784 results about "Obstacle crossing" patented technology

The invention discloses a universal multifunctional obstacle crossing vehicle body system for a deep-sea mining vehicle. The universal multifunctional obstacle crossing vehicle body system comprises a main vehicle frame, a hydraulic suspension system and an independent driving system. The hydraulic suspension system comprises a main supporting hydraulic push rod, an upper vehicle body and lower vehicle body connecting frame, an L-shaped driving system connecting frame, hydraulic steering push rods on the two sides, a steering wheel, a steering wheel bottom fixing piece, a spherical higher pair connecting shaft, a driving system universal connector and a corresponding hydraulic control loop. The independent driving system comprises a track system, a box body, a pitching hydraulic motor, a driving motor, an auxiliary bearing wheel and an auxiliary tensioning wheel set. Compared with a traditional crawler-type chassis, the universal obstacle crossing chassis provided by the invention has better obstacle crossing ability and flexibility, and can cope with more complex seabed conditions. And meanwhile, the universal chassis can adapt to different types of working environments by replacing different types of independent driving modules, so that the universal chassis has excellent multi-terrain adaptability. By means of the universal vehicle chassis, the passing rate and the working efficiency of various deep-sea mining devices in the complex seabed environment can be well improved.

The invention discloses an overhead transmission line wire acceptance robot and an automatic obstacle crossing method thereof. An obstacle crossing system comprises a main body self-adaptive damping device, a belt type driving mechanical leg obstacle crossing device, an obstacle crossing auxiliary moving device, a self-adaptive adjusting wheel device and the like. The angle and position of the wheels can be adjusted in real time according to different obstacle crossing forms, it is ensured that the obstacle crossing mechanism can tightly clamp the wire, a stable obstacle crossing platform is provided, the acceptance inspection robot stably crosses various obstacles such as a spacer, a shockproof hammer and a wire clamp, and the acceptance inspection efficiency of the overhead transmission line wire is greatly improved.

The invention relates to a composite deformation wheel type amphibious robot with wheel leg paddle functions. Comprising a sealed cabin, wheel-leg-paddle composite deformation wheels, a transmission structure, a settlement control structure, a visual module and a driving motor, the sealed cabin serves as a robot body support, and the four wheel-leg-paddle composite deformation wheels are symmetrically installed at the four corners of the bottom of the sealed cabin; the two transmission structures are symmetrically arranged on the two sides in the sealed cabin and are connected with the four wheel-leg-paddle composite deformation wheels through through holes in the two sides of the sealed cabin; two driving motors arranged in the sealed cabin drive two groups of wheel-leg-paddle composite deformation wheels on the same side to rotate through two groups of matched transmission structures, and each group of wheel-leg-paddle composite deformation wheels has a wheel type form, a leg type form and a paddle type form which can be switched; when entering a water area, the suspension depth is automatically adjusted through the settlement control structure. The amphibious robot realizes land rolling, obstacle crossing and underwater propelling movement, and is suitable for stable operation in a complex amphibious environment.

The invention belongs to the field of distributed system and multi-robot formation control, and provides a multi-robot elastic formation control method and system based on a state machine, and the method comprises the steps: initializing and updating an occupation grid map, and generating a Euclidean symbol distance field; on the basis of taking the updated occupied grid map as a search space, searching local path points of each robot by utilizing a heuristic search algorithm, and generating a local path; constructing an optimized objective function by taking dynamics feasibility, obstacle avoidance, avoidance between robots and formation keeping as constraint cost, and optimizing a local path to obtain an optimized path; the method comprises the following steps: periodically detecting potential collision of robots in an optimized path walking process, and carrying out mixed path planning on multiple robots on a Euclidean coincidence distance field by utilizing a cooperative mechanism of leader path offset mapping and local autonomous adjustment according to a detection result; according to the invention, system states can be dynamically switched according to environment changes, and cooperative control of formation maintenance and obstacle crossing is realized.

The invention discloses an unmanned aerial vehicle autonomous inspection system and method based on AI identification, the system comprises an unmanned aerial vehicle body carrying a high-power optical zoom lens, an edge computing device and a function module, and the autonomous inspection of a power distribution tower is realized by fusing front-end AI identification and edge computing technologies. A Yolo structure is adopted to construct a lightweight tower recognition model, a dynamic route planning module is combined to realize single-point reference route generation and three obstacle crossing modes, and real-time coordinate correction in an RTK-free environment is supported. The edge computing device integrates a semi-supervised learning engine and a multi-sensor data fusion module, meets miniaturization design, and supports breakpoint continuous flight control and precise landing. The method covers automatic route generation, visual tracking, zoom cooperative control and self-adaptive task scheduling, solves the problems that a traditional unmanned aerial vehicle depends on manual operation, the data quality is poor and the efficiency is low, realizes whole-course automation of tower inspection in a complex environment, and is high in inspection efficiency, and the picture definition reaches the pin level.

The invention discloses a ball wheel moving device and a moving method thereof. The device comprises a machine body, a ball wheel mechanism, a leg mechanism and a control system. The spherical wheel mechanism comprises a spherical wheel and a first driving unit for driving the spherical wheel to rotate; the leg mechanism comprises a deformable connecting rod assembly and a second driving unit used for driving the connecting rod assembly to deform and rotate. The connecting rod assembly is hinged to the side face of the machine body and fixedly connected with the ball wheel mechanism. The control system is separately in electric signal connection with the ball wheel mechanism and the leg mechanism; through the rotation and deformation design of the leg mechanisms and the coordinated control of the control system on the ball wheel mechanisms and the leg mechanisms, an all-terrain self-adaptive composite transmission structure is formed, dynamic coupling of rolling driving and foot type obstacle crossing is achieved, the environmental adaptability, flexibility and operation reliability are improved, and the working efficiency is improved. And the problems of obstacle crossing instability and movement interruption of an existing device are solved, and the working efficiency under the complex terrain is remarkably improved.

The invention discloses a multi-source cooperative rocker arm-tracked robot composite mechanical structure for earthquake search and rescue, and belongs to the technical field of intelligent rescue equipment. A rocker arm-crawler belt-wheel three-dimensional motion structure system is innovatively designed, a multi-degree-of-freedom rocker arm structure driven by a steering engine is adopted in the middle of the robot, and a double-crawler belt differential driving module driven by a motor is arranged at the bottom of the robot; a swing arm balance wheel set is arranged on the front portion to assist climbing operation. According to the composite structure, a posture stability control algorithm is established through a mass center dynamic model, and intelligent switching of three motion modes of wheel type high-speed maneuvering, crawler belt obstacle crossing and rocker arm climbing can be achieved. Tests show that the structure can enable the robot to stably cross a 100 mm vertical obstacle, good posture stability is kept in unstructured terrains such as gravel and rubble, and meanwhile the environment is sensed through various sensors. Compared with a traditional single motion structure, the multi-dimensional maneuvering ability in the complex post-disaster environment is achieved through mechanical structure innovation, and the terrain adaptability of rescue equipment is effectively improved.

The invention discloses a catastrophe rescue robot digital twin control method and system, and belongs to the technical field of robot intelligent control. Comprising a virtual-real mapping module which processes the body state of a robot and catastrophe scene point cloud data in real time, and constructs and synchronously updates a digital twinborn body containing a terrain elevation map at a cloud end; the hierarchical decision-making module is used for making a decision in the digital twinborn body by utilizing a hierarchical reinforcement learning model, and outputting a wheel-leg movement mode and an excavation arm cooperation instruction by a high-level strategy network according to the terrain complexity; and the safety deduction module introduces a safety reinforcement learning mechanism, deduces and verifies the generated action instruction in the virtual environment, and restrains the dangerous action by controlling a barrier function. According to the method, the decision risk of the heavy robot in the unstructured catastrophic terrain can be reduced, the stability of motion control is improved, and a high-safety control strategy is provided for various complex obstacle crossing actions based on simulation prediction.

The invention belongs to the technical field of electrical equipment, and particularly relates to a cleaning robot and a cleaning system. A cleaning robot comprises a main body and a walking wheel assembly, the walking wheel assembly is connected with the main body, the walking wheel assembly guides movement of the main body, the walking wheel assembly comprises a main wheel, a rotating arm assembly and an auxiliary wheel, and the main wheel is connected with the main body through a first shaft and guides movement of the main body in a first state; the rotating arm assembly comprises a first end and a second end, the first end of the rotating arm assembly is connected with the second shaft arranged on the main wheel, the rotating arm assembly is connected with the second shaft, and the auxiliary wheel is connected with the second end of the rotating arm; the second end of the rotating arm assembly rotates to the position below the main wheel, the auxiliary wheel makes contact with the cleaning face and lifts the front side of the body, and the auxiliary wheel guides the body to move in the second state. The obstacle crossing ability of the cleaning robot can be improved, and the application range of the cleaning robot is wider.

The invention provides an obstacle crossing mechanism, a trigger assembly, a clutch assembly, a walking module and cleaning equipment. The obstacle crossing mechanism comprises a mounting shell, a trigger assembly, a clutch assembly and an obstacle crossing piece. The trigger assembly is elastically hinged to the installation shell and comprises a trigger piece and a joint control piece, the trigger piece extends out of the lower side of the installation shell, and the joint control piece is fixedly connected to the trigger piece. The clutch assembly comprises a transmission shaft, a driving part and a clutch part, the transmission shaft is rotationally connected to the mounting shell, and the driving part is rotationally connected to the transmission shaft. The clutch piece is fixedly connected with the transmission shaft in the circumferential direction of the transmission shaft and movably connected with the transmission shaft in the circumferential direction of the transmission shaft. The obstacle crossing piece is fixedly connected to the transmission shaft. When an obstacle pushes the trigger piece, the trigger piece drives the joint control piece to rotate forwards, so that the joint control piece pushes the clutch piece to be in transmission connection with the driving piece. Therefore, the cost is reduced, and the stable obstacle crossing effect is guaranteed.

The utility model relates to the technical field of intelligent robot moving platforms, and discloses a walking mechanism with an obstacle crossing function, which comprises a base, a support rod is fixedly mounted at the bottom of the base, a sliding sleeve is slidably connected to the outer wall of the support rod, a hub motor is fixedly mounted at the bottom of the sliding sleeve, and the hub motor is connected with the base. A wheel hub motor is arranged on the base, a tire is fixedly installed on the outer wall of the wheel hub motor, a jacking mechanism facilitating obstacle crossing is arranged on the base, and a stabilizing mechanism for improving the stability of the base is arranged on the sliding sleeve. Meanwhile, a worm wheel, a rotating rod, a transverse rod, a pressing rod and a hollow rod are matched, so that the base can be jacked upwards, the gap between the base and the ground is increased, the base can directly cross over an obstacle by adjusting the height of the base, steering to avoid the obstacle is not needed, and the base is moved more smoothly.

The invention discloses a magnetic adsorption robot and a child-mother robot for bridge detection, and belongs to the technical field of bridge detection, the magnetic adsorption robot comprises two vehicle bodies arranged front and back in the advancing direction of the magnetic adsorption robot, and a connecting joint with a self-adaptive angle is connected between the two vehicle bodies; mounting parts are arranged at the bottoms of the vehicle bodies, wheel carriers are hinged to the two sides of each mounting part through hinges, and each wheel carrier is provided with a magnetic adsorption wheel; a detection device, a control device and a battery module are arranged on the vehicle body, the control device is used for controlling the magnetic adsorption robot to move on the bridge, the detection device is used for detecting the bridge, and the battery module is used for providing power support. By arranging the connecting joints and the hinges, the magnetic adsorption wheels can be tightly attached to the adsorption face all the time, the adsorption capacity and the obstacle crossing capacity are improved, and the reliable inspection capacity is achieved; and meanwhile, the two magnetic adsorption robots with different sizes are arranged to form the child-mother robot, so that the safety and the cruising ability are further enhanced.

The invention relates to the technical field of cable laying, in particular to a cable laying obstacle avoidance construction device which comprises a panel and two bottom beams fixed below the panel. A walking unit is mounted on the outer side of the bottom beam, an obstacle crossing beam is movably inserted into the bottom beam, and a driving assembly for driving the obstacle crossing beam to linearly move is mounted in the bottom beam; wherein an obstacle crossing wheel set is installed at the end of the obstacle crossing beam, and a clamping assembly for fixing a cable is further arranged above the panel. Through the design of the obstacle crossing beam capable of being stored and unfolded, in the cable laying process, if the device meets a gully and cannot cross over through the walking unit, the cable can cross over through the walking unit, and then the cable can cross over through the obstacle crossing wheel set; the obstacle crossing beams can be unfolded to enable the obstacle crossing wheel sets to stretch across the gullies, then the obstacle crossing wheel sets are matched with the walking units to complete obstacle avoidance of the gullies, the reliability and convenience of cable laying are remarkably improved, and the construction problem under the complex terrain is effectively solved.

The utility model discloses an electric power circuit detection robot, which belongs to the technical field of detection robots, solves the problem that the existing detection robot is instably connected with an electric power circuit when crossing obstacles, and comprises a detection equipment main body which moves along the direction of the electric power circuit, and a plurality of cameras are fixedly arranged on the detection equipment main body. A plurality of movable mechanical arms are slidably arranged on the upper surface of the detection equipment main body, obstacle crossing moving blocks are slidably arranged on the movable mechanical arms, the movable mechanical arms and the obstacle crossing moving blocks clamp the power line, and by installing a driving mechanism, in the obstacle crossing process of the detection robot, a second two-way lead screw controls two pulley seats to be away from each other; the first bidirectional screw rod controls the two pulley seats to be close to each other, it is guaranteed that the movable mechanical arm is stably connected with the electric power circuit during obstacle crossing, the off-line phenomenon is prevented from occurring in the obstacle crossing process, and the obstacle crossing stability of the electric power circuit detection robot is improved.

The invention belongs to the technical field of outer pipeline obstacle-crossing carrying robots, aims to complete the detection task of the whole circumference of the surface of an outer pipeline in a narrow working space, and discloses an outer pipeline obstacle-crossing carrying robot in a complex environment, which comprises a self-adaptive clamping unit, a middle motor joint bending obstacle-crossing unit and a combined wheel type moving unit, the self-adaptive clamping units are connected to the front portion and the rear portion of the middle motor joint bending obstacle crossing unit, the combined wheel type moving unit is connected with the self-adaptive clamping units, a connecting rod body serves as a power source for active clamping of a single-side arm through a worm and gear, and the robot conducts inchworm type axial movement through the middle motor joint bending obstacle crossing unit. Front-back movement and directional rotation are carried out through the combined wheel type moving unit. The device can adapt to space inclined and bent pipeline structures, has the capacity of treating obstacles such as pipe diameter abrupt change, pipeline hanging brackets and bosses, and has certain load capacity.

The invention discloses a tree climbing device with axial climbing and circumferential steering functions. The tree climbing device comprises a vertically symmetrical main trunk mechanism, an upper clamping and climbing mechanism and a lower clamping and climbing mechanism, wherein the upper clamping and climbing mechanism and the lower clamping and climbing mechanism are identical and bilaterally symmetrical. The main trunk mechanism is arranged in the middle of the robot, telescopic mechanisms are placed in an upper operation platform and a lower operation platform of the main trunk mechanism to control clamping and loosening of the clamping mechanisms, the clamping and climbing mechanisms are arranged on the upper portion and the lower portion of the main trunk and each composed of two grabbing clamps of the completely same structure, and universal wheels are carried in the clamping and climbing mechanisms to serve as execution ends. The rotor wings are carried outside to serve as a power mechanism, and climbing and circumferential movement of the robot on trees are achieved through driving of the auxiliary effect of the rotor wings. A turnover mechanism is arranged in the middle of the main trunk mechanism, the robot can be controlled to turn over through steering engine driving, and conversion of the robot from the trunk to the side trunk is achieved. Under the movement action of the main trunk mechanism, the upper clamping and climbing mechanism and the lower clamping and climbing mechanism, the tree climbing device is simple in structure, good in obstacle crossing ability and good in stability, and clamping force can be actively adjusted to adapt to continuous changes of the diameter of a tree; the self-locking device can move axially and circumferentially along a trunk, has a self-locking function and can stop at any position.

The utility model relates to the field of cleaning equipment, and discloses an obstacle crossing mechanism, a driving device and a cleaning robot. The obstacle crossing mechanism comprises a base, a rotating piece and a driving assembly, the base is used for being connected with walking equipment, the driving assembly can drive the rotating piece to rotate in the first direction and the second direction, and obstacle crossing supporting legs are arranged on the rotating piece; when rotating in the first direction, the rotating part can drive the obstacle crossing supporting legs to rotate so as to support the walking equipment and walk through the obstacle crossing supporting legs, and when rotating in the second direction, the rotating part can jack up a chassis of the walking equipment. The driving device comprises a walking frame and the obstacle crossing device. The cleaning robot comprises the driving device. Based on the obstacle crossing mechanism provided by the utility model, the obstacle crossing mechanism can be arranged on the cleaning robot, so that the cleaning robot can be driven by the obstacle crossing mechanism to cross obstacles or walk in special scenes such as a long wool carpet, and the application range of the cleaning robot is widened.

The invention relates to an overhead transmission line wire acceptance robot system and a control method. The overhead transmission line wire acceptance robot system has the functions of multi-dimensional adjustment, dynamic clamping, profiling obstacle crossing and visual recognition. Wire specification adaptation is achieved through self-adaptive spacing adjustment, obstacle crossing is completed based on cooperation of elastic clamping and turnover type obstacle crossing, and wire surface defect detection is implemented by adopting a multi-angle visual acquisition technology. According to the system, the motion stability is enhanced through composite driving control, the acceptance efficiency is improved by combining an intelligent control algorithm, the modular architecture design supports multi-split conductor scene application, and the characteristics of high-precision detection and full-process automatic operation are achieved.

The invention relates to the technical field of chemical pipelines, and discloses a pipeline leak detection device with an adjusting function and an implementation method. The device comprises an upper frame body, a lower frame body and a CCD camera, the upper frame body and the lower frame body are each of a semi-ring structure, the upper frame body and the lower frame body are connected on the outer side of a pipeline through a quick release mechanism to form a ring shape, and under the cooperation of a driving mechanism and an obstacle crossing mechanism, the leakage detection device is driven to move on the pipeline; the rotation driving mechanism drives the CCD camera to rotate around the pipeline so as to comprehensively photograph the pipeline; an electric push rod on the obstacle crossing mechanism is used for controlling contact and separation of moving wheels and the pipeline, alternate supporting is achieved, and flange crossing operation is completed; the distance between the upper frame body and the pipeline and the distance between the lower frame body and the pipeline are adjusted, so that the pipeline is located in the center of the leak detection device. The leak detection device automatically moves and automatically crosses obstacles, a CCD camera does not need to be held by a hand for photographing and leak detection, the workload of pipeline leak detection is reduced, the efficiency of pipeline leak detection is improved, the leak detection device is suitable for different pipe diameters, and the applicability of the leak detection device is improved.

This specification relates to the field of smart household technologies, and in particular, to a movement control method for a cleaning robot, a cleaning robot, and a storage medium. The method includes: in a movement process of the cleaning robot, collecting three-dimensional information of a step-type obstacle in a front area by using a sensor system, where the three-dimensional information includes at least height information and depth information of the step-type obstacle; and at least when the height information and the depth information meet an obstacle crossing condition, performing an obstacle crossing action to cross the step-type obstacle, to clean the step-type obstacle. In embodiments of this specification, the depth information of the step-type obstacle is considered during obstacle crossing, so that refined and intelligent obstacle crossing can be performed on the step-type obstacle, thereby avoiding obstacle crossing abnormality.

The invention discloses cleaning equipment and a control method thereof. The cleaning apparatus includes an apparatus body and a wheel assembly. The equipment body comprises a blocking piece, and the wheel assembly comprises a main wheel and a rotating piece. The rotating piece is connected with the main wheel and can rotate relative to the main wheel. The rotating part can abut against the blocking part in the rotating process, and when the rotating part abuts against the blocking part and rotates, the rotating part adjusts the distance of the equipment body relative to the main wheel, so that the distance of the equipment body relative to the main wheel is adjusted, and the obstacle crossing effect of the cleaning equipment can be improved.

The microwave detection robot comprises a first mounting seat, an electric telescopic rod is hinged to the first mounting seat, a second mounting seat is hinged to the output end of the electric telescopic rod, and machine body assemblies are mounted on the second mounting seat and the first mounting seat; the double-body assembly is designed, the robot is attached to a to-be-detected surface through airflow generated by a first impeller, negative pressure suction force is generated in a ring groove through a second impeller, and the negative pressure suction force is transmitted to the moving wheel assembly through a pipeline structure, so that the road holding force of the moving wheel assembly is enhanced, and the load capacity of the robot is improved; the angle between the two machine body assemblies is adjusted through the electric telescopic rods, so that the robot has the obstacle crossing ability, and the adaptability of the robot during operation in the complex environment is improved; the environment compensation module adopts an intelligent algorithm to compensate original microwave signals, so that the problem of low detection result precision caused by environmental factor interference is solved.

The invention relates to the technical field of agricultural machinery, in particular to a rotary gravity center regulating crawler platform for hills and mountains, which sequentially comprises a crawler chassis assembly, a gravity center regulating assembly and a functional module mounting platform from bottom to top, the gravity center adjusting layer is installed on the chassis rack and located in the space between the crawler belts on the two sides, the gravity center adjusting layer is composed of a supporting base, a slewing bearing module, a linear lead screw module, a battery balancing weight and a machine shell, and the balancing weight is preferably a power battery pack; and the functional module mounting platform is fixed at the upper end of the gravity center adjusting assembly. By adjusting the angular and radial distribution of the counterweights, the center-of-gravity position of the whole machine under the working conditions of cross slopes, longitudinal slopes and obstacle crossing is changed, the stability and driving safety of the crawler belt platform in complex terrains of hills and mountains are improved, and the crawler belt platform can be provided with different functional modules according to operation objects. The method is suitable for various hilly and mountainous region agriculture and engineering application scenes.

The invention provides an obstacle crossing method and device of a robot, the robot, a medium and a product, and relates to the technical field of intelligent robots, the robot is provided with a mechanical arm, and the mechanical arm is used for grabbing an object; the method comprises the following steps: determining the current state of a mechanical arm under the condition that the existence of a stepped obstacle is detected and the robot meets obstacle crossing conditions; controlling the robot to execute a corresponding target obstacle crossing strategy according to the current state; and the target obstacle crossing strategy at least comprises a passive obstacle crossing strategy, and the passive obstacle crossing strategy is to execute the sprint action based on the adjusted speed, so that unnecessary chassis lifting is avoided in the obstacle crossing process, the instability risk is further reduced, the stability and the overall robustness of the robot are kept, and the safety is improved. Due to the fact that the appropriate target obstacle crossing strategy can be selected according to the current state of the mechanical arm, the task execution continuity is guaranteed, the rollover risk caused by extending of the mechanical arm is avoided, and the mechanical structure damage risk caused by rollover or obstacle crossing failure is reduced.

The invention discloses a horizontal well pipe wall perforating tool. The horizontal well pipe wall perforating tool comprises a gear shifting differential crawling short section, an anchoring centering short section, a rotary connecting short section and an eccentric perforating short section. The gear-shifting differential crawling short section realizes differential walking and variable-diameter folding functions through a first gear-shifting driving mechanism; the anchoring centering short section is of a telescopic multi-stage anchoring arm structure, and it is guaranteed that the tool is stably centered and bears axial counter force in the perforating process. The connecting short section is rotated, so that all the modules synchronously rotate in the circumferential direction; and the eccentric perforating short section integrates a second gear shifting driving mechanism, a lower eccentric structure and a hydraulic perforating executing mechanism, so that the radial extension, rotary cutting and perforating position control of the drill bit are realized. According to the invention, modules are cooperatively matched, a multi-section perforating task is completed through the steps of differential propulsion, directional anchoring, eccentric control, hydraulic perforating and the like, and the multi-section perforating device has the functions of jamming obstacle crossing, self-adaptive posture adjustment, retraction protection and the like. The device is compact in structure, flexible to control, high in perforating precision and suitable for all-directional perforating operation of the pipe wall of the horizontal well section.

The invention belongs to the technical field of electrical equipment, and particularly relates to a cleaning robot and a cleaning system. The cleaning robot comprises a main body and a walking wheel assembly, the walking wheel assembly is connected with the main body and comprises a main wheel, a rotating arm assembly and an auxiliary wheel, and the main wheel is connected with the main body through a first shaft and guides the main body to move in a first state; the rotating arm assembly comprises a first end and a second end, the first end of the rotating arm assembly is connected with a second shaft arranged on the main wheel, and the rotating arm assembly is connected with the second shaft; the auxiliary wheel is connected with the second end of the rotating arm; and the main wheel, the rotating arm assembly and the auxiliary wheel guide the main body to move in the second state. The obstacle crossing ability of the cleaning robot can be improved, and the application range of the cleaning robot is wider.

The invention relates to the technical field of robot control, in particular to an electric drive column type wheel-foot robot self-adaptive obstacle crossing control method based on advancing path recognition, and the method comprises the following steps: S1, environment perception and terrain map generation: generating a terrain map; s2, mode switching and judgment: according to the topographic map, in combination with a preset wheel-foot mode switching threshold value, judging that the current obstacle type is a climbing platform, a slope ridge or a crossing ditch; s3, setting each mode parameter; s4, dynamic stability checking and correction preprocessing: according to the current gravity center position of the robot, the obstacle crossing stability is evaluated, and if the overturning risk exists, setting is automatically adjusted. According to the method, typical obstacle types such as platform climbing, ditch crossing and slope ridge can be accurately identified, and compared with a traditional method which only depends on a single sensor or manually presets a threshold value, the method has higher environmental adaptability and obstacle crossing scene judgment precision.

The invention discloses a gecko-imitating intelligent robot, and relates to the technical field of biological bionic intelligent robots, the gecko-imitating intelligent robot comprises a gecko-imitating front body and a gecko-imitating rear body, and the gecko-imitating front body and the gecko-imitating rear body are connected through a body connecting part; light-weight mechanical structure design is adopted, 3D modeling is carried out, all parts are manufactured in combination with the 3D printing technology, a multi-joint driving system composed of an STM32F103C8T6 main control chip and an SC90 steering engine is carried, multi-foot gait control is achieved, water-based polyacrylate pressure-sensitive adhesive is adopted for the feet, gaps of the feet are filled, the feet of the gecko are covered, and the gecko gait control effect is achieved. The robot can be stably adhered to the surfaces of various materials such as glass and concrete, in addition, Bluetooth / Wi-Fi wireless control is supported, advancing, steering and obstacle crossing actions of the robot can be remotely operated through a mobile device APP, and the robot can be suitable for high-risk scenes such as urban pipeline flaw detection, high-rise building cleaning and earthquake ruin search and rescue.

According to the four-swing-arm six-crawler-type cable trench inspection robot and the obstacle crossing control method thereof, the use of motors and corresponding structures can be reduced, and therefore the robot is compact in structure, good in reliability and particularly suitable for being used in limited environments such as cable trenches. The robot structurally comprises a main vehicle body, front swing arm assemblies and rear swing arm assemblies, the swing arm assemblies are connected with power shafts, the power shafts comprise solid shafts and hollow shafts, steering engines control the corresponding front swing arm assemblies or the corresponding rear swing arm assemblies to swing through the corresponding solid shafts, and the hollow shafts are installed outside the solid shafts coaxial with the hollow shafts and can rotate relative to the solid shafts. The driven crawler wheels can drive the hollow shafts on the corresponding sides of the front portion of the main vehicle body to rotate and drive the crawler belts of the front swing arm assemblies on the corresponding sides to move through the hollow shafts, and the hollow shafts on the front portion of the main vehicle body are further connected with the hollow shafts on the corresponding sides of the rear portion of the main vehicle body through transmission synchronous belts. And the hollow shaft at the rear part of the main vehicle body can drive the crawler belt of the rear swing arm assembly at the corresponding side to move.

The utility model provides cleaning equipment. The cleaning equipment comprises a main machine body, driving wheels and obstacle crossing wheel devices. The driving wheels are arranged on the main machine body and used for driving the main machine body to move; the obstacle crossing wheel device comprises a driving mechanism and an obstacle crossing wheel, the driving mechanism is used for driving the obstacle crossing wheel to rotate, the obstacle crossing wheel is located in front of the gravity center of the cleaning equipment, the obstacle crossing wheel comprises an obstacle crossing state and an avoiding state, and in the obstacle crossing state, the obstacle crossing wheel rotates to be supported on the ground; and in the avoiding state, the obstacle crossing wheels are separated from the ground. The obstacle crossing of the cleaning equipment can be realized under the pushing of the driving wheel only by driving the obstacle crossing wheel through the driving mechanism, the number of types of parts for realizing the obstacle crossing function is small, the structure is simple, and the operation stability of the cleaning equipment is favorably improved.