The invention discloses a wheel-foot integrated robot with omnidirectional motion capability, and relates to the technical field of mobile robots. Comprising a plurality of integrated wheel sets, and a wheel type movement mode and a foot type movement mode can be freely switched; the control module is used for integrating the sensing information, the environment data and the state of the robot, and making decisions and performing action planning based on the information; the power supply module is composed of a battery and provides required electric energy for the whole wheel-foot integrated robot; the intelligent sensing system is mounted on the side surface of the vehicle body and is used for realizing efficient sensing and data acquisition of environment information so as to support flexible movement, obstacle crossing and path planning capabilities of the robot under different terrains and obstacle conditions; and the task execution device is mounted on the vehicle body and is used for task operation. A wheel type mode and a foot type mode can be efficiently switched, the mechanical complexity of the robot is reduced, the control accuracy is improved, and better stability, adaptability and obstacle crossing ability are achieved.

    本发明公开了一种具备全向运动能力的轮足一体化机器人,涉及移动机器人技术领域。包括若干个集成式轮组,可自由切换轮式运动模式和足式运动模式;控制模块,整合感知信息、环境数据和机器人状态,并基于这些信息进行决策和动作规划;动力供应模块,由电池组成,为整个轮足一体化机器人提供所需的电能;智能感应系统,安装在车体的侧面,实现对环境信息的高效感知与数据采集,以支持机器人在不同地形和障碍条件下的灵活移动、越障和路径规划能力;任务执行装置,安装在车体的上面,进行任务作业。本发明可高效切换轮式及足式模式,降低机器人的机械复杂性,提高控制的准确性,具有更好的稳定性、适应性和越障能力。


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    Titel :

    Wheel-foot integrated robot with omni-directional movement capability


    Weitere Titelangaben:

    一种具备全向运动能力的轮足一体化机器人


    Beteiligte:
    LIU CHUNFANG (Autor:in) / LI CHENXIN (Autor:in) / LAN XINGYU (Autor:in) / ZHANG YUFEI (Autor:in) / MENG HONGYAN (Autor:in) / HUANGFU YIPENG (Autor:in) / PANG RUITIAN (Autor:in) / SHANG YAN (Autor:in) / BI TAO (Autor:in) / DONG KAIYUE (Autor:in)

    Erscheinungsdatum :

    2024-02-06


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

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



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