复杂地形空地两栖智能勘探救援四足仿生机器人研究  

Research on Quadruped Bionic Robot for Amphibious Intelligent Exploration and Rescue in Complex Terrain and Open Space

作　　者：张小凤 伍志毅 徐向荣 张恩 魏铄斌 谢钒 ZHANG Xiaofeng;WU Zhiyi;XU Xiangrong;ZHANG En;WEI Shuobin;XIE Fan(School of Information,Beijing Institute of Technology,Zhuhai,Zhuhai,Guangdong 519088,China;Greater Bay Area Innovation Research Institute,Beijing Institute of Technology(Zhuhai),Zhuhai,Guangdong 519088,China)

机构地区：[1]北京理工大学珠海学院信息学院,广东珠海519088 [2]北京理工大学(珠海)大湾区创新研究院,广东珠海519088

出　　处：《自动化应用》2024年第15期31-34,37,共5页Automation Application

基　　金：广东省“天临空地海”复杂环境智能探测重点实验室(2022KSYS016);广东高校省级重点平台及重大科研项目特色创新类项目(本科)(2019KTSCX216)。

摘　　要：随着科技的发展,机器人技术在各领域得到了广泛应用。特别是在复杂地形环境下,对机器人的适应性和可靠性要求越来越高。因此,设计了一款空地两栖四足仿生机器人,该机器人结合了空中飞行和地面行走2种操作模式,具有自平衡功能,可适应复杂地形。该机器人结构设计基于四足动物行走特点,采用视觉动态捕捉技术实时跟踪自定义颜色目标,以提高操作精度。其控制系统设计实现了机器人在空中和地面行走的稳定性和可靠性。与单一系统机器人相比,该机器人具有更强的适应能力,可为复杂地形下的智能勘探救援任务提供有效支持。With the development of technology,robot technology has been widely applied in various fields.Especially in complex terrain environments,the requirements for adaptability and reliability of robots are becoming increasingly high.Therefore,a ground amphibious quadruped bionic robot has been designed,which combines two operation modes of aerial flight and ground walking,has self balancing function,and can adapt to complex terrain.The structural design of this robot is based on the walking characteristics of quadrupeds,and uses visual dynamic capture technology to track custom color targets in real time to improve operational accuracy.The control system design realizes the stability and reliability of the robot's walking in the air and on the ground.Compared with a single system robot,this robot has stronger adaptability and can provide effective support for intelligent exploration and rescue tasks in complex terrains.

关 键 词：空中机器人 双系统集成 OPENCV 自平衡 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]