Multi-mode wheel-legged robot teaching platform

Abstract

The invention discloses a multi-mode wheel-legged robot teaching platform. The platform comprises a multi-mode wheel-legged robot, an expansion application suite, a server carrying project system process teaching management software based on a B / S framework, and a multifunctional site. According to the platform, the full-process development process and application of the multi-modal wheel-legged robot serve as teaching content, experiment content is rich, teaching forms are diversified, project system process teaching management software based on B / S architecture is adopted for project system management, the platform can correspond to multiple professional courses, and the teaching quality of the robot and related professional engineering practice is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot teaching, and more specifically to a multi-modal wheel-leg robot teaching platform. Background Art

[0002] Robotics engineering is a new major. Currently, more than 300 colleges and universities have established robotics engineering majors, but overall it is still in the early stages of construction. The construction of professional laboratories needs to be improved, especially the lack of teaching equipment that meets the needs of systematic practical teaching.

[0003] With the rapid development of robot technology, robot configurations are becoming more and more diverse, and robot application scenarios are also increasing. However, the current types of robot teaching equipment are still mainly mechanical arms and ordinary wheeled robots, resulting in a low degree of matching between talent training in the robot profession and the diversified robot development trend. At the same time, in the practical teaching process, the existing robot teaching equipment still has many shortcomings, so that it is difficult for robot course experiments to achieve good teaching results, as follows:

[0004] 1. The robot has a single modality and cannot adapt to different learning needs. The realization of robot functions in robot teaching is highly complex. The inherent modality requires students to have certain comprehensive abilities to effectively use teaching equipment, and cannot cover the learning needs of students of all ability levels.

[0005] 2. The integration is too high, the openness is not enough, and the teaching effect is poor. Robot teaching equipment is technology-intensive equipment. In order to establish technical barriers, many companies only open some application interfaces, and the related supporting experimental materials only describe the functions and usage methods of the application interfaces, and do not involve relevant theoretical knowledge and application technologies. Students only make simple calls within the limited experimental hours, and the learning effect is very limited.

[0006] 3. The experimental content is single, the teaching continuity is poor, and the cost performance is low. The existing robot teaching equipment is mainly used to carry out experiments for a certain course, but the robot major is a multidisciplinary cross-integration major. The robot teaching equipment should connect multiple professional courses in series to make the application scenarios of professional courses concrete and the knowledge systematized. At the same time, the cost of robot teaching equipment is high, and it is extremely cost-effective to equip a single course with a teaching equipment. Summary of the invention

[0007] In view of the above-mentioned technical problems, the present invention provides a multi-modal wheel-leg robot teaching platform that solves at least some of the above-mentioned technical problems. Utilizing the platform is beneficial to improving the quality of practical engineering teaching of robots and related majors.

[0008] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a multimodal wheel-legged robot teaching platform, which is a practical teaching platform based on a multimodal wheel-legged robot as a carrier and relying on a B / S architecture teaching process management software. Specifically, the platform includes a multimodal wheel-legged robot body, an extended application kit, a project-based process teaching management software based on a B / S architecture (mounted in a server), and a multifunctional venue for training and testing. In addition, the teaching method based on the platform in the present invention includes three teaching paths, namely an online course simulation experiment teaching path, an offline practical course teaching path, and a project-based full-process development practical teaching path. Among them:

[0009] The multi-modal wheel-legged robot body structure includes two parts: a frame body and a wheel-foot structure. As a preferred embodiment:

[0010] The main body of the frame mainly includes a display screen, an emergency stop button, an upper cover, a display screen mounting plate, a front protection plate, a lower base plate, a rear cover, a rear protection plate, a hardware mounting plate, an expansion component mounting plate, a battery slot, a lower guide wheel protection, a rubber-coated guide wheel, a guide wheel bracket, a hand guard, an aluminum column and connectors. The overall external frame structure is composed of an upper cover, a display screen mounting plate, a front protection plate, a lower base plate, a rear cover, a rear protection plate, a hardware mounting plate, and a hand guard, and the various parts are assembled by connectors. Among them, the lower guide wheel protection includes a rubber-coated guide wheel and a guide wheel bracket. The guide wheel bracket is installed on the lower base plate, and the rubber-coated guide wheel is installed on the guide wheel bracket. The lower guide wheel will be in contact with the ground when the robot is stationary. The hand guard is an auxiliary device installed on the joint motor mounting plate to facilitate lifting the robot.

[0011] The wheel-foot structure is divided into two parts, the leg structure and the wheel group. The leg structure includes the joint motor mounting plate, mounting pads, active arm, and driven arm, and the wheel group includes the rubber-coated wheel and wheel motor. The leg structure is powered by the joint motor installed on the joint motor mounting plate, so that the leg mechanism can move freely. The joint motor mounting plate is installed on the frame body through a connector. The joint motor is connected to the active arm through the mounting pad. The active arm is connected to the driven arm to form the entire leg structure. By adjusting the state of the active arm in the leg structure, the mode switching of the wheel-leg robot can be completed. When the joint motor output keeps the active arm in a minimized V-shaped state, the lower guide wheel and the wheel group contact the ground at the same time. At this time, the wheel-legged robot is in a normal wheeled mode, and the robot in this mode is in a stable state. When the joint motor output keeps the active arm in a non-minimized V-shaped state, the lower guide wheel and the wheel group cannot contact the ground at the same time. At this time, the wheel-legged robot is in a two-wheeled balance mode, and the robot in this mode is in a first-order unstable state. When the joint motor output dynamically adjusts the state of the active arm, the wheel-legged robot is in a wheel-legged balance mode, and the robot in this mode is in a second-order unstable state. The wheel group part is a structure installed at the end of the leg structure for making the robot produce motion, wherein the wheel motor is installed at the end of the two slave arms, and the rubber-coated wheel is connected to the wheel motor to enable the robot to complete the motion.

[0012] As a preferred embodiment, the multi-modal wheel-leg robot main body hardware includes an integrated joint motor, an integrated wheel motor, a posture sensor, an embedded controller, a NUC, a UWB positioning module, a display module, and a wireless image transmission. Among them:

[0013] The integrated joint motor model is MG8008, which is a brushless DC servo motor that can provide low-speed and high-torque output for the active arm. The integrated wheel motor model is MF5015, which is a brushless DC servo motor that provides power for the omnidirectional motion of the multi-modal wheel-leg robot. The attitude sensor model is HWT905, which is used to sense the attitude of the multi-modal wheel-leg robot and provide feedback for the control algorithm of the multi-modal wheel-leg robot. The embedded controller is STM32F429VGT6, which is the core of the multi-modal wheel-leg robot's main motion control. The LQR control model is deployed inside. Its function is to achieve stable motion control of the multi-modal wheel-leg robot. The embedded control communicates with the NUC as a ROS child node to complete the interaction of motion control information and status information. The NUC model is 9VXQNX, and the operating system is Ubuntu22.04. The ROS operating system and digital twin components are deployed in it. The ROS version is Humble Hawksbill. As the core of the application layer of the multimodal wheel-leg robot, the NUC is interconnected with the embedded controller and the extended application kit through a serial communication bus to form a robot system. It interacts with the project-based process teaching management software through a router to realize the cloud-edge collaborative control and management of the multimodal wheel-leg robot. The digital twin component consists of a sensor acquisition component, a data processing component, a data recording component, a 3D visualization component, and a user UI component. The sensor acquisition component communicates with the robot's sensors through communication interfaces (I2C, SPI, CAN, RS485, RS232, UART serial port, etc.), collects data from each sensor, and converts it into a suitable format for use by other components. The data processing component is responsible for further processing the robot sensor data, converting the joint motor angle data into the corresponding model joint information, converting the tire speed into the corresponding model tire speed, and converting the angle information into the model's posture information. The data recording component is responsible for continuously recording data at different time points, and can jump to any recorded time point at will, providing sensor data recording and playback function. The 3D visualization component is based on WebGL technology and uses BabylonJS as the 3D rendering engine. It is responsible for rendering the model and related data into visible 3D graphics to provide users with intuitive visual feedback. The user UI component provides users with an operable interface, which includes elements such as buttons, labels, sliders, progress bars, etc. Users can control other components through UI components, such as rotating the 3D field of view, setting the data playback time, and viewing the specific data of a certain sensor. The UWB positioning module model is RobomasterUWB, which includes a base station and a mobile station. The base stations are distributed around the multi-functional training ground, and the mobile station is installed on the multi-modal wheel-legged robot body. The UWB positioning module can feedback the position information to the embedded controller in real time for robot positioning.The display module model is TJC1060X5, which provides a human-machine interaction interface for the multi-modal wheel-legged robot to realize the multi-modal wheel-legged robot status information display and parameter adjustment information input. The wireless image transmission module model is LQ3, and its function is to wirelessly transmit the NUC interface to the multi-functional field display to realize the operation status display of the multi-modal wheel-legged robot operating system.

[0014] Furthermore, the extended application kit includes an inverted pendulum extension kit, a laser radar extension kit, and a vision extension kit. The extended application kit is connected to the ROS operating system in the NUC as a ROS child node. Among them:

[0015] The inverted pendulum expansion kit includes a WDD35D4 angular displacement sensor, a pendulum, a mounting base and an embedded controller. The angular displacement sensor transmits the real-time angular displacement information of the pendulum to the embedded controller through a serial bus for use in the control algorithm. The embedded controller is consistent with the embedded controller of the multi-modal wheel-legged robot, aiming to make the inverted pendulum expansion kit an independently usable subsystem. Practical teaching is carried out in the early professional basic courses, such as the embedded system design course, to pave the way for the subsequent courses centered on the multi-modal wheel-legged robot, so that students majoring in robotics can have continuity in their practical course learning.

[0016] The LiDAR expansion kit includes a Mid-360 LiDAR and a mounting base plate. The LiDAR sensor transmits point cloud data to the NUC via a USB bus for the robot operating system to call.

[0017] The vision expansion kit includes the MV-EB435i binocular camera and a mounting base plate. The binocular camera transmits image information to the NUC via the USB bus for the robot operating system to call.

[0018] Furthermore, the project-based process teaching management software with B / S architecture is a WEB-side application software supporting the multi-modal wheel-legged robot. The application software provides two teaching links: the course experimental teaching path and the full-process development teaching path. In order to ensure the teaching effect of the above teaching path, the application software adopts sandbox isolation technology to ensure that the application software can accommodate more than 200 people to study online at the same time; secondly, the application software adopts a project-based approach for the full-process development teaching path, using course management and course task components to establish a full-process development teaching node from 0 to 100 for the multi-modal wheel-legged robot. After the student user passes the learning assessment of machinery, hardware, software, algorithm, and robot operating system in the application software, he can apply for offline use of the multi-modal wheel-legged robot for extended learning, such as using the extended application kit for open experiments, graduation design, subject competition training and selection and other teaching links; secondly, the application software restores the robot digital twin model to the application software through remote streaming, realizes the remote application of the robot digital twin model, facilitates student users to trace back the robot's historical data, helps students qualitatively and quantitatively analyze the robot's operating status and characteristics, and improves learning efficiency.

[0019] Among them, the project-based process teaching management software with B / S architecture includes WEB teaching platform, workspace node, low-latency desktop streaming component, robot agent component, and forum system component. Among them:

[0020] The WEB teaching platform is mainly composed of the front-end and the back-end. The back-end is written in go language and includes HTTP server components, request routing components, database access components, scheduled task execution components, user management components, identity authentication components, workspace node management components, workspace management components, robot management components, course management components, and course task components. The WEB back-end is mainly responsible for processing API network requests from users. The http server can listen to the specified TCP port and accept HTTP requests. When the user's HTTP request is received, the request data is passed to the specified component through the request routing component. The database access component is used to handle the connection and interaction with the database to correctly save the application data.

[0021] The scheduled task execution component is responsible for executing tasks that need to be executed according to certain periodic rules (such as clearing cache, counting usage time, etc.) to maintain the correct functionality of the server.

[0022] The user management component is used to manage user information and is responsible for creating, deleting, modifying, and querying user information.

[0023] The authentication component is responsible for creating and destroying login status, checking the legitimacy of login status, checking whether the user has the authority to complete a certain operation, intercepting illegal requests, and other functions.

[0024] The workspace node management component (a workspace node refers to a computer that has computing resources such as CPU, memory, storage, etc., and can allocate computing resources as a workspace to users in an agreed manner, and is referred to as a node for ease of description) is responsible for processing node registration, node deregistration, node status management, node resource allocation application, node health status check and other functions.

[0025] The workspace management component is responsible for managing the creation, deletion, start, and stop of workspaces. It also records the node information where the workspace is located. When operating a workspace, the workspace management component will complete the operation on the real workspace through the workspace node management component proxy.

[0026] The robot management component is responsible for completing the robot's online registration, offline deregistration, robot information management, status management, etc. In addition, when the user requests robot resources, the robot management component will return appropriate robot information based on the robot requirements (model, status, etc.).

[0027] The course management component is responsible for managing course information, saving basic information corresponding to the course, document data, chapter information, dependency information (such as course B can only be studied after completing course A), etc. Other components can obtain course information through the course management component, and obtain whether it is recommended to study prerequisite courses before studying this course.

[0028] The course task component is responsible for managing the user's learning progress information, such as the ongoing courses, the progress of the current learning course, and the list of completed courses. It also tracks the workspaces created for the course, the robot resources connected for the course, and archives the user's learning records such as test scores and file attachments.

[0029] The front end is written in HTML, CSS, Javascript, and Typescript, including the Nuxt.js development framework, Tailwindcss library, and Pinia library. Nuxt.js provides basic functions such as sub-dependency registration, automatic page routing, AJAX network requests, etc., as the basic framework of this project. The Tailwindcss library provides a set of CSS tool classes that can set styles for HTML without writing a lot of CSS. The Pinia library provides global state management for the application, such as user login status, in-site message status, etc. When a user accesses a page from a browser, the Nuxt framework is first initialized to complete the loading of the library. After that, the routing component displays the page content corresponding to the address of the page requested by the user. When the user view interacts with the user (such as clicking a button for a specific function), an HTTP request will be sent to the WEB backend through the AJAX network request service provided by the Nuxt framework, and the corresponding response will be obtained.

[0030] The WEB teaching platform has functions or features such as a global navigation bar, landing page, course list, course information, course learning, course quizzes, user login and registration, user information management, workspace connection, and robot remote connection.

[0031] The global navigation bar provides users with the most commonly used page links, the user's current login status, site message prompts and other functions.

[0032] The landing page provides platform function introduction, function entrance, key information display and other functions.

[0033] The course list displays the course data available on the current platform in an appropriate manner for users. The course list will provide users with different list display methods based on different dimensions, such as: by release time, by learning popularity, by personal interest recommendations, etc.

[0034] The course information function shows users detailed information about a specific course, such as the course name, course category, course difficulty, equipment used in the course, course chapter outline, recommended prerequisite courses and prerequisite required courses, etc. It also provides users with an entry point to start studying this course (such as a "Start studying this course" button).

[0035] The course learning function displays the main content of the course for users, and creates and connects a workspace for users according to the course settings, and displays it together with the main content. When a test is set in the course, the test page will also be displayed to users, and the user's test information (answers, test time, etc.) will be counted. When a user completes the study of a chapter, the user's learning progress information will also be updated.

[0036] Among them, the workspace node is written in go language and consists of a configuration manager, a Websocket client, a Websocket packet parser, a workspace information parsing component, a workspace management component, and a container engine interaction component.

[0037] When the workspace node is started, the component configuration is read through the configuration manager, and then the Websocket client is started and connected to the set scheduling server. After the connection is established, the subsequent communication will be completed through the Websocket data packet parser. When there is a workspace creation task, the scheduling server will actively send a workspace creation instruction. After receiving the instruction, it will respond to the server according to the pre-set settings and start the workspace creation.

[0038] When creating a workspace, firstly, the workspace information parsing component is used to parse the required data from the workspace creation data received from the server, and then the workspace management component is used to create the workspace. Finally, the container engine interaction component is used to create the container corresponding to the workspace.

[0039] Among them, the low-latency desktop streaming component is responsible for creating a virtual desktop and sending the desktop graphics to the user's browser through a video stream. The low-latency desktop streaming components mainly include: XServer based on video memory, video encoding component, WebRTC component, and virtual input device component. X Server is the most common display server under Linux. GUI applications display their graphical interfaces in X Server through a protocol called X11. X Server usually uses a monitor as the final display device, but there is no physical display device in the container. X Server based on video memory can use DRI technology to use part of the video memory as a buffer for the display, thereby improving the graphics performance of the virtual display. In addition, it can also improve subsequent encoding performance.

[0040] The video encoding component calls the graphics card's hardware video encoder through a low-level API to encode the frame buffer in the video memory into a low-latency H264 video stream. WebRTC is a new technology that allows devices to establish point-to-point low-latency real-time communication. In this solution, the video stream is transmitted through WebRTC to achieve almost real-time display of the desktop in the user's browser.

[0041] The virtual input device component captures events in the browser, obtains user input operations (such as mouse movement, clicks, scroll wheels, keyboard input, etc.) and transmits control information to the controlled end through WebRTC. Finally, it simulates these inputs in XServer to achieve remote input control.

[0042] Among them, the robot agent component is responsible for connecting the robot to the WEB platform, and is composed of a websocket client, a websocket packet parser, a robot information component, and a workspace interaction component. When the robot agent component is started, it will carry the robot's basic information and work node information to connect to the pre-set server. The server will record the robot information, update the robot status to online, and inform the workspace scheduling server address.

[0043] Among them, the forum system component is built through Discourse, which includes posting, replying and private messaging functions. Users can filter posts by categories and tags, and the post list supports sorting by time and popularity, which is convenient for browsing the latest and popular content. The forum is mainly divided into several categories, such as announcements, technical exchanges, problem feedback, Q&A help, and forum affairs. Announcements are the latest notifications and important information of the forum, and users can keep abreast of platform dynamics and rule updates. Technical exchanges provide users with a space to share and discuss technology-related topics, which is suitable for publishing experience sharing, technical solutions and best practices. Problem feedback means that users can submit questions and opinions on the use of the platform here, and the management team will handle and improve it based on the feedback. Q&A help means that when users encounter difficult-to-solve technical problems, they can post help posts here, and community members will provide answers and suggestions. Forum affairs are specifically used to discuss matters related to forum management and operation. Users can participate in forum function improvement suggestions, rule discussions, etc.

[0044] Furthermore, the multifunctional venue includes fences, venue props, and functional components, wherein the fence is a 5m x 5m venue boundary, which is used to isolate the multimodal wheel-legged robot training venue. The venue props include a 15° ramp, a 13° ramp, a ramp platform, steps, blind obstacles, and barrier partitions; the ramp and ramp platform are used for the multimodal wheel-legged robot climbing ability test, the steps are used for the multimodal wheel-legged robot jumping function test, the blind obstacles are used for the multimodal wheel-legged robot self-balancing stability test, and the barrier partitions are used for the multimodal wheel-legged robot flexibility test; the functional components include UWB positioning base stations, routers, and displays. The UWB positioning base stations are distributed in the four corners of the multifunctional venue to provide real-time positioning services for the UWB mobile station mounted on the multimodal wheel-legged robot. The router provides a wireless network for the robot to ensure that the multimodal wheel-legged robot can stably access the project-based process teaching management software of the B / S architecture. The display receives the real-time interface from the NUC in the multimodal wheel-legged robot through a wireless image transmission receiver.

[0045] Furthermore, the online course simulation experiment teaching path includes students selecting experimental projects, clarifying experimental requirements, conducting case studies based on course supporting resources, building simulation models, completing simulation experiments in a standard environment, submitting simulation models, teachers scoring online and generating grades, students sharing their thoughts and simulation experiences and lessons through forum exchanges, and teachers selecting outstanding cases to be included in the course supporting materials.

[0046] Furthermore, the offline practical course teaching path includes students choosing to implement projects, clarifying project requirements, studying robot-related manuals, participating in the robot manual test question bank assessment, and then studying experimental project-related learning materials after passing the assessment, downloading learning materials, and carrying out project practice. After the practice is completed, the acceptance materials are submitted online, and the project demonstration is conducted offline. The teacher accepts and scores the materials. After completion, students can communicate and share their project practice experience and experience in the corresponding column of the forum. Finally, the teacher comprehensively considers the acceptance situation, forum experience sharing, and acceptance materials, selects excellent cases, and includes them in the experimental project learning materials for future students who will participate in the project.

[0047] Furthermore, the practical teaching path of project-based full-process development includes platform registration and selection of full-process development projects, clarifying the requirements and learning paths of full-process development projects, learning the system framework of multi-modal wheel-legged robot and the use of project-based process management software, and then participating in the stage learning question bank assessment until passing and entering the robot structure and statics analysis learning link. After completing the learning, participate in the stage learning assessment link until passing and entering the embedded software and hardware learning link. After completing the learning, participate in the stage learning assessment link until passing and entering the robot operating system learning. After completing the learning, participate in the stage learning assessment link until passing and entering the robot dynamics modeling learning link. After completing the learning, participate in the stage learning assessment link until passing and entering the robot control algorithm learning link. After completing the learning, participate in the stage learning assessment link. After passing the assessment link, you can apply for a physical robot to carry out offline experiments. After the application is passed, obtain relevant open source code and carry out multi-modal omnidirectional motion control experiments. After completion, you can further carry out multi-modal autonomous cruising experiments. After completion, you can further carry out wheel-leg jumping control algorithm research. Finally, other exploratory experiments can be carried out based on the multi-modal wheel-legged robot.

[0048] Compared with the prior art, the technical solution of the present invention has at least the following beneficial technical effects:

[0049] The present invention provides a multi-modal wheel-leg robot teaching platform. The teaching platform takes the full-process development process and application of the multi-modal wheel-leg robot as the teaching content, has rich experimental content and diversified teaching forms, and adopts project-based process teaching management software based on B / S architecture for project management. It can correspond to multiple professional courses and help to improve the quality of engineering practice teaching of robots and related majors.

[0050] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0051] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0053] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0054] Figure 1 A schematic diagram of the architecture of a multi-modal wheel-legged robot teaching platform provided by the present invention.

[0055] Figure 2 This is a side view of the main body of the multi-modal wheel-legged robot provided by the present invention.

[0056] Figure 3 This is an oblique view of the main body of the multi-modal wheel-legged robot provided by the present invention.

[0057] Figure 4 This is a top view of the multi-modal wheel-legged robot provided by the present invention.

[0058] Figure 5 This is a front view of the multi-modal wheel-legged robot provided by the present invention.

[0059] Figure 6 This is a side view of the multi-modal wheel-legged robot provided by the present invention.

[0060] Figure 7 This is an oblique view of the multi-modal wheel-legged robot provided by the present invention.

[0061] Figure 8 Schematic diagram of the multifunctional venue provided by the present invention.

[0062] Fig. 9 A schematic diagram of the online course simulation experiment teaching path provided by the present invention.

[0063] Fig.10 A schematic diagram of the offline practical course teaching path provided by the present invention.

[0064] Fig.11 A schematic diagram of the practical teaching path for the full-process development of a project-based system provided by the present invention.

[0065] Among them, 11-frame body, 110-display screen, 111-emergency stop button, 112-upper cover, 113-display screen mounting plate, 114-front protection plate, 115-lower bottom plate, 116-rear cover, 117-rear protection plate, 118-hardware mounting plate, 119-battery, 12-lower guide wheel protection, 120-rubber-coated guide wheel, 121-guide wheel bracket, 13-NUC assembly, 130-NUC, 131-NUC mounting plate, 132-aluminum column, 14-connection Connectors, 21-leg structure, 211-joint motor, 212-mounting pad, 213-active arm, 214-driven arm, 215-handguard, 216-joint motor mounting plate, 22-wheel set, 221-rubber-coated wheel, 222-wheel motor, 31-UWB positioning base station, 32-enclosure, 33-15° ramp, 34-ramp platform, 35-display, 36-router, 37-blind obstacle, 38-obstacle partition, 39-13° ramp, 310-steps. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings below, and the technical solution of the present invention will be clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0067] In the description of the embodiments of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0068] Refer to the attached Figure 1As shown, an embodiment of the present invention provides a multimodal wheel-leg robot teaching platform, which is a practical teaching platform based on a multimodal wheel-leg robot as a carrier and a teaching process management software based on a B / S architecture. Specifically, the platform includes a multimodal wheel-leg robot body, an extended application kit, a project-based process teaching management software based on a B / S architecture, and a multi-functional training ground. In addition, the teaching method based on the platform in the present invention includes three teaching paths, namely an online course simulation experiment teaching path, an offline practical course teaching path, and a project-based full-process development practical teaching path. The specific implementation methods of the present invention are described in detail below:

[0069] Reference Figure 2-Figure 7 As shown, an embodiment of the present invention provides a specific implementation of a multi-modal wheel-legged robot. The robot adopts a modular design as a whole, and the modular design divides the whole into a frame body and a wheel-foot part, which greatly improves the strength of the robot while facilitating maintenance and replacement.

[0070] In a specific embodiment, the structure of the frame body 11 includes a display screen 110, an emergency stop button 111, an upper cover 112, a display screen mounting plate 113, a front protection plate 114, a lower bottom plate 115, a rear cover 116, a rear protection plate 117, a hardware mounting plate 118, a battery 119, a lower guide wheel protection 12, a rubber-coated guide wheel 120, a guide wheel bracket 121, a NUC component 13, a NUC 130, a NUC mounting plate 131, an aluminum column 132 and a connector 14. Among them, the upper cover 112, the display screen mounting plate 113, the front protection plate 114, the lower bottom plate 115, the rear cover 116, the rear protection plate 117 and the hardware mounting plate 118 constitute the external frame structure of the robot. Using these plates to form a fully enclosed structure can effectively improve the impact resistance of the main body and protect the internal hardware circuit. The plates are assembled by connecting parts, which are reasonably designed and can be quickly disassembled and installed, making it convenient to maintain and replace parts. The display screen 110 is installed on the display screen mounting plate 113, providing a human-machine interaction interface and displaying the working status and information of the robot. The emergency stop button 111 is arranged in an easy-to-operate position to ensure that the power can be quickly cut off in an emergency to protect the safety of equipment and operators. The lower guide wheel protection 12 includes a rubber-coated guide wheel 120 and a guide wheel bracket 121. The guide wheel bracket 121 is installed on the lower base plate 115, and the rubber-coated guide wheel 120 is installed on the guide wheel bracket 121 to ensure that the lower guide wheel is in contact with the ground when the robot is stationary, providing stable support. The NUC assembly 13 includes NUC130, a NUC mounting plate 131 and an aluminum column 132. The aluminum column 132 is installed on the upper cover plate 112 to connect the NUC mounting plate 131. NUC130 is fixed on the NUC mounting plate 131 to ensure its stability and vibration resistance.

[0071] In a specific embodiment, the wheel-foot structure is divided into two parts: a leg structure 21 and a wheel set 22. The leg structure 21 includes a joint motor 211, a mounting pad 212, an active arm 213, a driven arm 214, a hand guard 215 and a joint motor mounting plate 216. The joint motor mounting plate 216 is installed on the frame body 11 through a connector to provide a stable installation foundation. The joint motor 211 is installed on the joint motor mounting plate 216 and is connected to the active arm 213 through the mounting pad 212. The active arm 213 is connected to the driven arm 214 to form the entire leg structure, so that the leg can move flexibly and adapt to different terrains and task requirements. The hand guard 215 is installed on the joint motor mounting plate 216 to facilitate lifting and moving the robot, thereby enhancing the portability of the robot.

[0072] The wheel set 22 includes a rubber-coated wheel 221 and a wheel motor 222. The wheel motor 222 is installed at the end of the driven arm 214 to provide power for the wheel set 22. The rubber-coated wheel 221 is connected to the wheel motor 222, and the movement of the robot is realized by the motor drive.

[0073] Furthermore, this embodiment provides a project-based process teaching management software implementation method based on B / S architecture, which mainly includes the basic architecture of robot development sandbox technology, creation and access of robot development sandbox, remote development of real robot, and robot debugging tools.

[0074] In a specific implementation, the infrastructure of the robot development sandbox technology includes the front-end, back-end, network forwarding, and sandbox proxy. The front-end uses Nuxt.js, which is a server-side rendering application framework based on Vue.js. It provides routing, state management and other functions, and is suitable for building complex front-end applications. The back-end uses ASP.NET Core, which is a cross-platform high-performance framework with powerful WebAPI and real-time communication capabilities. It is suitable for processing back-end businesses such as sandbox management and user authentication. The network forwarding uses frp for intranet penetration. By configuring the frp server and client, the internal services are published to the public network for user access. The sandbox proxy is written in Golang, which has the advantages of high concurrency and memory management, and is suitable for communication with the back-end server and sandbox management.

[0075] In a specific embodiment, the creation and access of the robot development sandbox includes the user submitting sandbox parameters, the back-end processing the creation request, the initialization of the sandbox service, and the user accessing the sandbox. The user submits the sandbox parameters by filling in the container information on the front-end page, including the required software environment, resource configuration, etc., and the front-end sends the parameters to the back-end through AJAX. After the back-end processes the creation request and receives and verifies the parameters through ASP.NET Core, it sends a container creation request to Kubernetes through the HTTP API, waiting for Kubernetes to complete the container creation. After the container is created, the sandbox service is initialized, and ASP.NET Core initializes the container service, including installing container probes, online IDE, etc., and configuring frp for port mapping. After the user accesses the sandbox and obtains the public URL of the sandbox through the Nuxt.js front-end, the online tools such as IDE are embedded in the web page of the teaching platform through the iframe tag for user use.

[0076] In a specific implementation, the remote development of a real machine robot includes the implementation of a sandbox agent, the connection of the sandbox agent to the backend, the update of the robot status by the backend, the application of the robot by the user, and the recovery of the robot development environment. Due to the need to frequently deploy to different robot systems, the implementation of the sandbox agent selects golang as the development language of the sandbox agent to achieve single-file deployment without installing external dependencies. The connection of the sandbox agent to the backend is to establish a connection with the backend through HTTPAPI to achieve real-time communication between the robot and the server. The backend updates the robot status after receiving the connection information of the sandbox agent, and records the availability of the robot so that the user can query the status of the robot. The user's application for the use of the robot requires the user to submit an application for the use of the robot through the front-end page. After receiving the application, the backend notifies the sandbox agent to prepare the environment, create a container, and feedback the status to the user in real time. The recovery of the robot development environment is that when the user completes the development exercise, the backend will notify the sandbox agent to clean up the sandbox environment. Due to the use of container technology, the sandbox environment can be restored by simply deleting the created container. At the same time, for key hardware, the sandbox agent will perform reset operations, such as stopping the motor rotation and resetting the wheel leg active arm.

[0077] In a specific embodiment, the robot debugging tool includes sensor data collection and display, sensor data display method, virtual sensor function, and virtual scene camera. The sensor data collection and display uses Babylon.js to realize the 3D rendering function of the web page through the debugging tool, and renders the virtual scene through Babylon.js, and renders the robot model and the visualization effect of the sensor data therein. The sensor data display method uses the API of Babylon.js to display the robot's posture, position and other information in the virtual scene in the form of a 3D model, and uses WebGL technology to draw line graphs, spectrum graphs and other methods to display other sensor data. The virtual sensor function is to model the sensor characteristics, calculate the data expected to be received by the sensor under given virtual conditions, and provide it to the robot system through an open API to realize the virtual sensor function. The virtual scene camera is a sandbox agent that renders the 3D scene through the unity engine and streams it as a video stream for use by the robot. The web page synchronously renders the 3D scene through Babylon.js and listens to user operations to modify the virtual scene content. After modifying the scene, the changes are sent to the back end through Websocket, and finally the sandbox agent is notified to update the scene.

[0078] See also Figure 8 As shown, this embodiment provides a multi-functional venue usage scenario. The multi-functional venue provides a variety of venue props and functional components for the multi-modal wheel-legged robot for function and performance testing, wireless projection, full-field positioning and mapping environment. When the robot is placed in the multi-functional venue, its onboard NCU will automatically connect to the venue wireless network and establish a connection with the project-based process teaching management software located on the server. At this time, the project-based process teaching management software can remotely access the robot and perform related operations, including but not limited to robot status information interaction, program debugging and downloading, control command issuance, etc.

[0079] In a specific embodiment, the multifunctional venue includes a fence 32, venue props, and functional components, wherein the fence 32 is a 5-meter by 5-meter venue boundary used to isolate the multimodal wheel-legged robot training venue. The venue props include a 15° ramp 33, a 13° ramp 39, a ramp platform 34, a step 310, a blind obstacle 37, and an obstacle partition 38; the ramp and the ramp platform 34 are used for the climbing ability test of the multimodal wheel-legged robot, the step 310 is used for the jumping function test of the multimodal wheel-legged robot, the blind obstacle 37 is used for the self-balancing stability test of the multimodal wheel-legged robot, and the obstacle partition 38 is used for the flexibility test of the multimodal wheel-legged robot; the functional components include a UWB positioning base station 31, a router 36 and a display 35. The UWB positioning base station 31 is distributed in the four corners of the multi-functional venue to provide real-time positioning services for the UWB mobile station mounted on the multimodal wheel-legged robot. The router 36 provides a wireless network for the robot to ensure that the multimodal wheel-legged robot can stably access the project-based process teaching management software with a B / S architecture. The display 35 receives the real-time interface of the NUC in the multimodal wheel-legged robot through a wireless image transmission receiver.

[0080] Furthermore, the UWB mobile station built by the robot will receive the base station of the multi-functional venue for information interaction, and obtain the global positioning information of the robot in the multi-functional venue, including position information and angle information. Secondly, the robot's wireless image transmitter (wireless image transmission module) will remotely project the NUC desktop to the multi-functional venue display, which is convenient for users to debug on site. Secondly, the robot can perform functional and performance tests on props such as ramps, steps, blind obstacles, obstacle partitions, etc. in the multi-functional venue. The test content includes but is not limited to the robot's motion ability test, stability test and robustness test in different modes. Secondly, the robot can build maps in the multi-functional venue and use body posture sensors, cameras and lidar for autonomous navigation.

[0081] Furthermore, this embodiment provides an implementation method of an online course simulation experiment teaching path, which mainly includes pre-class learning, simulation experiments, post-class evaluation, and communication and sharing. Fig. 9 As shown, it includes students selecting experimental projects, clarifying experimental requirements, conducting case studies based on course supporting resources, building simulation models, completing simulation experiments in a standard environment, submitting simulation models, teachers scoring online and generating grades, students sharing their thoughts and simulation experiences and lessons through forum exchanges, and teachers selecting outstanding cases to be included in the course supporting materials.

[0082] In a specific implementation, before class, student users need to log in to the project-based process teaching management software based on the B / S architecture and register an account. If you already have an account, you can log in directly and then select an online simulation project. The online simulation project includes but is not limited to robot space description and transformation simulation, robot statics modeling, robot kinematics simulation, robot operating system simulation, etc. First, students need to complete the full process of modeling case study. After the learning time reaches the standard, they will carry out balanced wheel or wheel-leg dynamics modeling experiments based on the platform simulation module. After completing the modeling, they will replace their own model in the established robot simulation framework, optimize the model quality through standardized simulation processes, and the teacher will score based on the simulation effect. After submitting the model, students can exchange and learn in the learning forum, and find or share their own problems in the modeling process.

[0083] Furthermore, this embodiment provides an offline practical course teaching path implementation method, which mainly includes pre-class preparation, offline practice, post-class evaluation and communication and sharing. Fig.10 As shown, it includes students choosing to implement projects, clarifying project requirements, studying robot-related manuals, participating in the robot manual test question bank assessment, studying experimental project-related learning materials after passing the assessment, downloading learning materials, and carrying out project practice. After the practice is completed, acceptance materials are submitted online, and project demonstrations are conducted offline. Teachers accept and score the projects. After completion, students can communicate and share their project practice insights and experiences in the corresponding column of the forum. Finally, teachers comprehensively consider the acceptance situation, forum experience sharing, and acceptance materials, select outstanding cases, and include them in the experimental project learning materials for future students who will participate in the project.

[0084] In a specific implementation, before class, student users need to log in to the project-based process teaching management software based on B / S architecture, register an account, and then log in directly if they already have an account. Then, they select a practical project. Offline practical projects include but are not limited to robot operating system practice, robot control system practice, robot engineering professional innovation practice, graduation design, etc. Then, they study the robot operation manual, which includes but is not limited to basic robot operation, program download and debugging methods, remote operation methods, software usage methods, precautions, etc., and complete the robot operation question bank assessment. After passing the question bank assessment, they study the course-related learning materials in the process teaching management software and download the learning materials required for the course. The learning materials include but are not limited to case programs, underlying drivers, experimental report templates, device manuals, debugging methods, common problems, etc. After that, they start project practice. After the project practice is completed, they submit offline practical course acceptance materials, which include but are not limited to experimental reports, programs, pictures, etc. At the same time, they conduct project demonstrations offline. Teachers make comprehensive scores based on offline demonstration effects and acceptance materials. Finally, students can communicate and share in the forum in the process teaching management software. Teachers select excellent cases based on online and offline materials. Excellent cases include but are not limited to control algorithms, program design, debugging methods, solutions, etc., and incorporate excellent cases into experimental project learning materials to continuously improve practical teaching effects.

[0085] Further, see Fig.11As shown, this embodiment provides a project-based full-process development practical teaching path implementation method, including platform registration and selection of full-process development projects, clarifying the requirements and learning paths of the full-process development projects, learning the multi-modal wheel-leg robot system framework and the use of the project-based process management software, and then participating in the stage learning question bank assessment until passing and entering the robot structure and statics analysis learning link. After the learning is completed, then participate in the stage learning assessment link until passing and entering the embedded software and hardware learning link. After the learning is completed, participate in the stage learning assessment link until passing and entering the robot operating system learning. After the learning is completed, participate in the stage learning assessment link until passing and entering the robot dynamics modeling learning link. After the learning is completed, participate in the stage learning assessment link until passing and entering the robot control algorithm learning link. After the learning is completed, participate in the stage learning assessment link. After passing the assessment link, you can apply for a physical robot to carry out offline experiments. After the application is passed, obtain relevant open source codes, and carry out multi-modal omnidirectional motion control experiments. After completion, you can further carry out multi-modal autonomous cruising experiments. After completion, you can further carry out wheel-leg jumping control algorithm research. Finally, other exploratory experiments can be carried out based on the multi-modal wheel-leg robot. In the present invention, the project-based full-process development practice teaching path is not aimed at course experiments or practical courses, but is a project-based process practice teaching path based on a multi-modal wheel-leg robot. The goal of this teaching path is to cultivate students' multidisciplinary cross-integration ability, independent learning ability and engineering practice ability at all stages through learning and practice of the full-process development project of a multi-modal wheel-leg robot.

[0086] In a specific implementation, the teaching cycle of the full-process development project of the multi-modal wheel-leg robot can be designed to be three years. Focusing on the technical characteristics of the multi-modal wheel-leg robot itself, a step-by-step robot practical teaching is carried out. The teaching content includes robot system cognition, robot structure design, robot statics analysis, embedded software programming, embedded hardware design, robot operating system, robot dynamics modeling, and robot control algorithm. The specific implementation process of project-based teaching is as follows:

[0087] Register on the project-based process teaching management software platform based on B / S architecture and select the full-process development project;

[0088] Clarify the project requirements and learning path. Beginners can start with the most basic part. Students with a certain foundation can directly enter the question bank assessment phase. After passing the assessment, they can enter the next stage of learning.

[0089] Study materials on the project-based process teaching management software platform based on B / S architecture, learn the multi-modal wheel-legged robot system framework, improve system cognition, and master the use of robots and project-based process teaching management software;

[0090] Complete the assessment of the robot system framework and platform usage methods. If you pass the assessment, you can enter the robot structure and statics analysis learning phase. If you fail the assessment, you will continue to take the question bank assessment.

[0091] Learning materials of the project-based process teaching management software platform based on B / S architecture, learning robot structural design methods and static analysis methods, and conducting structural design exercises based on 3D design software;

[0092] Complete the robot structure design and statics analysis assessment, and enter the robot embedded software and hardware learning phase if you pass the assessment. If you fail the assessment, you will continue to participate in the question bank assessment;

[0093] Learning materials of the project-based process teaching management software platform based on B / S architecture, learning embedded software and hardware design methods, completing STM32 program design and minimum system circuit design;

[0094] Complete the embedded software and hardware assessment, and enter the robot operating system learning phase if you pass the assessment. If you fail the assessment, you will continue to participate in the question bank assessment;

[0095] Learning materials of the project-based process teaching management software platform based on B / S architecture, learning the theoretical knowledge and application methods of robot operating system, and completing ROS simulation tasks;

[0096] Complete the robot operating system assessment and enter the robot dynamics modeling learning phase if you pass the assessment. If you fail the assessment, you will continue to take the question bank assessment;

[0097] Study materials on the project-based process teaching management software platform based on B / S architecture, learn the robot dynamics modeling method, and complete the dynamics modeling of multi-modal wheel-legged robots;

[0098] Complete the robot dynamics modeling assessment. If you pass the assessment, you will enter the robot control algorithm learning phase. If you fail the assessment, you will continue to take the question bank assessment.

[0099] Study materials of the project-based process teaching management software platform based on B / S architecture, learn robot control algorithms, complete control theory learning and program design such as PID, cascade PID, LQR control theory, etc.;

[0100] After completing the robot control algorithm assessment, you can apply for offline experiments with physical robots. After the experimental management staff agrees to the application for offline use of the robot, you can make an appointment for the corresponding time period to conduct offline practice;

[0101] Obtain the open source code of the multi-modal wheel-legged robot, learn and master the code;

[0102] Based on open source code, conduct multi-modal omnidirectional motion control experiments, study and improve control algorithms, and enhance motion control effects;

[0103] Based on open source code, the robot's autonomous cruising function is realized based on the LiDAR component in a multi-functional training field;

[0104] Based on the open source code, we conducted wheel-leg jumping experiments in a multi-functional training field, studied and improved the jumping control algorithm, and enhanced the robot's stability in complex motion situations;

[0105] Based on the multimodal wheel-legged robot expansion kit, other exploratory experimental projects are carried out in a multi-functional venue.

[0106] Through the description of the above implementation, those skilled in the art can know that the present invention provides a multimodal wheel-legged robot teaching platform, which takes the full-process development process and application of the multimodal wheel-legged robot as the teaching content, has rich experimental content, diversified teaching methods, project-based management, corresponds to multiple professional courses, has a concrete knowledge system, and has strong teaching continuity. It can not only serve course experiments, but also can be used for extracurricular practical teaching links. Students' learning time and place are not restricted, which helps to improve the quality of engineering practice teaching of robots and related majors in the context of new engineering.

[0107] This specification adopts a progressive description, and the same and similar parts between various implementations can be referred to each other. The unexplained parts of the embodiments of the present invention can be obtained from the corresponding product specifications or the prior art in the field, which are well-known in the field and will not be described in detail.

[0108] The above embodiments of the present invention are described in detail, and the principles and implementation methods of the present invention are explained. The description of the above embodiments is only used to help understand the method and core concept of the present invention.

[0109] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-modal wheel-leg robot teaching platform, characterized in that: The platform includes: a multi-modal wheel-legged robot, an extended application kit, a server, and a multi-functional venue, including: The multi-modal wheel-leg robot adopts a modular design. The robot body structure includes two parts: a frame body and a wheel-foot structure. The robot body hardware includes an integrated joint motor, an integrated wheel motor, a posture sensor, an embedded controller, a NUC, a UWB positioning module, a display module, and a wireless image transmission module. Among them, the NUC is interconnected with the embedded controller and the extended application kit through a serial communication bus, and interacts with the server through a router to realize cloud-edge collaborative control and management of the multi-modal wheel-leg robot. The extended application kit is connected to the NUC as a sub-node for communication; the extended application kit includes an inverted pendulum extension kit, a laser radar extension kit and a visual extension kit; The server is equipped with a project-based process teaching management software based on a B / S architecture, which provides users with a variety of teaching paths and adopts a project-based approach to establish a full-process development teaching node for a multi-modal wheel-legged robot; The multifunctional venue includes enclosures, venue props and functional components, wherein: the enclosure is used to isolate the multimodal wheel-legged robot training venue; the venue props are used for testing the multimodal wheel-legged robot; the functional components provide positioning services, wireless networks and real-time interfaces of NUC for the multimodal wheel-legged robot.

2. A multi-modal wheel-leg robot teaching platform according to claim 1, characterized in that: The frame body includes a display screen, an emergency stop button, an upper cover, a display screen mounting plate, a front protection plate, a lower bottom plate, a rear cover, a rear protection plate, a hardware mounting plate, an expansion component mounting plate, a battery slot, a lower guide wheel protection, a hand guard, an aluminum column and connectors; wherein: The upper cover plate, display screen mounting plate, front protection plate, lower base plate, rear cover plate, rear protection plate, hardware mounting plate, and hand guard constitute the external frame structure of the robot, and the various parts are assembled by connecting parts; the lower guide wheel protection includes a rubber-coated guide wheel and a guide wheel bracket, the guide wheel bracket is installed on the lower base plate, and the rubber-coated guide wheel is installed on the guide wheel bracket.

3. A multi-modal wheel-leg robot teaching platform according to claim 2, characterized in that: The wheel-foot structure comprises a leg structure and a wheel set, wherein: The leg structure includes a joint motor mounting plate, a mounting pad, an active arm, and a driven arm; the leg structure is powered by a joint motor mounted on the joint motor mounting plate, so that the leg mechanism can move freely; the joint motor mounting plate is mounted on the frame body through a connector, the joint motor is connected to the active arm through the mounting pad, and the active arm is connected to the driven arm. By adjusting the state of the active arm in the leg structure, the mode switching of the wheel-legged robot is completed; The wheel assembly includes a rubber-coated wheel and a wheel motor. The wheel motor is installed at the end of the driven arm. The rubber-coated wheel is connected to the wheel motor to enable the robot to complete movement.

4. A multi-modal wheel-leg robot teaching platform according to claim 1, characterized in that: The NUC is deployed with ROS operating system and digital twin components.

5. A multi-modal wheel-legged robot teaching platform according to claim 4, characterized in that: The inverted pendulum expansion kit is an independently used subsystem, including an angular displacement sensor, a pendulum and a controller. The angular displacement sensor transmits the real-time changing angular displacement information of the pendulum to the controller via a serial bus; the laser radar expansion kit includes a laser radar sensor, which transmits point cloud data to the NUC for the robot operating system to call; the visual expansion kit includes a binocular camera, which transmits image information to the NUC for the robot operating system to call.

6. The multi-modal wheel-leg robot teaching platform according to claim 1, characterized in that: The project-based process teaching management software based on B / S architecture is constructed using robot development sandbox technology; it includes a WEB teaching platform, a workspace node, a low-latency desktop streaming component, a robot agent component and a forum system component.

7. The multi-modal wheel-leg robot teaching platform according to claim 1, characterized in that: The multiple teaching paths include online course simulation experiment teaching path, offline practical course teaching path and project-based full-process development practical teaching path.

8. The multi-modal wheel-leg robot teaching platform according to claim 1, characterized in that: The venue props include: 15° ramp, 13° ramp, ramp platform, steps, blind obstacles and obstacle partitions, among which: The ramp and ramp platform are used for the climbing ability test of the multi-modal wheel-legged robot, the steps are used for the jumping function test of the multi-modal wheel-legged robot, the blind obstacle is used for the self-balancing stability test of the multi-modal wheel-legged robot, and the obstacle partition is used for the flexibility test of the multi-modal wheel-legged robot; The functional components include: a UWB positioning base station, a router and a display, wherein: UWB positioning base stations are distributed in the four corners of the multi-functional venue, providing real-time positioning services for the UWB positioning module mounted on the multi-modal wheel-legged robot; the router provides a wireless network for the robot to ensure that the multi-modal wheel-legged robot can stably access the project-based process teaching management software with a B / S architecture; the display receives the real-time interface from the NUC in the multi-modal wheel-legged robot through a wireless image transmission receiver.

9. The multi-modal wheel-leg robot teaching platform according to claim 1, characterized in that: The project-based process teaching management software remotely accesses the multi-modal wheel-legged robot and performs related operations, including: robot status information interaction, program debugging, program downloading, and control command issuance.

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