The invention relates to the technical field of mobile robots, in particular to a balance mobile robot under a complex terrain and a control method thereof. Comprising a body; the supporting legs are mounted on two sides of the vehicle body; the deformation wheels are mounted at the bottoms of the supporting legs; each deformation wheel comprises a gear, deformation feet and a tripod, one side of the tripod is fixedly mounted on one side of the bottom of the lower limb, and the other side of the tripod is rotationally connected with the gear and the multiple deformation feet; the deformation foot is in a half-crescent shape, one end of the deformation foot is provided with a driven gear arc, and the driven gear arc is connected with the gear in an engaged mode. Limiting blocks are arranged on the outermost side and the innermost side of the driven gear arc; and when the driven gear arc is in contact with the innermost side of the gear, the outer arcs of the plurality of deformation feet form a perfect circle. The problems that the mobile robot rapidly moves on the flat ground, dynamically overcomes obstacles on complex terrains, cannot keep a vehicle body horizontal in various motion states and is complex in control structure are effectively solved.

    本发明涉及移动机器人技术领域,尤其涉及复杂地形下平衡移动机器人及其控制方法。包括车体;安装在车体两侧的支腿;安装在支腿底部的变形轮;变形轮包括齿轮、变形足和三角架,三角架一侧固定安装在腿下肢的底部一侧,三角架另一侧分别转动连接有一个齿轮和多个变形足;变形足为半月牙形状,且其一端设置有被动齿轮弧,且被动齿轮弧与齿轮啮合连接;被动齿轮弧的最外侧和最里侧均设置有限位块;被动齿轮弧与齿轮的最里侧接触时,多个变形足的外弧构成一正圆。本发明有效解决移动机器人在平坦的地面上快速移动、复杂地形上动态克服障碍物、各种运动状态下无法保持车体水平以及控制结构复杂的问题。


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    Title :

    Balanced mobile robot under complex terrain and control method thereof


    Additional title:

    复杂地形下平衡移动机器人及其控制方法


    Contributors:
    DING JUN (author) / LUO ZIQI (author) / YANG PENG (author) / LU SHIQING (author) / LI RUISONG (author) / LIU RUI (author) / DU CHAOFEI (author) / YIN GUANGYING (author)

    Publication date :

    2022-05-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60B VEHICLE WHEELS , Räder für Fahrzeuge



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