The invention discloses a wheel type obstacle crossing robot chassis which comprises a chassis body; a driving wheel which is rotatably supported on the chassis main body; a mounting frame, wherein one end of the mounting frame is detachably connected with the chassis main body; an obstacle crossing wheel which is rotatably supported at the other end of the mounting frame; an obstacle crossing assembly which is arranged between the mounting frame and the obstacle crossing wheel and can enable the obstacle crossing wheel to slide along the mounting frame so as to climb over an obstacle; and a laser radar navigation module which is connected with the chassis main body and is used for obstacle identification and path planning. The obstacle crossing assembly is arranged between the obstacle crossing wheel and the chassis body, the obstacle crossing wheel can slide up and down and climb over the obstacle, the structure is simple, meanwhile, the invention further provides a method for recognizing the obstacle and planning the path through the robot chassis, and the advancing efficiency of the robot chassis is improved by updating the environment map and optimizing the path in real time.
本发明公开了一种轮式越障机器人底盘,包括底盘主体;主动轮,其可旋转支撑在底盘主体上;安装架,其一端可拆卸连接底盘主体;越障轮,其可旋转支撑在安装架的另一端;越障组件,其设置在安装架与越障轮之间,能够使越障轮沿所述安装架滑动,以攀越障碍物;激光雷达导航模块,其连接底盘主体,用于障碍物识别和规划路径。本发明通过在越障轮和底盘主体之间设置越障组件,使越障轮能够上下滑动,攀越障碍物,结构简单,同时本发明还提供了机器人底盘识别障碍物和规划路径的方法,通过实时更新环境地图,优化路径,提高机器人底盘的行进效率。
Wheel type obstacle crossing robot chassis
一种轮式越障机器人底盘
2021-06-01
Patent
Electronic Resource
Chinese
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