The invention belongs to the technical field of electric power inspection robots, and particularly discloses an operation type intelligent foot robot applied to electric power inspection and a control method, the operation type intelligent foot robot structurally comprises a four-foot bionic robot and a five-degree-of-freedom series mechanical arm, and the five-degree-of-freedom series mechanical arm is installed on the four-foot bionic robot. The four-footed bionic robot comprises a robot body rack, a right front leg, a right rear leg, a left rear leg, a left front leg, an industrial personal computer, a front stereoscopic vision sensor, a rear stereoscopic vision sensor and a three-dimensional solid laser radar, and high-precision environment sensing can be achieved through the carried sensors. Meanwhile, the five-degree-of-freedom series mechanical arm is combined with the quadruped robot, so that special tasks such as target collection and object grabbing can be executed in a complex electric power inspection scene; different leg structures can be selected according to actual conditions through belt transmission legs, and meanwhile, a robot bionic control method is provided, and the method can realize unified control of a five-degree-of-freedom series mechanical arm and a quadruped robot.

    本发明属于电力巡检机器人技术领域,具体公开了一种应用于电力巡检的操作型智能足式机器人及控制方法,其结构包括四足仿生机器人和五自由度串联机械臂,五自由度串联机械臂安装在四足仿生机器人。四足仿生机器人包括机身机架、右前腿、右后腿、左后腿、左前腿、工控机、前立体视觉传感器、后立体视觉传感器、以及三维固态激光雷达,通过搭载的传感器可以实现高精度的环境感知。同时五自由度串联机械臂与四足机器人结合,可在复杂电力巡检场景下执行目标采集、物体抓取等特殊任务;通过带传动的腿部,可以根据实际情况选择不同的腿部构型,同时提出一种机器人仿生控制方法,该方法能够实现五自由度串联机械臂和四足机器人的统一控制。


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    Title :

    Operation type intelligent foot robot applied to electric power inspection and control method


    Additional title:

    一种应用于电力巡检的操作型智能足式机器人及控制方法


    Contributors:
    LI FEI (author) / ZHANG WENLIANG (author) / HONG GANG (author) / LIANG YI (author) / LI SHUO (author) / PANG LONG (author) / HE BO (author) / QIN JIAN (author) / YE SI (author) / HAN GUANGXIN (author)

    Publication date :

    2023-09-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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