The invention discloses a modularized self-balancing double-wheel quadruped robot comprising a bicycle body. A battery and a control system are installed on the bicycle body. The modularized self-balancing double-wheel quadruped robot is characterized in that a self-balancing system and a quadruped system are further arranged on the bicycle body, and the self-balancing system comprises a balancing assembly and a steering assembly; the balancing assembly is installed at the front end of a frame head tube and used for controlling balance of a bicycle; the steering assembly is fixed to the balancing assembly and connected with a handle through gears and a belt, and the steering assembly controls steering of the bicycle by controlling rotation of the handle; and the quadruped system comprises four quadruped assemblies which are installed on the two sides of a front wheel and the two sides of a rear wheel correspondingly and each have three freedom degrees, and the quadruped systems are used for assisting the bicycle in walking. The balance state of the bicycle body and the motion state of each foot are detected through attitude sensors, double-wheel running and quadruped walking can be achieved, and a good movable carrier is provided for an artificial intelligence algorithm.
本发明公开了一种模块化自平衡双轮四足机器人,包括自行车本体,自行车本体上安装有电池和控制系统,其特征在于,所述自行车本体上还设有自平衡系统和四足系统,所述自平衡系统包括平衡组件和转向组件,所述平衡组件安装在车架头管前端,用于控制自行车平衡;所述转向组件固定在平衡组件上且与把手通过齿轮和皮带连接,转向组件通过控制把手的转动来控制自行车的转向;所述四足系统包括4个分别安装于前轮和后轮两侧具有三个自由度的四足组件,用于辅助自行车行走,本发明通过姿态传感器检测车身平衡状态和每足的运动状态,既能双轮行驶又能四足行走,为人工智能算法提供了良好的可移动式载体。
Modularized self-balancing double-wheel quadruped robot
一种模块化自平衡双轮四足机器人
2021-06-25
Patent
Electronic Resource
Chinese