The invention discloses a crawler-type transportation robot and a gravity center control method thereof.The crawler-type transportation robot comprises a robot body, a power device, a transmission device, a walking device, a bearing device, a control device and a gravity center balancing device, the transmission device is connected with the power device and the walking device, the control device is connected with the power device, and the gravity center balancing device is connected with the bearing device. The gravity center balancing device comprises a transverse sliding rail, a horizontal sliding rail and a vertical sliding rail, a longitudinal stepping motor is mounted at one end of the longitudinal sliding rail; the balancing weight is mounted on the longitudinal sliding rail; a pressure sensor; an angle sensor; the binocular camera and the gravity center controller drive the transverse stepping motor or the longitudinal stepping motor to act according to a preset gravity center control method, the balancing weight moves in real time along with the posture of the robot body and front obstacles, and real-time adjustment of the gravity center of the robot is achieved. The invention further provides a gravity center control method of the crawler-type transportation robot so as to improve the running and obstacle crossing operation safety of the crawler-type transportation robot in orchards in hills and mountains.

    一种履带式运输机器人及其重心控制方法,该履带式运输机器人包括机体、动力装置、传动装置、行走装置、承载装置、控制装置和重心平衡装置,所述传动装置分别与所述动力装置和行走装置连接,所述控制装置与所述动力装置连接,所述重心平衡装置包括:横向滑轨,一端安装有横向步进电机;纵向滑轨,一端安装有纵向步进电机;配重块,安装于所述纵向滑轨上;压力传感器;角度传感器;双目相机和重心控制器,根据预设的重心控制方法驱动所述横向步进电机或纵向步进电机动作,所述配重块随所述机体姿态和前方障碍实时移动,实现机器人重心的实时调整。本发明还提供了该履带式运输机器人的重心控制方法,以提升其在丘陵山地果园的行驶和越障操作安全性。


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    Title :

    Crawler-type transportation robot and gravity center control method thereof


    Additional title:

    一种履带式运输机器人及其重心控制方法


    Contributors:
    HAN ZHENHAO (author) / ZHU LICHENG (author) / ZHAO BO (author) / WANG RUIXUE (author) / YUAN YANWEI (author) / ZHANG TIANFU (author) / JIN YINHAO (author)

    Publication date :

    2022-12-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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