The invention relates to a self-adaptive stair climbing method for intelligent walking equipment, and belongs to the technical field of intelligent walking equipment, and the method comprises the following steps: during stair climbing, lifting a first-stage support, and when a detection value of a distance sensor of the first-stage support changes, enabling the first-stage support to fall; lifting the second-stage support to ensure that the wheel support of the second-stage support smoothly passes through the step; wheels of the second-stage support are lapped on the first-stage step, then the third-stage support is lifted to be flush with the second-stage support, the first-stage support is lifted again, the intelligent walking equipment moves forwards as a whole, and when a detection value of a distance sensor of the first-stage support changes, the first-stage support falls; and so on, when the fourth-stage support to the Nth-stage support needs to be lifted by one step, the intelligent walking equipment can move forwards as a whole only by lifting the support to be flush with the previous-stage support. The method has the advantages that the intelligent walking equipment can quickly determine the positions and heights of the stair steps, real-time response of the intelligent walking equipment is achieved, and misjudgment is reduced.

    本申请涉及一种智能行走设备自适应爬楼方法,属于智能行走设备技术领域,其包括以下步骤:在爬楼时,将一级支撑提升,当一级支撑的距离传感器的检测数值出现变化时,一级支撑下落;提升二级支撑,保证二级支撑的轮子支撑顺利经过台阶;二级支撑的轮子搭在第一级台阶上,接着三级支撑提升至与二级支撑平齐,一级支撑再次提升,智能行走设备整体前进,待一级支撑的距离传感器的检测数值出现变化时,一级支撑下落;依次类推,四级支撑至N级支撑每当要上升一级台阶,只需提升至与其前一级支撑保持平齐,智能行走设备整体前进即可。本申请具有实现智能行走设备可以快速确定楼梯台阶位置以及高度,实现智能行走设备的实时响应并减少误判的效果。


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    Title :

    Intelligent walking equipment self-adaptive stair climbing method, chassis structure and intelligent walking equipment


    Additional title:

    智能行走设备自适应爬楼方法、底盘结构及智能行走设备


    Contributors:
    LI PENG (author) / SHI WENHUA (author) / CHE DALU (author)

    Publication date :

    2025-01-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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