Wheel-legged robot and intelligent wheel-legged switching method

A wheel-legged robot and robot technology, applied in the field of robotics, can solve the problem that the robot cannot reach the set goal, and achieve the effect of improving intelligence

Inactive Publication Date: 2013-10-30
HENAN UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a wheel-leg intelligent switching method for a wheel-leg robot, to solve the problem that the wheel-leg robot must have real-time participation of the operator during the travel process, otherwise the robot cannot reach the predetermined target

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  • Wheel-legged robot and intelligent wheel-legged switching method
  • Wheel-legged robot and intelligent wheel-legged switching method

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Embodiment Construction

[0023] Such as figure 1 As shown in the wheel-legged robot, the base plate of the wheel-legged robot is divided into an upper base plate and a lower base plate, and the two base plates are fixedly connected. Multiple steering gears are controlled to realize the switching of the wheel legs. The wheel-legged robot is equipped with a STC89C52 single-chip microcomputer, an LCD1602 display connected by the output of the single-chip microcomputer, and a 32-way steering gear controller. Steering gear, the wheel-legged robot is equipped with an ultrasonic ranging system, which is used to detect the distance from the ground in the front, rear, left and right directions of the robot base. The ultrasonic generator and the third and fourth ultrasonic generators arranged at the rear of the robot base plate, and the first and third ultrasonic generators are arranged in a corresponding manner, and the second and fourth ultrasonic generators are arranged in a corresponding manner. The so-call...

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Abstract

The invention relates to a wheel-legged robot and an intelligent wheel-legged switching method. The robot detects and calculates front, rear, left and right inclination of the condition of a road to be travelled on, and compares with the inclination with a corresponding set inclination range to judge whether travelling modes need to be switched or not. If the travelling modes need to be switched, a steering engine controller is used for controlling steering engines to act and switch over wheels and legs. If the travelling modes do not need to be switched, the robot continues travelling in the previous travelling mode. High-precision hand-eye matching of an operator is omitted, operations can be performed without real-time tracking, the robot can automatically switch over the wheels and the legs and smoothly reach a set target if the road condition is changed in the travelling process, and intelligence of the robot is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a wheel-leg robot and an intelligent wheel-leg switching method of the wheel-leg robot. Background technique [0002] The advantages of legged robots are that they can walk not only on flat ground but also on rough ground, can cross ravines, go up and down steps, and can do complete and one-way motion without slipping, and provide stable dynamics for the sensors on them. Therefore, it has a wide range of applicability, but it is difficult for legged robots to achieve stable gait planning and stable balance control, and the efficiency of movement speed and energy utilization is low. In addition, legged robots are generally heavy and have complex structures. The advantages of wheeled robots are simple automatic operation, stable movement, especially suitable for movement on flat ground, greater movement speed and energy utilization efficiency, and are currently widely used as a type o...

Claims

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Application Information

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IPC IPC(8): B62D57/028
Inventor 张伏付三玲杨云鹏邓桂扬张亚坤朱亚飞赵将李正炉王唯
Owner HENAN UNIV OF SCI & TECH
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