The invention belongs to the technical field of inspection robots, and provides a cross-floor inspection robot and a control method thereof.The cross-floor inspection robot comprises a robot body and depth cameras fixed to the front portion and the rear portion of the robot, the robot is provided with six deformable legs, switching of wheel, leg and RHex moving modes can be achieved through four-connecting-rod structures of the legs, and when the robot climbs stairs, the robot can move on the ground through the four-connecting-rod structures. Six legs of the robot are divided into three pairs of front legs, middle legs and rear legs, the robot cooperatively advances through three stages, firstly, the front legs firstly move to steps, the rear two pairs of legs support forwards, secondly, the middle legs move to the steps, the front and rear two pairs of legs support forwards, the rear legs finally move to the steps, and the front and middle two pairs of legs support forwards, and the movement process is opposite when the robot goes down the stairs. The depth camera is used for sensing the surrounding environment and measuring stair data, so that the robot adjusts the position and posture of the robot, and the purpose of cross-floor inspection is achieved.
本发明属于巡检机器人技术领域,提出了一种跨楼层巡检机器人及其控制方法,包括机器人本体和固定在机器人前后的深度相机,所述机器人具备可变形的六条腿,通过腿部的四连杆结构,可实现轮、腿、RHex移动模式的切换,在上楼梯时,机器人的六条腿分为前、中、后腿三对,通过三个阶段协同行进,首先前腿首先移动到台阶上,后两对腿向前支撑,其次,中腿移动到台阶上,前后两对腿向前支撑,最后后腿移动到台阶上,前中两对腿向前支撑,下楼梯时运动过程相反,所述深度相机用于感知周围环境和测量楼梯数据,机器人以此调整自身位置与姿态,实现跨楼层巡检的目的。
Cross-floor inspection robot and control method thereof
一种跨楼层巡检机器人及其控制方法
2024-04-09
Patent
Elektronische Ressource
Chinesisch
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