基于视觉控制的足轮两式机器人设计与研究硬件电路与控制系统设计

Foot wheel two type robot based on vision controlHardware circuit and control system designAbstractWith the progress of human society and the expansion of human's exploration of thenatural world,people have invented all kinds of robots to replace human beings to completesome relatively dangerous work or difficult problems.Among them,there are three kinds oflong-distance moving methods commonly used in robots,which are wheel type,tracked typeand foot type,and each has its advantages and disadvantages.1.The wheeled robot can walk quickly on a flat road,but it is difficult to travel in othermuddy and rugged complex terrain,with a large turning radius,poor turning efficiency andpoor flexibility.2.Compared with traditional wheeled robots,tracked robots can travel in muddy,roughand complex terrain and turn on the spot,but it is difficult to cross when it encountersobstacles with a large drop.3.Foot-type robot can adapt to a variety of complex terrain,especially it has greatadvantages over wheeled robot and tracked robot in crossing obstacles.However,the walkingspeed is relatively low,and the stability of walking has a great relationship with theenvironment.It is difficult to control,easy to roll over,and the stability is relatively poor.On the one hand,according to the advantages and disadvantages of various types ofrobots,this design will combine the wheeled robot and foot robot to produce a robot that canadapt to a variety of terrains and flexibly transform.This kind of robot can be flexiblytransformed into different forms according to different terrains to learn from each other andgive play to the advantages of different kinds of robots.For example,when traveling on flatterrain in the form of wheel,the traveling speed is fast and the energy consumption is lessthan that of the foot robot.But in the complex terrain can use the foot form to travel,theflexibility is high and the off-road ability is strong.On the other hand,in addition to the basiccontrol mode of the upper computer,the visual control mode of hand recognition is also usedto control the movement mode of the robot through the change of hand movements,whichimproves the operational diversity of this design.Keywords:Combination of foot wheel;Data transmission;Upper computer;The