Servisní robotický systém pro pohyb v budovách

Abstract

The dissertation thesis focuses on the area of movement of mobile service robots in buildings, especially movement on stairs. Stairs and high thresholds in indoor environments of buildings together with high kerbs and stairs in outdoor areas are very difficult obstacles for present-day mobile robots during their missions. This work analyses the technical solutions applied on current constructions of mobile robotic systems designed to negotiate these obstacles. The main content of the work is a synthesis of new forms of a wheel for movement on stairs and also technical solutions of undercarriages with these wheels. Two solutions for new shapes of wheels for movement on stairs were designed. The wheel shapes are also subjects of patent applications PV 2010 – 176 „Wheel for movement on stairs“ a PV 2010 – 177 „Wheel for movement on terrain and stairs “. On the basis of these wheel designs, preliminary versions of technical solutions of the wheels were proposed and the selected variants were then elaborated into detail to verify their viability. Finally, the acquired pieces of knowledge were used to create a conceptual structural design of an undercarriage that best meets the given requirements and conditions for realization of an undercarriage of a mobile robotic system for movement in buildings.