The invention discloses a terrain sensing system and a quadruped robot, relates to the technical field of artificial intelligence, and enriches sensed terrain information and enhances the reliability of trafficability judgment of a bionic leg-foot type robot by adding a force sensor at the foot end of the bionic leg-foot type robot to obtain the hardness of the terrain. The electric quantity sensor is additionally arranged to measure the magnitude of the output current of the joint motor driver of the bionic leg-foot type robot and calculate the friction force between the foot end and the ground, the relation information between the sensed terrain and the bionic leg-foot type robot is enriched, and the trafficability judgment of the bionic leg-foot type robot on snowfields, slopes, wet and slippery road surfaces and the like is facilitated. The height and the width of an obstacle and the distance between the obstacle and the bionic leg-foot type robot are measured by additionally arranging a sound detection sensor and a millimeter wave radar, and the reliability of data measured by a visual perception method is improved.

    本发明公开了一种地形感知系统及四足机器人,涉及人工智能技术领域,通过在仿生腿足式机器人的足端增加力传感器获取地形的硬度,丰富了感知的地形信息,增强了仿生腿足式机器人可通过性判断的可靠性。通过增加电量传感器测量仿生腿足式机器人关节电机驱动器输出电流大小计算足端与地面的摩擦力,丰富了感知的地形与仿生腿足式机器人之间的关系信息,有助于仿生腿足式机器人在雪地、斜坡、湿滑路面等可通过性判断。通过增加声探测传感器、毫米波雷达测量障碍物的高度、宽度、与仿生腿足式机器人之间的距离,增加视觉感知方法测量数据的可靠性。


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    Title :

    Terrain sensing system and quadruped robot


    Additional title:

    一种地形感知系统及四足机器人


    Contributors:
    WU YONGCUN (author) / ZHOU YONG (author) / MUKAI MANABU (author) / WANG QIAN (author) / LUO YUNZHI (author) / ZHANG YU (author) / TIAN RUIJUAN (author) / DONG QIXIN (author)

    Publication date :

    2025-05-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B62D MOTOR VEHICLES , Motorfahrzeuge



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