The invention discloses a multifunctional foot-changing robot which takes Raspberry Pi 4B as a main control board and is divided into three forms, namely a six-foot form, a four-foot form and a wheel type form. An image is obtained through a COMS camera, robot joints are controlled through a high-voltage bus steering engine, and finally, conversion from a wheel type to a foot type of the robot is achieved, and a QT upper computer is developed to conduct movement control and remote image transmission on the multi-foot robot. The robot can change the number of feet to adapt to different environments in the process of judging the terrain and task conditions; and when the six-foot form is changed into the four-foot form or the wheel form, the remaining two feet are changed into the mechanical arm state, and complex sampling and carrying work can be conducted, so that the adaptability and stability of the robot in different environments are improved. The multi-foot robot has extremely high capability of adapting to severe terrain environments, and can replace people to autonomously work in dangerous or unreachable extreme environments, such as post-disaster rescue, interstellar exploration, military reconnaissance, volcano monitoring, antiriot and anti-terrorism occasions.

    本发明公开了一种多功能变足机器人,以树莓派4B为主控板,分为三种形态,分别是六足形态、四足形态和轮式形态。通过COMS摄像头获取图像,高压总线舵机控制机器人关节,最终实现该机器人轮式到足式的转换,并开发QT上位机对多足机器人进行移动控制以及远程图像传输。机器人对地形、对任务情况的判断过程中可改变足数从而适应不同环境,在六足形态变为四足或者轮式形态时剩余的两足改变为机械手状态,可以进行复杂的采样以及搬运工作,提高机器人在不同环境下的适应性以及稳定性。多足机器人具有极强的适应恶劣地形环境的能力,可以代替人们在危险或不能到达的极端环境中自主工作,如灾后救援、星际探索、军事侦察、火山监测、防暴、反恐等场合。


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    Titel :

    Multifunctional foot-changing robot


    Weitere Titelangaben:

    一种多功能变足机器人


    Beteiligte:
    SUN JING (Autor:in) / LIN CANHUI (Autor:in) / ZHUO ZUFAN (Autor:in) / MA YICHEN (Autor:in) / CHEN XIAOMING (Autor:in)

    Erscheinungsdatum :

    2021-12-24


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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