Four-legged wheeled mobile robot

A mobile robot and caster-type technology, applied in the field of mobile robots, can solve problems such as slow moving speed and inability to adapt to the complexity and diversity of the working environment

Active Publication Date: 2017-09-01
湖北炬峰智能装备有限公司
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The wheeled mobile robot has a simple structure, has the characteristics of fast moving speed and high walking efficiency, and is very suitable for moving on flat ground, but it is powerless for complex terrain
The legged mobile robot has very good adaptability to the terrain and can cross obstacles autonomously, but its moving speed is slow
With the continuous development of mobile robot technology and the continuous expansion of its application fields, mobile robots need to work in more complex and unknown environment conditions, and only relying on wheeled or legged mobile robots can no longer adapt to the complexity and diversity of the working environment.

Method used

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Embodiment Construction

[0014] In order to further understand the invention content, characteristics and effects of the present invention, the following embodiments are listed below, and detailed descriptions are as follows in conjunction with the accompanying drawings.

[0015] Combine below Figure 1-4 The structure of a quadruped wheeled mobile robot invented is described in detail. A four-legged wheeled mobile robot is composed of two omnidirectional high-definition cameras 1, a vehicle body frame 2, an inertial measurement device 3 and four outriggers 4-7, and the two omnidirectional high-definition cameras 1 are fixed on the vehicle The front and rear ends of the upper surface of the body frame can be used to identify the surrounding environment and landforms. The inertial measurement device 3 is fixed at the center of the upper surface of the body frame and can be used to measure the pose of the robot during movement. The four The outriggers are installed symmetrically on both sides of the ca...

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Abstract

The invention discloses a four-legged wheeled mobile robot and belongs to the field of mobile robots. An inertial measuring device is fixed in the center position of the upper surface of a vehicle body frame and can be used for measuring the posture of the robot in the moving process; four supporting legs are symmetrically mounted on the two sides of the vehicle body frame; each supporting leg is composed of a linear guiding mechanism, a swinging mechanism and a moving wheel; rapid movement of the four-legged wheeled mobile robot on the flat ground is achieved through the four moving wheels; and movement of the robot on the rugged ground is achieved through four swinging legs which are all composed of the linear guiding mechanisms and the swinging mechanisms. According to the robot, effective combination of fast moving and obstacle crossing is achieved, namely the movement speed on the flat ground can be guaranteed, and the very good obstacle crossing capacity is achieved.

Description

technical field [0001] The invention relates to a four-legged wheeled mobile robot, specifically a robot capable of moving quickly on flat ground and at the same time smoothly crossing obstacles on rough ground, belonging to the field of mobile robots. Background technique [0002] A mobile robot is a robot system that can perceive the environment and its own state through sensor feedback information, realize autonomous movement, and complete certain functions or tasks. At present, mobile robots have been widely used in many industries such as disaster relief, field investigation, education and entertainment, and are playing an increasingly important role in military affairs, scientific research and life. Common mobile robots are mainly wheeled mobile robots and legged mobile robots. The wheeled mobile robot has a simple structure, has the characteristics of fast moving speed and high walking efficiency, and is very suitable for moving on flat ground, but it is powerless to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028
CPCB62D57/028
Inventor 钟建筑赵子宁
Owner 湖北炬峰智能装备有限公司
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