A multi-modal wheel-legged robot teaching platform

Abstract

The application discloses a multi-modal wheel-leg robot teaching platform, which comprises a multi-modal wheel-leg robot, an expansion application kit, a server loaded with project process teaching management software based on a B / S architecture and a multifunctional site; the platform takes the whole-process development process and application of the multi-modal wheel-leg robot as teaching content, is rich in experiment content and diversified in teaching form, adopts the project process teaching management software based on the B / S architecture to perform project management, can correspond to multiple professional courses and is helpful to improving the engineering practice teaching quality of robots and related majors.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot teaching, more particularly to a multi-modal wheeled-legged robot teaching platform. BACKGROUND

[0002] Robot engineering is a new major, and currently more than 300 universities have established robot engineering majors, but overall it is still in the early stages of construction, and professional laboratory construction 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 becoming more and more diverse. However, the current robot teaching equipment type is mainly based on mechanical arms and ordinary wheeled robots, which leads to a low matching degree between robot professional talent training and diversified robot development trend, and at the same time, there are many shortcomings in the existing robot teaching equipment in the process of practical teaching, so that the robot course experiment is difficult to achieve good teaching effect, as follows:

[0004] 1. Single robot mode, cannot adapt to different learning needs. The realization of robot teaching robots has high complexity, and the inherent mode requires students to have certain comprehensive ability to effectively use the teaching equipment, which cannot cover the learning needs of students at all levels of ability.

[0005] 2. High integration, low opening degree, poor teaching effect. Robot teaching equipment is a technology-intensive device, and many companies only open some application interfaces in order to establish a technology barrier, and the related supporting experimental materials only describe the functions and use methods of the application interface, without involving related theoretical knowledge and application technology. Students only call in limited experimental class hours, and the learning effect is very limited.

[0006] 3. Single experiment content, poor teaching continuity, and low cost performance. The existing robot teaching equipment mainly carries out experiments for only one course, but robot major is a multi-disciplinary cross-integrated major, and robot teaching equipment should be linked to multiple professional courses to make professional course application scenarios concrete and knowledge systematic, and at the same time, the cost of robot teaching equipment is high, and it is very low to equip a kind of teaching equipment for a single course. SUMMARY

[0007] In view of the above technical problems, the present application provides a multi-modal wheeled-legged robot teaching platform which at least solves part of the above technical problems, and the use of the platform is helpful to improve the quality of robot and related professional engineering practical teaching.

[0008] In order to achieve the above object, the technical scheme adopted by the present application is as follows: a multi-modal wheel-legged robot teaching platform, which is a practical teaching platform taking a multi-modal wheel-legged robot as a carrier and relying on a B / S architecture teaching process management software. Specifically, the platform comprises a multi-modal wheel-legged robot body, an expansion application suite, a project-based process teaching management software based on the B / S architecture (carried on a server), and a multifunctional site for training and testing. In addition, the teaching method based on the platform in the present application comprises three teaching paths, which are 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 comprises a frame body and a wheel-foot structure. As a preferred embodiment:

[0010] The frame body mainly comprises a display screen, an emergency stop button, an upper cover plate, a display screen mounting plate, a front end protection plate, a lower bottom plate, a rear cover plate, 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 support, a hand guard, an aluminum column and a connecting piece. The overall external frame structure is composed of the upper cover plate, the display screen mounting plate, the front end protection plate, the lower bottom plate, the rear cover plate, the rear protection plate, the hardware mounting plate and the hand guard, and each part is combined and assembled by the connecting piece. The lower guide wheel protection comprises the rubber-coated guide wheel and the guide wheel support, the guide wheel support is installed on the lower bottom plate, and the rubber-coated guide wheel is installed on the guide wheel support. When the robot is at rest, the lower guide wheel will be in contact with the ground. The hand guard is an auxiliary device installed on the joint motor mounting plate for conveniently lifting the robot.

[0011] The leg structure is divided into two parts, a leg structure and a wheel group, wherein the leg structure comprises a joint motor mounting plate, a mounting pad, a driving arm, and a driven arm, and the wheel group comprises a rubber wheel and a wheel motor. The leg structure is powered by a joint motor mounted on the joint motor mounting plate, enabling the leg mechanism to move freely. The joint motor mounting plate is mounted on the main body of the frame through a connecting piece, and the joint motor is connected to the driving arm through a mounting pad. The driving arm is connected to the driven arm to form the entire leg structure. By adjusting the state of the driving arm in the leg structure, the mode switching of the wheel-legged robot can be completed. When the joint motor output keeps the driving arm in a minimized V-shaped state, the lower guide wheel and the wheel group contact the ground at the same time, and the wheel-legged robot is in a normal wheel mode. At this time, the robot is in a stable state. When the joint motor output keeps the driving arm in a non-minimized V-shaped state, the lower guide wheel and the wheel group cannot contact the ground at the same time, and the wheel-legged robot is in a two-wheel balance mode. At this time, the robot is in a 1st-order unstable state. When the joint motor output dynamically adjusts the state of the driving arm, the wheel-legged robot is in a wheel-legged balance mode, and the robot is in a 2nd-order unstable state. The wheel group is a structure installed at the end of the leg structure for making the robot move. The wheel motor is installed at the end of the two driven arms, and the rubber wheel is connected to the wheel motor to make the robot move.

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

[0013] The integrated joint motor is model MG8008, which is a DC brushless servo motor. The motor can provide low-speed high-torque output for the main arm. The integrated wheel motor is model MF5015, which is a DC brushless servo motor. The motor provides power for the multi-modal wheel-legged robot omnidirectional motion. The attitude sensor is model HWT905, which senses the attitude of the multi-modal wheel-legged robot and provides feedback for the multi-modal wheel-legged robot control algorithm. The embedded controller is STM32F429VGT6, which is the core of the multi-modal wheel-legged robot body motion control. The LQR control model is deployed inside the controller, which realizes stable motion control of the multi-modal wheel-legged robot. The embedded control as a ROS sub-node communicates with the NUC to complete the interaction of motion control information and state information. The NUC is model 9VXQNX, and the operating system is Ubuntu22.04. The ROS operating system and digital twin components are deployed in the NUC, and the ROS version is Humble Hawksbill. The NUC as the application layer core of the multi-modal wheel-legged robot is interconnected with the embedded controller and the expansion application suite through the serial communication bus to form a robot system. The robot system interacts with the project process teaching management software through the router to realize the cloud-edge collaborative control and management of the multi-modal wheel-legged robot. The digital twin components include sensor acquisition components, data processing components, data recording components, 3D visualization components, and user UI components. The sensor acquisition components communicate with the sensors of the robot through communication interfaces (I2C, SPI, CAN, RS485, RS232, UART serial port, etc.), collect data from various sensors, and convert the data into appropriate formats for other components. The data processing components further process the robot sensor data, convert joint motor angle data into corresponding model joint information, convert tire speed into corresponding model tire speed, and convert angle information into model attitude information. The data recording component continuously records data at different time points and can jump to any recorded time point at will, providing sensor data recording and playback functions. The 3D visualization component is based on WebGL technology and uses BabylonJS as a 3D rendering engine. It is responsible for rendering models and related data into visible 3D graphics, providing users with intuitive visual feedback. The user UI component provides an operable interface for users, including buttons, labels, sliders, progress bars, and other elements. Users can control other components through the UI component, such as rotating the 3D view, setting data playback time, and viewing specific data from a sensor. The UWB positioning module is model RobomasterUWB, including a base station and a mobile station. The base station is distributed around the multi-functional training site, and the mobile station is installed on the multi-modal wheel-legged robot body. The UWB positioning module can provide real-time position information to the embedded controller for robot positioning.The display module model is TJC1060X5, which provides a human-machine interface for the multi-modal wheel-legged robot to realize the display of the multi-modal wheel-legged robot state information and the input of the parameter adjustment information. The wireless image transmission module model is LQ3, which is used to wirelessly transmit the interface of the NUC to the multi-functional field display to realize the display of the multi-modal wheel-legged robot operating system running state.

[0014] Further, the expansion application suite includes an inverted pendulum expansion suite, a laser radar expansion suite, and a vision expansion suite, which are connected to the ROS operating system in the NUC as a ROS sub-node. Among them:

[0015] The inverted pendulum expansion suite includes a WDD35D4 type angular displacement sensor, a pendulum rod, a mounting base plate, and an embedded controller. The angular displacement sensor transmits the real-time changing pendulum rod angular displacement information to the embedded controller through a serial bus for use by 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 suite become an independently usable subsystem. It is used for the practice teaching of the early professional foundation courses, such as the embedded system design course, to lay the foundation for the subsequent courses around the multi-modal wheel-legged robot, so that the students majoring in robotics have a coherent learning in the practice courses.

[0016] The laser radar expansion suite includes a Mid-360 type laser radar and a mounting base plate. The laser radar sensor transmits the point cloud data to the NUC through a USB bus for calling by the robot operating system.

[0017] The vision expansion suite includes an MV-EB435i type binocular camera and a mounting base plate. The binocular camera transmits image information to the NUC through a USB bus for calling by the robot operating system.

[0018] Further, the project process teaching management software of B / S architecture is a WEB application software of a complete multi-modal wheeled-legged robot, which provides two teaching links of course experiment teaching path and whole-process development teaching path. To ensure the teaching effect of the above teaching paths, the application software adopts sandbox isolation technology to ensure that more than 200 people can simultaneously learn online; for the whole-process development teaching path, the application software adopts the project mode, uses the course management and course task components, and sets up the whole-process development teaching nodes of the multi-modal wheeled-legged robot from 0 to 100. After the student user learns and checks the mechanical, hardware, software, algorithm and robot operating system in the application software, he or she can apply for offline use of the multi-modal wheeled-legged robot for extended learning, such as open experiment, graduation design, discipline competition training and selection, etc. 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, and facilitates the student user to trace back the robot historical data, helps the student to qualitatively and quantitatively analyze the robot running state and characteristics, and improves the learning efficiency.

[0019] The project process teaching management software of B / S architecture includes a WEB teaching platform, a work area node, a low-latency desktop streaming component, a robot agent component and a forum system component.

[0020] The WEB teaching platform mainly consists of a front end and a back end. The back end is written in go language and includes an HTTP server component, a request routing component, a database access component, a timing task execution component, a user management component, an identity verification component, a work area node management component, a work area management component, a robot management component, a course management component and a course task component. The WEB back end is mainly responsible for processing API network requests from users. The HTTP server can listen to a specified TCP port and accept HTTP requests. When receiving a user's HTTP request, the request data is transmitted to the specified component through the request routing component. The database access component is used to process the connection and interaction with the database to correctly save the application data.

[0021] The timing task execution component is responsible for executing tasks that need to be executed according to certain periodical rules (such as cleaning cache, counting usage time, etc.), and maintaining the correct function of the server.

[0022] The user management component is used to manage user information and is responsible for the creation, deletion, modification and query of user information.

[0023] The identity verification component is responsible for creating and destroying login status, checking the legality of login status, checking whether the user has the permission to complete an operation, and intercepting illegal requests.

[0024] The work area node management component (the work area node refers to a computer that has computing resources 'CPU, memory, storage, etc.' and can allocate computing resources as a work area to users in a conventional manner, and is referred to as a node for convenience of description below) is used to handle node registration, node logout, node state management, node resource allocation application, node health state check, and the like.

[0025] The work area management component is responsible for managing the creation, deletion, start, and stop of a work area, and recording node information where the work area is located. When operating the work area, the work area management component will complete the operation on the real work area through the work area node management component agent.

[0026] The robot management component is responsible for completing the online registration and offline logout of a robot, robot information management, state management, and the like. In addition, when a user requests a robot resource, the robot management component will return appropriate robot information according to the robot requirements (model, state, etc.).

[0027] The course management component is responsible for managing course information, saving basic information corresponding to a course, document data, chapter information, dependency information (such as B course must be completed after A course to learn), and the like. Other components can obtain course information, and obtain whether to recommend to learn a pre-course before learning the course through the course management component.

[0028] The course task component is responsible for managing user learning progress information, such as a course being performed, a progress of a course being learned, and a completed course list. It tracks a work area created due to a course, tracks a robot resource connected due to a course, and archives user learning records such as test scores, file attachments, and the like.

[0029] The front end is written by HTML, CSS, Javascript, and Typescript, and includes a Nuxt.js development framework, a Tailwindcss library, and a Pinia library. The Nuxt.js provides basic functions such as sub-dependency registration, automatic page routing, and AJAX network request, as a basic framework of the project. The Tailwindcss library provides a set of CSS utility classes to style HTML without writing a large amount of CSS. The Pinia library provides global state management for the application, such as user login status, and in-site message status. When a user accesses a page from a browser, the Nuxt framework is first initialized, and the library is loaded, and then the routing component displays the page content corresponding to the page address requested by the user according to the page address. When the user view interacts with the user (such as clicking a button of a specific function), an AJAX network request service provided by the Nuxt framework is used to send an HTTP request to the WEB backend, and the corresponding response is obtained.

[0030] The web-based teaching platform features a global navigation bar, landing page, course list, course information, course learning, course quizzes, user login and registration, user information management, workspace connection, and remote robot connection.

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

[0032] The landing page provides platform function introductions, function entry points, and key information display.

[0033] The course list displays the course data available on the platform in a suitable way for users. The course list will provide different display methods based on different dimensions, such as: by release time, by learning popularity, or recommended according to personal interests.

[0034] The course information feature displays detailed information about a specific course, such as course name, course category, course difficulty, equipment required for the course, course outline, recommended prerequisite courses, and required prerequisite courses. It also provides an entry point for users to begin learning this course (e.g., a "Start Learning This Course" button).

[0035] The course learning feature displays the main content of the course to users and creates and connects workspaces for them according to the course settings, displaying them alongside the main content. When the course includes quizzes, a quiz page will also be displayed, and user quiz information (answers, quiz time, etc.) will be tracked. When a user completes a chapter, their learning progress information will also be updated.

[0036] The workspace node is written in Go 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 a workspace node starts, it reads the component configuration through the configuration manager, then starts the WebSocket client and connects to the designated scheduling server. After establishing the connection, subsequent communication is completed through the WebSocket packet parser. When a workspace creation task is available, the scheduling server will proactively send a workspace creation command. Upon receiving the command, the node will respond to the server according to the pre-defined settings and begin workspace creation.

[0038] When a workspace is created, the required data is first parsed from the workspace creation data received from the server using the workspace information parsing component, and then the workspace is created using the workspace management component. Finally, the container corresponding to the workspace is created using the container engine interaction component.

[0039] The low-delay 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-delay desktop streaming component mainly includes: a video memory-based XServer, a video encoding component, a WebRTC component, and a virtual input device component. The X Server is the most common display server under Linux, and GUI applications display their graphical interfaces in the X Server through the X11 protocol. The X Server usually uses a display as the final display device, but in a container, there is no physical display device. The video memory-based X Server can use the DRI technology to use a part of the video memory as a buffer for the display, thereby improving the graphical performance of the virtual display. In addition, the subsequent encoding performance can also be improved.

[0040] The video encoding component calls the hardware video encoder of the graphics card through a low-level API to encode the frame buffer in the video memory into a low-delay H264 video stream. WebRTC is a new technology that allows devices to establish a point-to-point low-delay 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 to obtain user input operations (such as mouse movement, clicking, scrolling, keyboard input, etc.) and transmits control information to the controlled end through WebRTC. Finally, the input is simulated in the XServer to achieve remote input control.

[0042] The robot agent component is responsible for connecting the robot to the WEB platform and is composed of a websocket client, a websocket data packet parser, a robot information component, and a work area interaction component. When the robot agent component starts, it connects to the pre-set server with the basic information of the robot and the work node information. The server records the robot information and updates the robot status to online, and informs the work area scheduling server address.

[0043] Among them, the forum system component is built by Discourse, including posting, replying and private messaging functions. Users can filter posts by categories and tags, and post lists support sorting by time and popularity, making it easy to browse the latest and hottest content. The forum is mainly divided into announcements, technical exchanges, problem feedback, Q&A help, forum affairs, etc. Announcements are the latest notifications and important information of the forum, users can keep abreast of platform dynamics and rule updates. Technical exchanges provide a space for users to share and discuss technology-related topics, suitable for publishing experience sharing, technical solutions and best practices. Problem feedback is where users can submit problems and opinions about platform usage, and the management team will handle and improve feedback. Q&A help is where users can post help posts when they encounter difficult technical problems, and community members will provide answers and suggestions. Forum affairs are used to discuss forum management and operation-related matters, users can participate in forum function improvement suggestions, rule discussions, etc.

[0044] Further, the multi-functional field includes a fence, field props, and functional components. The fence is a 5-meter by 5-meter field boundary for isolating the multi-modal wheel-legged robot training field. The field props include a 15° ramp, a 13° ramp, a ramp platform, a step, a blind obstacle, and an obstacle partition. The ramps and ramp platforms are used for multi-modal wheel-legged robot climbing ability testing, the step is used for multi-modal wheel-legged robot jumping function testing, the blind obstacle is used for multi-modal wheel-legged robot self-balancing stability testing, and the obstacle partition is used for multi-modal wheel-legged robot flexibility testing. The functional components include UWB positioning base stations, routers, and displays. The UWB positioning base stations are distributed in the four corners of the multi-functional field to provide real-time positioning services for the UWB mobile stations mounted on the multi-modal wheel-legged robots. The routers provide wireless networks for the robots to ensure that the multi-modal wheel-legged robots can stably access the B / S architecture project development process teaching management software. The displays receive real-time interfaces from the NUCs in the multi-modal wheel-legged robots through wireless image transmitters.

[0045] Further, the online course simulation experiment teaching path includes students selecting experiment projects, clarifying experiment requirements, conducting case studies based on course supporting resources, building simulation models, completing simulation experiments in standard environments, submitting simulation models, teachers scoring online and generating scores, students sharing experiences and lessons learned through forums, and teachers selecting excellent cases for inclusion in course supporting materials.

[0046] Further, the offline practical course teaching path includes that students select an implementation project, clear project requirements, learn a robot related manual, participate in a robot manual examination question bank examination, learn experiment project related learning materials after passing, download learning materials, carry out project practice, submit acceptance materials online after completing practice, and demonstrate the project offline, teachers check and score, and after completion, students can exchange project practice experience and share experience in the forum corresponding column, and finally, teachers comprehensively check the situation, forum experience sharing and acceptance materials, select excellent cases and incorporate into experiment project learning materials for use by students participating in the project in the future.

[0047] Further, the project whole-process development practice teaching path includes platform registration and selection of whole-process development projects, clear whole-process development project requirements and learning path, learning multi-modal wheel-legged robot system framework and project process management software usage method, then participating in stage learning examination, until passing and entering robot structure and statics analysis learning link, learning after completion, then participating in stage learning examination link, until passing and entering embedded software and hardware learning link, learning after completion, participating in stage learning examination link, until passing and entering robot operating system learning, learning after completion, participating in stage learning examination link, until passing and entering robot dynamics modeling learning link, learning after completion, participating in stage learning examination link, until passing and entering robot control algorithm learning link, learning after completion, participating in stage learning examination link, after passing the examination link, can apply for entity robot to carry out offline experiment, after the application is passed, the relevant open source code is obtained, and multi-modal omnidirectional motion control experiment is carried out, after completion, multi-modal autonomous cruise experiment can be further carried out, after completion, wheel-legged jumping control algorithm research can be further carried out, finally, other exploratory experiments can be carried out based on the multi-modal wheel-legged robot.

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

[0049] The present application provides a multi-modal wheel-legged robot teaching platform, which takes the whole-process development process and application of the multi-modal wheel-legged robot as the teaching content, the experimental content is rich, the teaching form is diversified, the project process teaching management software based on B / S architecture is used for project management, which can correspond to multiple professional courses, and helps to improve the quality of robot and related professional engineering practice teaching.

[0050] Other features and advantages of the present application will be set forth in the following description of the application, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the application. The objects and other advantages of the present application can be achieved and obtained by the structure particularly pointed out in the written description and drawings.

[0051] The technical solutions of the present application will be further described in detail below with the help of the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

[0053] The drawings are used to provide a further understanding of the present application, and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application, and do not constitute a limitation on the present application.

[0054] Figure 1 A multi-modal wheeled-legged robot teaching platform architecture schematic diagram is provided for the present application.

[0055] Figure 2 A multi-modal wheeled-legged robot main body side view is provided for the present application.

[0056] Figure 3 A multi-modal wheeled-legged robot main body oblique view is provided for the present application.

[0057] Figure 4 A multi-modal wheeled-legged robot top view is provided for the present application.

[0058] Figure 5 A multi-modal wheeled-legged robot front view is provided for the present application.

[0059] Figure 6 A multi-modal wheeled-legged robot side view is provided for the present application.

[0060] Figure 7 A multi-modal wheeled-legged robot oblique view is provided for the present application.

[0061] Figure 8 A multi-functional site schematic diagram is provided for the present application.

[0062] Figure 9 An online course simulation experiment teaching path schematic diagram is provided for the present application.

[0063] Figure 10 An offline practice course teaching path schematic diagram is provided for the present application.

[0064] Figure 11 A project whole-process development practice teaching path schematic diagram is provided for the present application.

[0065] Wherein, 11- rack body, 110- display screen, 111- emergency stop button, 112- upper cover plate, 113- display screen mounting plate, 114- front end protection plate, 115- lower bottom plate, 116- rear cover plate, 117- rear protection plate, 118- hardware mounting plate, 119- battery, 12- lower guide wheel protection, 120- rubberized guide wheel, 121- guide wheel support, 13- NUC assembly, 130- NUC, 131- NUC mounting plate, 132- aluminum column, 14- connecting piece, 21- leg structure, 211- joint motor, 212- mounting cushion block, 213- driving arm, 214- driven arm, 215- hand guard, 216- joint motor mounting plate, 22- wheel set, 221- rubberized wheel, 222- wheel motor, 31- UWB positioning base station, 32- fence, 33- 15° ramp, 34- ramp platform, 35- display, 36- router, 37- blind way obstacle, 38- obstacle partition, 39- 13° ramp, 310- step. DETAILED DESCRIPTION

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

[0067] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. Unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connected" and the like should be broadly understood, for example, "connected" can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, or indirectly connected through an intermediate medium; can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0068] Referring to the drawings Figure 1As shown, the embodiment of the present application provides a multi-modal wheel-legged robot teaching platform, which is a practical teaching platform taking a multi-modal wheel-legged robot as a carrier and relying on a B / S architecture teaching process management software. Specifically, the platform includes a multi-modal wheel-legged robot body, an expansion application suite, a project-based process teaching management software based on a B / S architecture, and a multifunctional training site. In addition, the teaching method based on the platform in the present application includes three teaching paths, which are 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 embodiments of the present application will be described in detail below:

[0069] Referring to Figures 2-7 As shown, the embodiment of the present application provides a specific embodiment of a multi-modal wheel-legged robot, which adopts a modular design method as a whole. The modular design divides the whole into a rack body and a wheel-foot part, greatly improving the strength of the robot while facilitating maintenance and replacement.

[0070] In one specific embodiment, the rack body 11 part structure includes a display screen 110, an emergency stop button 111, an upper cover plate 112, a display screen mounting plate 113, a front end protection plate 114, a lower bottom plate 115, a rear cover plate 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 support 121, a NUC assembly 13, a NUC 130, a NUC mounting plate 131, an aluminum column 132, and a connecting piece 14. Among them, the upper cover plate 112, the display screen mounting plate 113, the front end protection plate 114, the lower bottom plate 115, the rear cover plate 116, the rear protection plate 117, and the hardware mounting plate 118 constitute the external frame structure of the robot. Using these plate materials to form a full-enclosure structure can effectively improve the impact resistance of the main body and protect the internal hardware circuit. Each plate material is combined and assembled through connecting pieces. These connecting pieces are designed reasonably and can be quickly disassembled and installed, facilitating maintenance and replacement of parts. The display screen 110 is installed on the display screen mounting plate 113 to provide a human-machine interaction interface and display the working status and information of the robot. The emergency stop button 111 is arranged at a position easy to operate to ensure that the power supply can be quickly cut off in an emergency to protect the equipment and the operator. The lower guide wheel protection 12 includes the rubber-coated guide wheel 120 and the guide wheel support 121. The guide wheel support 121 is installed on the lower bottom plate 115, and the rubber-coated guide wheel 120 is installed on the guide wheel support 121 to ensure that the lower guide wheel is in contact with the ground when the robot is at rest, providing stable support. The NUC assembly 13 includes the NUC 130, the NUC mounting plate 131, and the aluminum column 132. The aluminum column 132 is installed on the upper cover plate 112 to connect the NUC mounting plate 131. The NUC 130 is fixed on the NUC mounting plate 131 to ensure its stability and vibration resistance.

[0071] In one embodiment, the leg structure 21 comprises a joint motor 211, a mounting pad 212, a driving arm 213, a driven arm 214, a hand guard 215, and a joint motor mounting plate 216. The joint motor mounting plate 216 is mounted on the rack body 11 through a connecting piece, providing a stable mounting base. The joint motor 211 is mounted on the joint motor mounting plate 216 and connected to the driving arm 213 through the mounting pad 212. The driving arm 213 is connected to the driven arm 214, forming the entire leg structure, allowing the leg to move flexibly and adapt to different terrains and task requirements. The hand guard 215 is mounted on the joint motor mounting plate 216 to facilitate lifting and moving the robot, enhancing the portability of the robot.

[0072] The wheel set 22 part comprises 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 driven by the motor to realize the movement of the robot.

[0073] Further, the embodiment provides a project-based process teaching management software implementation based on B / S architecture, mainly including the basic framework of robot development sandbox technology, creation and access of robot development sandbox, remote development of real robot, and robot debugging tool.

[0074] In one embodiment, the basic framework of the robot development sandbox technology includes front end, back end, network forwarding, and sandbox agent. The front end uses Nuxt.js, which is a server-side rendering application framework based on Vue.js, providing routing, state management, and other functions suitable for building complex front-end applications. The back end uses ASP.NET Core, a cross-platform high-performance framework with powerful WebAPI and real-time communication capabilities suitable for handling sandbox management, user authentication, and other backend business. Network forwarding uses frp for internal network penetration, which configures frp server and client to publish internal services to the public network and provide user access. The sandbox agent is written in Golang, which has high concurrency, memory management, and other advantages suitable for implementing communication with the backend server and sandbox management.

[0075] In one specific embodiment, the creation and access of the robot development sandbox includes user submitting sandbox parameters, backend processing creation request, initializing sandbox service, and user accessing sandbox. Among them, the user submits sandbox parameters by filling in 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. Among them, the backend processes the creation request by receiving and verifying the parameters through ASP.NET Core, sending a container creation request to Kubernetes through HTTP API, and waiting for Kubernetes to complete container creation. Among them, the initialization of the sandbox service initializes the container service after the container is created, including installing container probes, online IDE, etc., and configuring frp for port mapping. Among them, the user accesses the sandbox through the Nuxt.js front-end to get the public network URL of the sandbox, and through the iframe tag, the online tools such as IDE are embedded into the web page of the teaching platform for users to use.

[0076] In one specific embodiment, real robot remote development includes the implementation of sandbox agent, sandbox agent connecting backend, backend updating robot state, user applying for robot use, and robot development environment recovery. 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, realizing single-file deployment without the need to install external dependencies. Among them, the sandbox agent connects the back-end through HTTP API to establish a connection with the back-end, realizing real-time communication between the robot and the server. Among them, the backend updates the robot state after receiving the connection information of the sandbox agent, and updates the online state of the robot, and records the availability of the robot, so as to query the state of the robot by the user. Among them, the user applies for robot use needs the user to submit robot use application through the front-end page, and the back-end receives the application, notifies the sandbox agent to prepare the environment, creates a container, and feeds back the state to the user in real time. Among them, the robot development environment recovery is that when the user completes the development practice, the back-end will notify the sandbox agent to clean up the sandbox environment. Due to the use of container technology, only the created container needs to be deleted to restore the sandbox environment. At the same time, for the key hardware, the sandbox agent will perform a reset operation, such as stopping the motor rotation and resetting the leg arm.

[0077] In one specific embodiment, the robot commissioning tool includes sensor data collection and display, sensor data display method, virtual sensor function, virtual scene camera. Among them, the sensor data collection and display realizes the 3D rendering function of the web end through the commissioning tool by using Babylon.js, renders the virtual scene through Babylon.js, and renders the model of the robot and the visualization effect of the sensor data in the virtual scene. Among them, the sensor data display method is to use the API of Babylon.js to display the attitude, position and other information of the robot in the form of a 3D model in the virtual scene, and to use WebGL technology to draw line charts, spectrum charts and other ways to display other sensor data. Among them, 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. Among them, the virtual scene camera is that the sandbox agent renders the 3D scene through the unity engine and streams it as a video stream for the robot. The web end synchronously renders the 3D scene through Babylon.js and listens to user operations to modify the virtual scene content. After modifying the scene, send the changes to the backend through Websocket, and finally notify the sandbox agent to update the scene.

[0078] Referring to Figure 8 As shown, the embodiment provides a multifunctional site use scene, which provides various site props and functional components for multi-modal wheel-leg robots for function and performance testing, wireless projection, full-field positioning and mapping environment. When the robot is placed in the multifunctional site, the on-board NCU will automatically connect to the site wireless network and establish a connection with the project process teaching management software located in the server. At this time, the project process teaching management software can remotely access the robot and perform related operations, including but not limited to robot state information interaction, program debugging and downloading, control command issuance, etc.

[0079] In one specific embodiment, the multifunctional field includes a fence 32, field props, and functional components, wherein the fence 32 is a 5m x 5m field boundary for isolating the multi-modal wheel-legged robot training field. The field 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 ramp platform 34 are used for multi-modal wheel-legged robot climbing ability testing, the step 310 is used for multi-modal wheel-legged robot jumping function testing, the blind obstacle 37 is used for multi-modal wheel-legged robot self-balancing stability testing, and the obstacle partition 38 is used for multi-modal wheel-legged robot flexibility testing. 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 multifunctional field to provide real-time positioning services for the UWB mobile station mounted on the multi-modal wheel-legged robot. The router 36 provides wireless network for the robot to ensure that the multi-modal wheel-legged robot can stably access the B / S architecture project development process teaching management software. The display 35 receives real-time interfaces from the NUC in the multi-modal wheel-legged robot through a wireless image transmission receiver.

[0080] Further, the UWB mobile station mounted on the robot receives information from the base station of the multifunctional field for information interaction and obtains global positioning information of the robot in the multifunctional field, including position information and angle information. Secondly, the wireless image transmission transmitter (wireless image transmission module) of the robot remotely projects the desktop of the NUC to the display in the multifunctional field, which is convenient for users to debug on site. Thirdly, the robot can perform function and performance testing on the props in the multifunctional field, such as ramps, steps, blind obstacles, and obstacle partitions. The testing content includes but is not limited to motion ability testing, stability testing, and robustness testing of the robot under different modes. Fourthly, the robot can construct a map in the multifunctional field and perform autonomous navigation using body posture sensors, cameras, and laser radars.

[0081] Further, the embodiment provides an online course simulation experiment teaching path implementation, mainly including pre-class learning, simulation experiment, post-class evaluation, and exchange and sharing. The online course simulation experiment teaching path is as shown in Figure 9 The online course simulation experiment teaching path is as shown in

[0082] In one specific embodiment, the student user needs to log in the project-based process teaching management software based on B / S architecture before class, and register an account. If there is already an account, it can be directly logged in, and then an online simulation project is selected. 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, the student needs to complete the modeling whole-process case learning. After the learning time is up to standard, the balance wheel type or wheel-leg type dynamics modeling experiment is carried out based on the platform simulation module. After the modeling is completed, the model of the student is replaced in the robot simulation framework which has been built, the model quality is optimized through the standardized simulation process, and the teacher scores based on the simulation effect. After the student submits the model, the learning forum can be used to exchange learning, find or share the problems existing in the modeling process.

[0083] Further, the embodiment provides an offline practice course teaching path implementation, mainly including pre-class preparation, offline practice, post-class evaluation and exchange and sharing. The offline practice course teaching path is as shown in Figure 10 The offline practice course teaching path is as shown in

[0084] In one specific embodiment, before class, the student user needs to log in to the project-based process teaching management software based on B / S architecture, register an account, if there is an account, can directly log in, then select the 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 learn the robot operation manual, including but not limited to robot basic operation, program download and debugging method, remote operation method, software use method, matters needing attention, etc., and complete the robot operation question bank examination, after passing the question bank examination, learn the course related learning materials in the process teaching management software, download the course required learning materials, learning materials include but are not limited to case program, bottom drive, experiment report template, device manual, debugging method, common problem, etc., after that, start project practice, after completing the project practice, submit offline practice course acceptance materials, acceptance materials include but are not limited to experiment report, program, picture, etc., at the same time, online project demonstration, teachers score through offline demonstration effect and acceptance materials, finally, students can exchange 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 algorithm, program design, debugging method, solution, etc., and excellent cases are included in the experiment project learning materials, to continuously improve the effect of practical teaching.

[0085] Further, referring to Figure 11As shown, the embodiment provides a project-based full-process development practical teaching path implementation method, which includes platform registration and selection of full-process development project, clear full-process development project requirements and learning path, learning multi-modal wheeled-legged robot system framework and project-based process management software usage method, then participating in stage learning test bank examination, until passing and entering robot structure and statics analysis learning link, after learning, then participating in stage learning examination link, until passing and entering embedded software and hardware learning link, after learning, participating in stage learning examination link, until passing and entering robot operating system learning, after learning, participating in stage learning examination link, until passing and entering robot dynamics modeling learning link, after learning, participating in stage learning examination link, until passing and entering robot control algorithm learning link, after learning, participating in stage learning examination link, after passing the examination link, the entity robot can be applied to carry out offline experiment, after the application is passed, the related open source code is obtained, and the multi-modal omnidirectional motion control experiment is carried out, after completion, the multi-modal autonomous cruise experiment can be further carried out, after completion, the wheeled-legged jumping control algorithm research can be further carried out, finally, other exploratory experiments can be carried out based on the multi-modal wheeled-legged robot. In the application, the project-based full-process development practical teaching path is not aimed at course experiment or practical course, but a project-based process practical teaching path based on multi-modal wheeled-legged robot. The goal of the teaching path is to cultivate the multi-disciplinary cross-fusion ability, autonomous learning ability and engineering practice ability of students at each stage through multi-modal wheeled-legged robot full-process development project learning and practice.

[0086] In one specific embodiment, the multi-modal wheeled-legged robot full-process development project teaching cycle can be designed for three years, and the robot practical teaching is carried out in a step-by-step manner around the technical characteristics of the multi-modal wheeled-legged robot. 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 the 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] Clear project requirements and learning path. If it is a beginner, start with the most basic part, if a student has some foundation, can directly enter the test bank examination link, and after passing the examination, can enter the next stage of learning;

[0089] Learn the materials on the project-based process teaching management software platform based on B / S architecture, learn the multi-modal wheeled-legged robot system framework, improve the systematic cognition, and master the usage method of the robot and the project-based process teaching management software;

[0090] Complete the robot system framework and platform use method examination, pass the examination into the robot structure and statics analysis learning link, if not pass the examination, continue to participate in the question bank examination;

[0091] Based on the B / S architecture of the project process teaching management software platform learning materials, learning robot structure design method and statics analysis method, based on three-dimensional design software to carry out structure design practice;

[0092] Complete the robot structure design and statics analysis examination, pass the examination into the robot embedded software and hardware learning link, if not pass the examination, continue to participate in the question bank examination;

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

[0094] Complete the embedded software and hardware examination, pass the examination into the robot operating system learning link, if not pass the examination, continue to participate in the question bank examination;

[0095] Based on the B / S architecture of the project process teaching management software platform learning materials, learning robot operating system theory and application method, completing ROS simulation task;

[0096] Complete the robot operating system examination, pass the examination into the robot dynamics modeling learning link, if not pass the examination, continue to participate in the question bank examination;

[0097] Based on the B / S architecture of the project process teaching management software platform learning materials, learning robot dynamics modeling method, completing multi-modal wheel-legged robot dynamics modeling;

[0098] Complete the robot dynamics modeling examination, pass the examination into the robot control algorithm learning link, if not pass the examination, continue to participate in the question bank examination;

[0099] Based on the B / S architecture of the project process teaching management software platform learning materials, learning robot control algorithm, completing PID, cascade PID, LQR control theory and program design of control theory learning;

[0100] Complete the robot control algorithm examination, pass the examination, you can apply for offline experiment of entity robot, after the experiment management personnel agree to use the robot offline application, you can make an appointment for the corresponding period of time to carry out offline practice;

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

[0102] Based on the open source code, carry out multi-modal omnidirectional motion control experiment, research and improve the control algorithm, and improve the motion control effect;

[0103] Based on open source code, realize the robot autonomous cruise function based on the laser radar component in the multifunctional training field;

[0104] Based on open source code, carry out the wheel-leg jumping experiment in the multifunctional training field, research and improve the jumping control algorithm, and improve the stability of the robot under complex motion conditions;

[0105] Based on the multi-modal wheel-leg robot expansion kit, carry out other exploratory experimental projects in the multifunctional field.

[0106] Through the description of the above implementation, those skilled in the art can know that the present application provides a multi-modal wheel-leg robot teaching platform, which takes the whole process development process and application of the multi-modal wheel-leg robot as the teaching content, the experimental content is rich, the teaching form is diversified, the project management is corresponding to multiple professional courses, the knowledge system is objectified, the teaching coherence is strong, not only can serve the course experiment, also can be used for extracurricular practice teaching link, the learning time and learning place of students are not limited, which is helpful to improve the teaching quality of robot and related professional engineering practice under the background of new engineering.

[0107] In the specification, the same and similar parts of each embodiment are described in a progressive manner, and can be referred to each other. The unexplained part of the embodiment of the present application can be obtained from the corresponding product manual or the prior art in the field, which is the known content in the field, and will not be described too much.

[0108] The above describes the embodiments of the present application in detail, and the principles and implementation modes of the present application are described, and the above description of the embodiments is only used to help understand the method of the present application and its core idea.

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

Claims

1. A multi-modal wheel-legged robot teaching platform, characterized in that, The platform comprises a multi-modal wheel-legged robot, an expansion application kit, a server and a multifunctional field, wherein: The multi-modal wheel-legged robot adopts a modular design, and a robot body structure comprises a rack main body and a wheel-foot structure; the robot body hardware comprises an integrated joint motor, an integrated wheel motor, a posture sensor, an embedded controller, an NUC, an UWB positioning module, a display module and a wireless image transmission module; the NUC is interconnected with the embedded controller and the expansion application kit through a serial communication bus, and is interconnected with the server through a router, so as to realize cloud-edge collaborative control and management of the multi-modal wheel-legged robot; The expansion application kit is communicatively connected with the NUC as a sub-node; the expansion application kit comprises an inverted pendulum expansion kit, a laser radar expansion kit and a vision expansion kit; The server is loaded with a project-based process teaching management software based on a B / S architecture, which provides multiple teaching paths for users, adopts a project-based mode, and sets up full-process development teaching nodes of the multi-modal wheel-legged robot; The multiple teaching paths comprise an online course simulation experiment teaching path, an offline practice course teaching path and a project-based full-process development practice teaching path; The project-based full-process development practice teaching path comprises: platform registration and selection of full-process development projects, clear definition of full-process development project requirements and learning paths, learning of a multi-modal wheel-legged robot system framework and a project-based process management software usage method, participation in a stage learning library examination, until passing and entering a robot structure and statics analysis learning link, participation in a stage learning examination link after learning, until passing and entering an embedded software and hardware learning link, participation in a stage learning examination link after learning, until passing and entering a robot operating system learning, participation in a stage learning examination link after learning, until passing and entering a robot dynamics modeling learning link, participation in a stage learning examination link after learning, until passing and entering a robot control algorithm learning link, participation in a stage learning examination link after learning, and after passing the examination link, an entity robot can be applied to develop offline experiments, and after the application is approved, relevant open source codes are obtained, and multi-modal omnidirectional motion control experiments are developed, after completion, multi-modal autonomous cruise experiments can be developed, after completion of the multi-modal autonomous cruise experiments, wheel-legged jumping control algorithm research can be developed, and finally, exploratory experiments can be developed based on the multi-modal wheel-legged robot; The multifunctional field comprises a fence, field props and functional components, wherein: the fence is used to isolate the multi-modal wheel-legged robot training field; the field props are used for multi-modal wheel-legged robot testing; the functional components provide positioning services, wireless networks and real-time interfaces of the NUC for the multi-modal wheel-legged robot.

2. The multi-modal wheel-legged robot teaching platform according to claim 1, wherein, The rack main body comprises a display screen, an emergency stop button, an upper cover plate, a display screen mounting plate, a front end protection plate, a lower bottom plate, a rear cover plate, 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 a connecting piece; wherein: The upper cover plate, the display screen mounting plate, the front end protection plate, the lower bottom plate, the rear cover plate, the rear protection plate, the hardware mounting plate and the hand guard constitute a robot external frame structure, and each part is combined and assembled by the connecting piece; the lower guide wheel protection includes a rubber-coated guide wheel and a guide wheel support, and the guide wheel support is mounted on the lower bottom plate, and the rubber-coated guide wheel is mounted on the guide wheel support.

3. The multi-modal wheel-legged robot teaching platform according to claim 2, wherein, The wheel-foot structure comprises a leg structure and a wheel set, wherein: The leg structure comprises a joint motor mounting plate, a mounting pad, a driving 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 structure can move freely; the joint motor mounting plate is mounted on the main body of the frame by the connecting piece, the joint motor is connected to the driving arm through the mounting pad, the driving arm is connected to the driven arm, and the mode switching of the wheel-legged robot is completed by adjusting the state of the driving arm in the leg structure; The wheel set part comprises a rubber-coated wheel and a wheel motor, and the wheel motor is mounted at the end of the driven arm; the rubber-coated wheel is connected to the wheel motor, and is used to make the robot complete the movement action.

4. The multi-modal wheel-legged robot teaching platform of claim 1, wherein, The NUC is deployed with a ROS operating system and a digital twin component.

5. The multi-modal wheel-legged robot teaching platform according to claim 4, wherein, The inverted pendulum expansion kit is an independent subsystem, including an angular displacement sensor, a pendulum rod and a controller, the angular displacement sensor transmits the real-time changing angular displacement information of the pendulum rod to the controller through a serial bus; the laser radar expansion kit includes a laser radar sensor, and the laser radar sensor transmits point cloud data to the NUC for calling by the robot operating system; the vision expansion kit includes a binocular camera, and the binocular camera transmits image information to the NUC for calling by the robot operating system.

6. The multi-modal wheel-legged robot teaching platform of claim 1, wherein, The project process teaching management software based on the B / S architecture adopts a robot development sandbox technology for construction; and includes a WEB teaching platform, a work area node, a low-delay desktop stream component, a robot agent component and a forum system component.

7. The multi-modal wheel-legged robot teaching platform according to claim 1, wherein, The field props include a 15° slope, a 13° slope, a slope platform, a step, a blind obstacle and an obstacle partition plate, wherein: The slope and the slope platform are used for testing the climbing ability of the multi-modal wheel-legged robot, the step is used for testing the jumping function of the multi-modal wheel-legged robot, the blind obstacle is used for testing the self-balancing stability of the multi-modal wheel-legged robot, and the obstacle partition plate is used for testing the flexibility of the multi-modal wheel-legged robot. The functional components include a UWB positioning base station, a router and a display, wherein: The UWB positioning base station is distributed in the four corners of the multi-functional field, and provides real-time positioning service for the UWB positioning module carried on the multi-modal wheel-legged robot; the router provides wireless network for the robot, so as to ensure that the multi-modal wheel-legged robot can stably access the project process teaching management software based on the B / S architecture; and the display receives real-time interfaces from the NUC in the multi-modal wheel-legged robot through a wireless image transmitter.

8. The multi-modal wheel-legged robot teaching platform of claim 1, wherein, The project process teaching management software remotely accesses the multi-modal wheel-legged robot and performs related operations, including robot state information interaction, program debugging, program downloading and control command issuing.

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