points through the movement of the load-carrying mechanism 1.
In this embodiment, the running mechanism 2 has a turning plane, and the driving wheels 201 at the end of the running mechanism 2 all rotate in the turning plane; the traveling mechanism 2 passively overturns in an overturning plane by taking the end part as a fulcrum.
Example 6
In addition to embodiment 5, further, the traveling device is provided with a traveling mechanism 2, and the load mechanism 1 is arranged in the traveling mechanism 2; the load mechanism 1 is moved along the guide rail 203 by the adjusting movement assembly 3.
Example 7
In addition to embodiment 5, the traveling device is further provided with two traveling mechanisms 2, and the load mechanism 1 is provided between the two traveling mechanisms 2; the load mechanism 1 is moved along the guide rail 203 by the adjusting movement assembly 3.
Example 8
On the basis of embodiment 6 or 7, further, the adjusting and moving assembly 3 includes an adjusting driving device and a driving rod, which are disposed in the load-carrying mechanism 1, the adjusting driving device drives the driving rod to rotate, two ends of the driving rod extend out of the load-carrying mechanism 1 and are provided with a driving gear 302, a rack 303 is disposed on the guide rail 203, and the driving gear 302 is engaged with the rack 303.
Example 9
On the basis of one of the embodiments 6 to 7, further, the running mechanism 2 has two end parts, the two end parts of the running mechanism 2 are both provided with driving wheels 201, and the driving wheels 201 are driven by wheel hub motors; the guide rail 203 is a linear guide rail 203, end points of the linear guide rail 203 correspond to end portions of the travel mechanism 2, and a distance between the end points of the linear guide rail 203 is larger than a distance between the axial centers of the drive wheels 201.
Example 10
On the basis of one of the embodiments 5-6, further, as shown in fig. 3-4, the running mechanism 2 has two end parts, the two end parts of the running mechanism 2 are both provided with driving wheels 201, and the driving wheels 201 are driven by hub motors; the guide rail 203 is an elliptical guide rail 203, the arc portions of the elliptical guide rail 203 correspond to the end portions of the travel mechanism 2, and the distance between the arc portions of the elliptical guide rail 203 is greater than the distance between the axes of the drive wheels 201.
Example 11
On the basis of one of the embodiments 5 to 6, further, the running mechanism 2 has three or three on-machine end parts, the end parts of the running mechanism 2 are provided with driving wheels 201, and the driving wheels 201 are driven by hub motors; the guide rail 203 is a regular polygon guide rail 203, the polygon guide rail 203 is provided with linear parts and arc parts which are arranged at intervals, the arc parts correspond to the end parts of the travelling mechanism 2, and the number of the arc parts is the same as that of the end parts; the distance between the middle points of two adjacent circular arc parts is greater than the distance between the axes of two adjacent driving wheels 201.
Example 12
On the basis of embodiment 5, as shown in fig. 13 to 15, the traveling device may include 2 sets of traveling mechanisms, two sets of traveling mechanisms are indirectly connected through a connecting member 4, and specifically, 2 load-carrying mechanisms are directly connected through a connecting member. The traveling device changes the position of the load-carrying mechanism between the guide rails after each group of traveling mechanisms is turned over to be in a vertical state so as to realize height position change, thereby realizing obstacle crossing;
each group of travelling mechanism comprises two or more end parts, and the end parts are provided with driving wheels; the traveling mechanism is provided with a guide rail; the front end running mechanism and the rear end running mechanism are driven to move in the vertical direction along the guide rail to change the height position of the running device, so that the running device with 4 driving wheels at the front end and the rear end can cross the obstacle when the running mechanism at the front end or the rear end meets the obstacle needing to be smaller.
Meanwhile, under the condition of 2 groups of travelling mechanisms, the scheme can realize the switching of 3 states:
a normal mode: in this mode, one of the driving wheels of each set of running gear is in contact with the ground, and the connecting member is connected between the two load-carrying mechanisms to move on the road surface, as shown in fig. 14;
a stationary mode: in this mode, each of the drive wheels of each set of road mechanisms is in contact with the ground, and the link member is connected between the two load carrying mechanisms for movement on the road surface, as shown in fig. 13;
a standing mode: in this mode, one of the driving wheels of each set of running mechanism contacts with the ground, the connecting member is connected between the two load-carrying mechanisms, and the connecting member can move along the vertical direction of each set of driving mechanism, so that the height position of the connecting member is changed, and obstacle crossing is realized as shown in fig. 15.
Example 13
On the basis of embodiment 5, an inverted pendulum assembly is arranged in the load-carrying mechanism, and after the inverted pendulum assembly keeps balance in the vertical direction, the load-carrying mechanism moves along the length direction of the guide rail to realize height position change and realize vertical use, namely, the traveling mechanism comprises two or more end parts, and the end parts are provided with driving wheels; the traveling mechanism is provided with a guide rail;
when the traveling device is used vertically, the traveling mechanism is turned to be in a vertical state, balance control is performed through the inverted pendulum assembly, the load mechanism moves along the length direction of the guide rail under the condition that balance is kept, vertical use of the traveling device is achieved, and the traveling device is used in different use environments.
The inverted pendulum assembly described in this embodiment is a two-stage inverted pendulum, which is a common component in the prior art,
the specific control method of the inverted pendulum comprises the following steps: the input of the inverted pendulum system is the displacement (namely the position) of the trolley and the expected value of the inclination angle of the oscillating bar, the computer collects the actual position signals of the trolley and the oscillating bar from the sensor in each sampling period, the actual position signals are compared with the expected value, the control quantity is obtained through a control algorithm, and then the real-time control of the inverted pendulum is realized through a digital-to-analog conversion driving component. The driving component drives the trolley to move on the fixed track, one end of the swing rod is arranged on the trolley, and the swing rod can freely swing on a vertical plane by taking the point as an axis. The force F acts on the trolley in a direction parallel to the rails, causing the rod to rotate in a vertical plane about an axis on the trolley, which moves along the horizontal rails. When no force is applied, the pendulum rod is in a vertical stable equilibrium position (vertically downwards). In order to make the rod swing or reach a vertically upward stabilization, a control force is required to the trolley so that it is pulled forward or backward on the rail.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (18)
1. An obstacle crossing method for a traveling device, characterized in that the traveling device at least comprises a traveling mechanism for moving and a load mechanism movable relative to the traveling device; the environmental factors are detected in the traveling direction, when the environmental factors needing obstacle crossing appear, the traveling mechanism is turned over, and the load mechanism moves for a preset distance relative to the traveling device along the direction to be crossed, so that the obstacle can be smoothly crossed.
2. The obstacle crossing method of a traveling apparatus according to claim 1, wherein the load carrying mechanism performs the center of gravity shifting of the traveling apparatus by moving a predetermined distance in a direction in which the traveling apparatus is to be turned, the traveling mechanism is turned in the direction to be crossed with the traveling mechanism as a fulcrum during the center of gravity shifting of the traveling apparatus, and the traveling mechanism is in contact with the next contact surface.
3. An obstacle crossing method for a traveling apparatus according to claim 2, wherein said load carrying means is supported on a traveling means, and the traveling apparatus forms a support surface by a driving mechanism supported on the ground by the traveling means; the travelling mechanism is provided with at least two end parts; when the overturning is required, the load-carrying mechanism moves circularly between the two ends.
4. The obstacle crossing method of a traveling device according to claim 3, wherein driving wheels are provided at both ends of the traveling mechanism, and a sensing unit and a control unit are provided in the traveling mechanism; the obstacle crossing method specifically comprises the following steps:
a) the sensing unit detects environmental factors in the advancing direction, and when the environmental factors needing to be overturned appear; the sensing unit sends a turning signal to the control unit;
b) the control unit receives the turning signal; the control unit controls the driving wheel of the travelling mechanism to stop moving;
c) the control unit controls the loading mechanism to move to the obstacle crossing end through the supporting end of the road mechanism, and the moving direction of the loading mechanism in the horizontal direction is consistent with the advancing direction; the load-carrying mechanism moves to the overturning-stabilizing boundary point of the obstacle-crossing end through the overturning-stabilizing boundary point of the supporting end and the gravity balance critical point, the traveling mechanism is vertically overturned to the next-stage contact surface by taking the supporting end as a fulcrum, the obstacle-crossing end is overturned to the front of the supporting end in the traveling direction, and the obstacle-crossing end is supported on the ground and is converted into the supporting end; the load-carrying mechanism moves along the direction of the obstacle crossing to complete obstacle crossing;
d) repeating the step c;
e) the sensing unit detects environmental factors within a preset distance in the advancing direction; and when the environmental factors needing to be overturned do not appear, the travelling device stops overturning.
5. An obstacle crossing method for a traveling apparatus according to claim 4, wherein said step d specifically comprises:
c1) the control unit controls the load-carrying mechanism to move towards the supporting end of the travelling mechanism, and the moving direction of the load-carrying mechanism is consistent with the travelling direction in the horizontal direction; the load-carrying mechanism moves to a gravity balance critical point of the supporting end through an overturning-stabilizing boundary point of the supporting end, the traveling mechanism vertically overturns by taking the supporting end as a fulcrum, and the obstacle-crossing end is suspended on the ground;
c2) the control unit controls the load-carrying mechanism to move towards the obstacle crossing end, and the moving direction of the load-carrying mechanism is consistent with the advancing direction in the horizontal direction; the load mechanism moves from a balance critical point of the support end to an overturning-stabilizing boundary point of the obstacle crossing end, the traveling mechanism vertically overturns the next-stage contact surface by taking the support end as a fulcrum, the support end and the obstacle crossing end are both supported on the ground, and the support end is positioned behind the obstacle crossing end in the traveling direction.
6. An obstacle crossing method of a traveling apparatus according to claim 5, characterized in that: in the step c1, the load-carrying mechanism moves from the overturning-stabilizing boundary point of the supporting end to the balance critical point of the supporting end, and the gravity center projection point of the traveling device exceeds the supporting surface firstly and then returns to the supporting surface along with the movement of the load-carrying mechanism; when turning, the travel mechanism has inertia that turns in the travel direction in the horizontal direction.
7. An obstacle crossing method of a traveling apparatus according to claim 5, characterized in that: in step c2, the load-carrying mechanism moves from the critical point of balance at the support end to the overturning-stabilizing boundary point at the obstacle crossing end, so that the center of gravity of the traveling device is shifted.
8. An obstacle crossing method of a traveling apparatus according to any one of claims 4 to 6, wherein: when the traveling device is supported on the ground by two adjacent end parts of the traveling mechanism, the vertical projection points of the overturning-stabilizing boundary points of the two end parts are both positioned at the edge of the supporting surface, and the vertical projection points of the balance critical points of the two end parts are positioned outside the supporting surface; when the traveling device is supported on the ground by means of one end portion of the travel mechanism and is balanced, the perpendicular projection point of the critical point of balance of the end portion is located within the support plane.
9. An obstacle crossing method of a traveling apparatus according to any one of claims 1 to 8, wherein: the traveling mechanism is provided with a guide rail, and the load-carrying mechanism moves along the guide rail; the travelling mechanism is provided with two end parts, and the guide rail is a linear guide rail or an oval guide rail; the end part of the travelling mechanism corresponds to the end point of the linear guide rail or the circular arc part of the elliptic guide rail.
10. An obstacle crossing method of a traveling apparatus according to any one of claims 1 to 8, wherein: the traveling mechanism is provided with a guide rail, and the load-carrying mechanism moves along the guide rail; the travelling mechanism is provided with three or more end parts, and the guide rail is a regular polygon guide rail; the end part of the travelling mechanism corresponds to the arc part of the regular polygon guide rail, and the number of the end part is the same as that of the arc part.
11. A travel device, characterized by: the device comprises a load mechanism, a traveling mechanism, a sensing unit and a control unit, wherein the load mechanism, the traveling mechanism and the sensing unit are respectively connected with the control unit; the load mechanism is supported on the traveling mechanism; the travelling mechanism is provided with two or more end parts, and the end parts are provided with driving wheels; the road mechanism is provided with a guide rail, the load-carrying mechanism is supported on the road mechanism, the load-carrying mechanism moves between the end parts of the road mechanism along the guide rail, and the road mechanism overturns along the obstacle crossing direction by taking the end parts as fulcrums through the movement of the load-carrying mechanism.
12. The travel device of claim 11, wherein: the traveling device at least comprises 2 groups of traveling mechanisms, the two groups of traveling mechanisms are connected through a connecting piece, and the traveling device changes the position of the load-carrying mechanism between the guide rails after the traveling device overturns in a vertical state through each group of traveling mechanisms to realize height position change, so that the height of the load-carrying mechanism is lifted to cross obstacles.
13. The travel device of claim 11, wherein: the running mechanism is provided with a turnover plane, and driving wheels at the end part of the running mechanism rotate in the turnover plane; the traveling mechanism is turned over in a turning plane by taking the end part as a fulcrum.
14. The travel device of claim 12, wherein: the load-carrying mechanism is arranged in the traveling mechanism, or the load-carrying mechanism is arranged between the two traveling mechanisms; the load-carrying mechanism moves along the guide rail through the adjusting movement assembly.
15. The travel device of claim 13, wherein: the adjusting and moving assembly comprises an adjusting driving device and a driving rod, the adjusting driving device is arranged in the load mechanism, the driving rod is driven by the adjusting driving device to rotate, the load mechanism is extended out of two ends of the driving rod, the driving gear is arranged on the two ends of the driving rod, a rack is arranged on the guide rail, and the driving gear is meshed with the rack.
16. A traveller according to any of claims 12 to 14, wherein: the travelling mechanism is provided with two end parts, the two end parts of the travelling mechanism are both provided with driving wheels, and the driving wheels are driven by a hub motor; the guide rail is a linear guide rail or an oval guide rail, the end points of the linear guide rail or the arc parts of the oval guide rail correspond to the end parts of the traveling mechanism, and the distance between the end points of the linear guide rail or the distance between the arc parts of the oval guide rail is larger than or equal to the distance between the axle centers of the driving wheels.
17. A traveller according to any of claims 12 to 14, wherein: the traveling mechanism is provided with three or three on-machine end parts, the end parts of the traveling mechanism are provided with driving wheels, and the driving wheels are driven by a hub motor; the guide rail is a regular polygon guide rail, the polygon guide rail is provided with linear parts and arc parts which are arranged at intervals, the arc parts correspond to the end parts of the travelling mechanism, and the number of the arc parts is the same as that of the end parts; the distance between the middle points of the two adjacent circular arc parts is greater than the distance between the axle centers of the two adjacent driving wheels.
18. The travel device of claim 11, wherein: the load mechanism is provided with an inverted pendulum assembly, and after the traveling device is kept balanced in the vertical direction through a control algorithm, the load mechanism moves along the length direction of the guide rail, so that the height position is changed, and the vertical use is realized.
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