The invention relates to an obstacle crossing robot, in particular to an obstacle crossing robot based on vision. The obstacle crossing robot based on vision comprises a moving bracket, a moving mechanism, positioning mechanisms, a swinging mechanism, a supporting wheel frame I, a supporting wheel frame II, a rotating mechanism, swinging arms and a connecting arm. The device can be driven to movethrough the moving mechanism; one of the two moving brackets is used as a supporting point; the two swinging arms drive the other moving bracket to leave the ground through the connecting arm. At themoment, the two swinging mechanisms and the two supporting wheel frames I located on the supporting point moving bracket are started, so that the swinging mechanisms, the supporting wheel frames I andthe supporting wheel frames II make contact with the ground, the relative distance between the supporting wheel frame II and the swinging mechanisms is increased, the supporting area is increased, and stability is improved; the stability can be further improved by moving four positioning mechanisms on the supporting point moving brackets; the moving bracket leaving the ground can turn over the moving bracket serving as a supporting point to cross obstacles in a large range.

    本发明涉及越障机器人,更具体的说是一种基于视觉的越障机器人,包括移动支架、移动机构、定位机构、摆动机构、支撑轮架Ⅰ、支撑轮架Ⅱ、转动机构、摆动臂和连接臂,可以通过移动机构带动装置进行运动,以两个移动支架中的一个作为支撑点,两个摆动臂通过连接臂带动另一个移动支架离开地面,此时启动位于支撑点移动支架上的两个摆动机构和两个支撑轮架Ⅰ,使得摆动机构、支撑轮架Ⅰ和支撑轮架Ⅱ与地面进行接触,并且增大支撑轮架Ⅱ和摆动机构之间的相对距离增加支撑面积,增加稳定性;通过支撑点移动支架上的四个定位机构可以进一步增加稳定性;可以使得离开地面的移动支架可翻过作为支撑点的移动支架进行大范围越障。


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    Title :

    Obstacle crossing robot based on vision


    Additional title:

    一种基于视觉的越障机器人


    Contributors:
    LIU LIN (author) / WANG KECHAO (author)

    Publication date :

    2020-09-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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