CN101491898B - Multi-rotor wheel-leg type multifunctional air robot and sports programming method thereof - Google Patents
Multi-rotor wheel-leg type multifunctional air robot and sports programming method thereof Download PDFInfo
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- CN101491898B CN101491898B CN2009100793657A CN200910079365A CN101491898B CN 101491898 B CN101491898 B CN 101491898B CN 2009100793657 A CN2009100793657 A CN 2009100793657A CN 200910079365 A CN200910079365 A CN 200910079365A CN 101491898 B CN101491898 B CN 101491898B
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Abstract
The invention discloses a multi-rotator leg-wheeled multifunctional aerial robot and a motion planning method thereof. The robot comprises rotators A, B, C and D, rotator driving motors A, B, C and D, wall-climbing thighs A and B, wall-climbing legs A and B, hip joint driving motors A and B, knee joint driving motors A and B, a robot main body, a wall-surface running wheels A and B, a ground supporting rod, rotating supporting rods and a rigidity-strengthened ring. The motion planning process comprises the motion planning of the robot in flight state, the motion planning of the robot undergoing a change from the flight state to a wall climbing state, the motion planning of the robot in a wall climbing state, the motion planning of the robot crossing an obstacle during wall climbing, and the motion planning of the robot undergoing a change from the wall climbing state to the flight state. The robot realizes the fusion of a rotator type aircraft and a leg-wheeled movement mechanism, is simple in mechanical structure and easy to realize, and has the advantages of high stability, small volume, strong adaptability to wall surfaces, large obstacle crossing capacity, wide application range and the like.
Description
Technical field
The present invention relates to a kind of aerial robot, be specifically related to the aerial robot of a kind of multi-rotor wheel-leg type multifunctional, belong to mechanical field.
Background technology
At present, many applications all require aircraft can carry out the flight of low-altitude low-speed, hang down idle job, and good mobility and disguise are arranged.Therefore, having occurred with the single-rotor helicopter is the aerocraft system of platform.This single rotor craft can be realized low-altitude low-speed flight, also can finish certain low idle job, but, owing to adopt a rotor, so the size of rotor is generally all bigger, relatively more dangerous during work, and single rotor aerofoil angle of attack controlling organization complexity, and be single failpoint, so the fault content is relatively poor.And multi-rotor aerocraft has good flight maneuver and stability, can finish the low idle job of many complexity, have VTOL simple, hover and quicken flexibly, characteristics such as strong, the aerial posture adjustment ability of mobility is strong, realize bigger thrust-weight ratio with respect to single rotor craft at identical operating space Nei Gengyi, increase the proportion of mission payload in overall load.
In aerial robot field's the research that with the aircraft is platform, aerial robot is confined to single task mostly, has limited its range of application.It is a development trend of aerial robot that the task of robot is developed to the multifunction direction by unification.To fly and climb the wall function and be integrated in one, designing the multi-functional aerial robot that has flight concurrently and climb the wall function is the current problem that needs solution.
Summary of the invention
The multi-functional aerial robot of the present invention in order to realize having flight concurrently and climbing the wall function, employing comprises the aerial robot architecture that leg wheel type is climbed wall construction based on many rotors flying platform, proposes aerial robot of a kind of multi-rotor wheel-leg type multifunctional and motion planning method thereof.
The aerial robot of a kind of multi-rotor wheel-leg type multifunctional, comprise rotor A, rotor B, rotor C, rotor D, rotor drive motors A, rotor drive motors B, rotor drive motors C, rotor drive motors D, climb wall thigh A, climb wall thigh B, climb wall shank A, climb wall shank B, hip joint drive motors A, hip joint drive motors B, knee joint drive motors A, knee joint drive motors B, robot body, wall road wheel A, land support bar, rotor support bar, rigidity reinforcing ring at wall road wheel B.
The robot body is the circular discoid structure, and four rotor support bars are symmetrical distribution around robot body's lower surface.Rotor drive motors A, rotor drive motors B, rotor drive motors C, rotor drive motors D is screwed respectively in the outer end of rotor support bar, rotor A, rotor B, rotor C, rotor D are fixed on rotor drive motors A successively, rotor drive motors B, rotor drive motors C is on the turning cylinder of rotor drive motors D.And rotor A, rotor B, rotor C, the Plane of rotation of rotor D is positioned at the below of rotor support bar.The rigidity reinforcing ring is concentric with the robot body, is anchored on the top of rotor support bar.The support bar that lands is fixedly connected on rotor support bar and the crossing below of rigidity reinforcing ring respectively.Land mounting spring on the support bar.
Climb wall thigh A, climb wall thigh B and be connected with robot body's upper surface by hip joint, climb wall shank A, climb wall shank B by knee joint with climb wall thigh A, climb wall thigh B and be connected, climb wall thigh A, climb wall thigh B and climb wall shank A for two groups, climb the symmetrical plane that wall shank B is positioned at robot.Wall road wheel A, wall road wheel B are positioned at and climb wall shank A, climb the end of wall shank B.Climb wall thigh A12, climb wall thigh B13, climb wall shank A16, climb wall shank B17 and wall road wheel A, wall road wheel B forms two leg wheel type wall climbing mechanisms of robot, abbreviates leg as.
On hip joint and knee joint, be fixed with hip joint drive motors A respectively, hip joint drive motors B, knee joint drive motors A, knee joint drive motors B.
Fender bracket can be installed in the periphery of robot.U-iron silk one end of fender bracket and the support bar that lands of robot fix, other end welding annulus iron wire, and the height of U-iron silk arrives rotor A, rotor B, rotor C, plane, rotor D place.
Described rotor A, rotor B, rotor C, rotor D adopts the CLARK-Y aerofoil profile.Described rotor support bar profile cross section is set to circle.The described rotor A of robot, rotor B, rotor C, spacing is greater than rotor A, rotor B, rotor C between the rotor D, and the twice of the diameter of rotor D own, described spacing are the distance between the rotor pivot.
The motion planning method of the aerial robot of a kind of multi-rotor wheel-leg type multifunctional is characterized in that:
(1), the motion planning of robot under state of flight;
1, make two groups of rotor A, rotor B and rotor C, rotor D with opposite direction rotation;
Open rotor drive motors A, rotor drive motors B, rotor drive motors C, rotor drive motors D, for rotor A, rotor B, rotor C, rotor D provide lift, two rotors on the diagonal are one group;
2, change rotor A, rotor B, rotor C, rotor D speed, make robot produce corresponding actions;
Increase or reduce the vertical action of speed generation of four rotor A, rotor B, rotor C, rotor D simultaneously;
One group of rotor-speed is constant on the maintenance diagonal, and speed of meanwhile other one group of rotor increases, and a speed reduces to produce the attitude of pitching and rolling;
The generation of yaw-position then comes from the difference of two groups of rotor A, rotor B and rotor C, rotor D torsional moment;
3, under the robot state of flight, aerial object is grasped operation;
1), robot when state of flight, both legs are folding;
2), climb wall thigh A, climb wall thigh B, climb wall shank A, climb wall shank B and make as arm and be used for grabbing object, at this moment, climb wall thigh A, climb wall thigh B and become big arm, climb wall shank A, climb wall shank B and become forearm, hip joint drive motors A, hip joint drive motors B and knee joint drive motors A, knee joint drive motors B drive simultaneously and close hip joint and knee joint rotation separately, will open arms;
3), the knee joint that drives simultaneously separately of knee joint drive motors A, knee joint drive motors B rotates, and object closely is held between wall road wheel A and the wall road wheel B, increases the rotating speed of rotor A, rotor B, rotor C, rotor D simultaneously;
(2), robot transfers the motion planning of climbing the wall state to from state of flight;
1, robot flies to from the nearer position of wall, allows robot body's maintenance level, and both legs are turned up;
2, robot clockwise rotates near the knee joint drive motors A of wall, drives the wall shank A that climbs that is attached thereto and moves to the lower right, and the robot body tilts to wall gradually;
The wall hip joint drive motors A that climbs of robot clockwise rotates, and drives the wall shank A that climbs that is attached thereto and moves to wall, and wall road wheel A contacts wall;
3, strengthen the rotating speed of rotor drive motors B, make rotor B rotating speed increase, simultaneously, knee joint drive motors B counterclockwise rotates, make to climb wall thigh B and climb wall shank B and be positioned at straight line, hip joint drive motors B is rotated counterclockwise then, works with rotor B one, and B is pushed on the wall with the wall road wheel;
(3), robot is at the motion planning of climbing under the wall state;
1, the mode of two-wheeled contact wall is walked along wall;
Strengthen rotor drive motors A simultaneously, rotor drive motors B, rotor drive motors C, the rotating speed of rotor drive motors D makes rotor A, rotor B, rotor C, and the vertical component of rotor D thrust vectoring surpasses robot gravity, and robot is walking upwards;
Increase angle of inclination between robot body and the wall by the rotational angle of regulating two knee joints and two hip joints simultaneously;
Equally, when robot walks downwards, obtain by opposite approach, when robot walks about in climbing the wall state, rotating speed by control rotor A, rotor B, rotor C, rotor D, adjust robot body's attitude angle, make gross thrust that rotor A, rotor B, rotor C, rotor D produce to the left or to the right;
2, alternately contact the upwards walking of mode of wall with single-wheel;
1), hip joint drive motors B, knee joint drive motors B counterclockwise rotate, the leg that drives wall road wheel B place lifts the disengaging wall, increase the rotating speed of rotor drive motors A, make the thrust of rotor A increase, reduce the rotating speed of rotor drive motors B, make the thrust of rotor B reduce, wall road wheel A is walking upwards;
2), the rotation of hip joint drive motors B, knee joint drive motors B clockwise direction, make this leg at wall road wheel B place contact wall again; Simultaneously, reduce rotor drive motors A rotating speed, increase the rotating speed of rotor drive motors B, knee joint drive motors A counterclockwise rotates, and this leg at wall road wheel A place breaks away from wall, and wall road wheel B is walking upwards;
3) robot has just finished and has climbed under the wall state mode that alternately contacts wall with single-wheel at the wall one-period of walking upwards, upwards step 1), the step 2 of walking of the above-mentioned mode that alternately contacts wall with single-wheel), repeat such cycle, robot promptly alternately contacts mode upwards walking on wall of wall with single-wheel.When the mode that single-wheel alternately contacts wall was walked downwards, the direction of motion of each parts was opposite;
(4), robot is at the motion planning of climbing across obstacle under the wall state;
1, be positioned at the wall road wheel B and the wall disengaging of top, and leg is lifted to above obstacle height;
When running into the wall barrier, hip joint drive motors B and knee joint drive motors B guide joint rotation separately, wall road wheel B and wall are disengaged, and lift to enough height, make the leg of top can not run into the wall barrier; Wall road wheel A crosses the wall barrier along upwards walking of wall fully up to the leg of top;
2, the wall road wheel B wall that resumes contacts, the below leg lifts;
The robot one leg is crossed the wall barrier, and hip joint drive motors B on it and knee joint drive motors B guide joint rotation separately, and wall road wheel B and wall are resumed contacts; Hip joint drive motors A and knee joint drive motors A guide joint rotation separately, and wall road wheel A and wall disengage; Wall road wheel B continues to cross the wall barrier along upwards walking of wall fully up to the leg that is positioned at the below;
3, wall road wheel A recovers to contact with wall, crosses the wall barrier;
After two legs of robot were all crossed the wall barrier, hip joint drive motors A and knee joint drive motors A guided joint rotation separately, and wall road wheel A and wall are resumed contacts, and promptly finish obstacle detouring;
(5), robot transfers the motion planning of state of flight to from climbing the wall state;
1, static stable being adsorbed on the wall of robot;
2, hip joint drive motors B and knee joint drive motors B counterclockwise rotate, drive wall road wheel B and break away from wall, reduce the rotating speed of rotor drive motors B, make the thrust of rotor B reduce, increase the rotating speed of rotor drive motors A, the thrust of rotor A is increased;
3, hip joint drive motors A, the rotation of knee joint drive motors A clockwise direction reduce rotor drive motors B rotating speed, and the thrust of rotor B is reduced, and the rotating speed of appropriateness increase rotor drive motors A, make the thrust of rotor A increase;
Hip joint drive motors A and knee joint drive motors A guide joint rotation separately, wall road wheel A and wall are disengaged, strengthen rotor drive motors A simultaneously, rotor drive motors B, rotor drive motors C, the rotating speed of rotor drive motors D, the thrust that rotor A, rotor B, rotor C, rotor D are produced breaks away from robot from wall; After the disengaging, robot promptly folds and climbs wall thigh A, climbs wall thigh B and climb wall shank A, climbs wall shank B, thereby changes state of flight over to.
The invention has the advantages that:
(1) the present invention is the multi-functional aerial robots of a kind of novel many rotors, has realized the fusion of rotary wind type aircraft and leg wheel type motion;
(2) frame for movement of robot simple, be easy to realize;
(3) robot has advantages such as stability is high, volume is little awing;
(4) robot has advantages such as wall adaptability is strong, obstacle climbing ability is strong, applied widely in climbing wall.
Description of drawings
Fig. 1 is the aerial robot construction schematic diagram of a kind of multi-rotor wheel-leg type multifunctional of the present invention;
Fig. 2 is the structural representation after the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention adds fender bracket;
Fig. 3 is the schematic diagram under the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention state of flight;
Fig. 4 is the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention grasps operation aloft to object a schematic diagram;
Fig. 5 a is that the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention is transferred to the schematic diagram I that climbs the wall state procedure by state of flight;
Fig. 5 b is that the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention is transferred to the schematic diagram II that climbs the wall state procedure by state of flight;
Fig. 5 c is that the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention is transferred to the schematic diagram III that climbs the wall state procedure by state of flight;
Fig. 5 d is that the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention is transferred to the schematic diagram V that climbs the wall state procedure by state of flight;
Fig. 6 a mode that to be the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention alternately contact wall with single-wheel walking process I that makes progress;
Fig. 6 b mode that to be the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention alternately contact wall with single-wheel walking process II that makes progress;
Fig. 7 a is that the schematic diagram I that clears the jumps under the wall state climbs in the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention;
Fig. 7 b is that the schematic diagram II that clears the jumps under the wall state climbs in the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention;
Fig. 7 c is that the schematic diagram III that clears the jumps under the wall state climbs in the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention;
To be the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention transfer the schematic diagram I of state of flight to by climbing the wall state to Fig. 8 a;
To be the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention transfer the schematic diagram II of state of flight to by climbing the wall state to Fig. 8 b;
To be the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention transfer the schematic diagram III of state of flight to by climbing the wall state to Fig. 8 c;
Among the figure:
1-rotor A 2-rotor B 3-rotor C 4-rotor D
5-rotor drive motors A 6-rotor drive motors B 7-rotor drive motors C 8-rotor drive motors D
9-robot body 10-hip joint drive motors A 11-hip joint drive motors B 12-climbs wall thigh A
13-climbs wall thigh B 14-knee joint drive motors A 15-knee joint drive motors B 16-and climbs wall shank A
17-climbs wall shank B 18-wall road wheel A 19-wall road wheel B 20-and lands support bar
21-rotor support bar 22-rigidity reinforcing ring 23-fender bracket 24-U shape iron wire
25-annulus iron wire 26-wall 27-barrier
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
The present invention is the aerial robot of a kind of multi-rotor wheel-leg type multifunctional, as shown in Figure 1, comprise rotor A1, rotor B2, rotor C3, rotor D4, rotor drive motors A5, rotor drive motors B6, rotor drive motors C7, rotor drive motors D8, climb wall thigh A12, climb wall thigh B13, climb wall shank A16, climb wall shank B17, hip joint drive motors A10, hip joint drive motors B11, knee joint drive motors A14, knee joint drive motors B15, the robot body 9, wall road wheel A18, wall road wheel B19, land support bar 20, rotor support bar 21, rigidity reinforcing ring 22.
Climb wall thigh A12, climb wall thigh B13 and be connected with robot body's 9 upper surfaces by hip joint, climb wall shank A16, climb wall shank B17 by knee joint with climb wall thigh A12, climb wall thigh B13 and be connected, climb wall thigh A12, climb wall thigh B13 and climb wall shank A16 for two groups, climb the symmetrical plane that wall shank B17 is positioned at robot.Wall road wheel A18, wall road wheel B19 are positioned at and climb wall shank A16, climb the end of wall shank B17.Wall road wheel A18, wall road wheel B19 is the passive type road wheel, no motor-driven.Climb wall thigh A12, climb wall thigh B13, climb wall shank A16, climb wall shank B17 and wall road wheel A18, wall road wheel B19 forms two leg wheel type wall climbing mechanisms of robot, abbreviates leg as.
On hip joint and knee joint, be fixed with hip joint drive motors A10 respectively, hip joint drive motors B11, knee joint drive motors A14, knee joint drive motors B15.Describedly climb wall thigh A12, climb hip joint between wall thigh B13 and the robot body 9, climb wall thigh A12, climb wall thigh B13 and climb wall shank A16, climb the knee joint between the wall shank B17, rotational angle is by hip joint drive motors A10, hip joint drive motors B11, knee joint drive motors A14, knee joint drive motors B15 control.Power-equipment and airborne sensor system place on the robot body 9, by to rotor A1, rotor B2, rotor C3, the attitude angle of robot body 9 in flight course can be accurately controlled in jointly controlling of rotor D4, and realizes that climb the wall function provides reliable guarantee for robot.
For improving the security of robot, can a protective device-fender bracket 23 be installed in the periphery of robot.As shown in Figure 2; fender bracket 23 is welded to form by four U-iron silks 24 and an annulus iron wire 25; when fender bracket 23 is installed; the spring of support bar 20 of will landing removes; then U-iron silk 24 1 ends of fender bracket 23 and the support bar 20 that lands of robot are fixed; other end welding annulus iron wire 25, the height of U-iron silk 24 arrives rotor A1, rotor B2, rotor C3, plane, rotor D4 place.The protective device that increases can effectively be avoided rotor A1, rotor B2, the rotor C3 of robot; people and thing around rotor D4 damages in flight course; simultaneously also can avoid robot climbing rotor A1 under the wall state, rotor B2, rotor C3, the interference that bumps of rotor D4 and wall.For increasing the practicality of robot, can also climb wall shank A16 two of robot, climb wall shank B17 and go up and increase apparatus for work, as clamper etc., make robot in climbing the wall process, can carry out operations such as simple clamping operation at the object on the wall.
For improving in-flight aeroperformance of the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention and whole thrust-weight ratio, described rotor A1, rotor B2, rotor C3, the aerofoil profile employing CLARK-Y aerofoil profile of rotor D4.Its feature is under the constant situation of power, has adopted wide blade again, and the design of little blade angle makes robot reach maximum thrust under certain conditions, has improved the thrust-weight ratio of robot integral body.
Described rotor support bar 21 profile cross sections are set to circle, and the numerical solution of employing N-S equation streams the field to rotor and carries out numerical simulation, 21 pairs of rotor influence on flow field of simulation rotor support bar.Analysis result gets, and the outer 21 profile cross sections of rotor support bar are set to circle and can effectively reduce the adverse effect of rotor support bar to the rotor flow field.
The described rotor A1 of robot, rotor B2, rotor C3, spacing is greater than rotor A1, rotor B2, rotor C3 between the rotor D4, the twice of the diameter of rotor D4 own, described spacing is the distance between the rotor pivot, adopt the numerical solution of N-S equation to simulate mutual aerodynamic interference between the rotor, analyze rotor A1, rotor B2, rotor C3, mutual spacing is to rotor influence on flow field separately between the rotor D4.Analysis result gets, each rotor A1 of robot, rotor B2, rotor C3, between the rotor D4 spacing greater than rotor A1, rotor B2, rotor C3, the twice of rotor D4 diameter, thereby effectively avoid rotor A1, rotor B2, rotor C3, rotor D4 aerodynamic interference each other.
To described rotor support bar 21, robot body 9, climb wall thigh A12, climb wall shank A16, climb wall shank B17, etc. the weight of parts be optimized.Promptly under the prerequisite that satisfies the robot working strength, the weight of above-mentioned parts is reduced to minimum.
The motion planning method of the aerial robot of a kind of multi-rotor wheel-leg type multifunctional of the present invention comprises the following aspects:
(1), the motion planning of robot under state of flight.
1, make two groups of rotor A1, rotor B2 and rotor C3, rotor D4 is with opposite direction rotation.
Open rotor drive motors A5, rotor drive motors B6, rotor drive motors C7, rotor drive motors D8 is rotor A1, rotor B2, rotor C3, and rotor D4 provide lift, and two rotors on the diagonal are one group.
2, change rotor A1, rotor B2, rotor C3, rotor D4 speed, robot produces exercises.
Increase simultaneously or reduce four rotor A1, rotor B2, rotor C3, the speed of rotor D4 can produce vertical action; One group of rotor-speed is constant on the maintenance diagonal, and speed of meanwhile other one group of rotor increases, and a speed reduces to produce the attitude of pitching and rolling; The generation of yaw-position then comes from the difference of two groups of rotor A1, rotor B2 and rotor C3, rotor D4 torsional moment.
3, under the robot state of flight, aerial object is grasped operation.
1), as shown in Figure 3, robot is when state of flight, and is generally that both legs are folding, increases robot flight stability and favourable to aeroperformance to reach.
2), in the time of need grabbing object, to climb wall thigh A12, climb wall thigh B13, climb wall shank A16, climbing wall shank B17 makes as arm and is used for grabbing object, at this moment, climb wall thigh A12, climb wall thigh B13 and become big arm, climb wall shank A16, climb wall shank B17 and become forearm, hip joint drive motors A10, hip joint drive motors B11 and knee joint drive motors A14, knee joint drive motors B15 develops into shoulder joint and elbow joint successively, hip joint drive motors A10, hip joint drive motors B11 and knee joint drive motors A14, knee joint drive motors B15 drive joint rotation separately simultaneously, will open arms.
3), as shown in Figure 4, when robot during near aerial object, allow knee joint drive motors A14 on two arms, the knee joint that knee joint drive motors B15 drives separately simultaneously rotates, and object closely is held between wall road wheel A18, the wall road wheel B19.At this moment, the heavy burden of robot increases, and increases rotor A1, rotor B2, rotor C3 simultaneously, and the rotating speed of rotor D4 makes its thrust can balancing gravity, thereby realizes that robot is awing to the operation that grasps of aerial object.
(2), robot transfers the motion planning of climbing the wall state to from state of flight.
1, shown in Fig. 5 a, robot flies to from the nearer position of wall 26, allows robot body's 9 maintenance levels, and both legs are turned up.
2, robot body 9 tilts to wall 26 gradually, wall road wheel A18, and wall road wheel B19 contacts wall 26.
Shown in Fig. 5 b, robot clockwise rotates near the knee joint drive motors A14 of wall 26, drives the wall shank A16 that climbs that is attached thereto and moves to the lower right, at this moment, the center of gravity of robot is offset to the lower right, influenced by this, and robot body 9 tilts to wall 26 gradually.
Shown in Fig. 5 c, the wall hip joint drive motors A10 that climbs of robot clockwise rotates, and drives the wall shank A16 that climbs that is attached thereto and moves to wall 26, till wall road wheel A18 contact wall 26.
3, robot utilizes leg wheel type wall climbing mechanism and rotor to coordinate, and finishes from state of flight to the conversion of climbing the wall state.
Shown in Fig. 5 d, strengthen the rotating speed of rotor drive motors B6, make rotor B2 rotating speed increase, thereby produce bigger thrust, simultaneously the knee joint drive motors B15 of robot counterclockwise rotates, and makes to climb wall thigh B13 and climb wall shank B17 to be close to and to be positioned on the straight line, and the hip joint drive motors B11 of robot is rotated counterclockwise then, work with rotor B2 one, B19 is pushed on the wall 26 with the wall road wheel.So far, the wall road wheel A18 of robot, wall road wheel B19 all contacts wall 26, and has the angle of inclination between robot body 9 and the wall 26, guarantees that robot is adsorbed on the wall 26 can not glide.
(3), robot is at the motion planning of climbing under the wall state.
1, the mode of two-wheeled contact wall is walked along wall.
When robot upwards walks with the mode of two-wheeled contact wall in climbing the wall state, strengthen rotor drive motors A5 simultaneously, rotor drive motors B6, rotor drive motors C7, the rotating speed of rotor drive motors D8, make rotor A1, rotor B2, rotor C3, thereby the rotating speed of rotor D4 increases the thrust of rotor.At this moment, rotor A1, rotor B2, rotor C3, the vertical component of rotor D4 thrust vectoring surpasses robot gravity, and robot just can upwards walk.
Upwards thereby walking also can increase the angle of inclination realization between robot body 9 and the wall 26 by the rotational angle of regulating two knee joints and two hip joints simultaneously.Same, when robot walks downwards with the mode of two-wheeled contact wall in climbing the wall state, can obtain by opposite approach.When robot walks about in climbing the wall state, can be by control rotor A1, rotor B2, rotor C3, the rotating speed of rotor D4, adjust robot body 9 attitude angle, make rotor A1, rotor B2, rotor C3, the gross thrust that rotor D4 produces is walked to the left or to the right thereby promote robot to the left or to the right.
2, alternately contact the upwards walking of mode of wall with single-wheel.
When robot alternately contacts the mode of wall 26 with single wall road wheel A18, wall road wheel B19 in climbing the wall state mode is upwards walked, alternately lift one leg, make and have only one leg to contact in the walking process with wall 26.In the process of walking, rotor A1, rotor B2, rotor C3, rotor D4 cooperates the leg wheel type wall climbing mechanism, guarantees that robot body 9 attitude angle keeps stable.
1) one leg breaks away from wall 26, and makes upwards walking of wall road wheel A18.
Shown in Fig. 6 a, hip joint drive motors B11, knee joint drive motors B15 counterclockwise rotate, the leg that drives wall road wheel B19 place lifts and breaks away from wall 26, increase the rotating speed of rotor drive motors A5, make the thrust of rotor A1 increase, reduce the rotating speed of rotor drive motors B6, make the thrust of rotor B2 reduce, then upwards walking of wall road wheel A18.
2) one leg breaks away from wall 26 in addition, and makes upwards walking of wall road wheel B19.
Shown in Fig. 6 b, hip joint drive motors B11, the rotation of knee joint drive motors B15 clockwise direction make this leg at wall road wheel B19 place contact wall 26 again.Meanwhile, reduce the rotating speed of rotor drive motors A5, make the thrust of rotor A1 reduce; Increase the rotating speed of rotor drive motors B6, make the thrust of rotor B2 increase, and knee joint drive motors A14 is counterclockwise rotated, make this leg at wall road wheel A18 place break away from wall 26.Then upwards walking of wall road wheel B19.
3) two legs hockets successively.
Above-mentioned steps 1), robot has just finished and has climbed under the wall state mode that alternately contacts wall with single-wheel at the wall one-period of walking upwards 2).Repeat such cycle, the two legs of robot alternately is lifted away from wall 26 successively, and upwards walking, and robot is that available single-wheel alternately contacts upwards walking on wall under the mode of wall.When the mode that single-wheel alternately contacts wall was walked downwards, the direction of motion of each parts was opposite.
When robot alternately contacts wall with single-wheel under climbing the wall state mode is carried out the wall walking, bigger to the adaptability of wall 26, can move for 26 times at coarse relatively wall.The mode that alternately contacts wall with single-wheel is walked and is needed rotor drive motors A5, rotor drive motors B6, rotor drive motors C7, rotor drive motors D8 and hip joint drive motors A10, hip joint drive motors B11, knee joint drive motors A14, the knee joint drive motors B15 coordinated movement of various economic factors, and energy consumption is bigger.Therefore, climb in the wall state robot and meet hydraulically rough surface, when being difficult to walk, can walk with the mode that single-wheel alternately contacts wall with the mode of two-wheeled contact wall walking; In that smooth wall is up when walking, in the mode of two-wheeled contact wall walking.
(4), robot is at the motion planning of climbing across obstacle under the wall state.
1, be positioned at the wall road wheel B19 and wall 26 disengagings of top, and leg is lifted to above barrier 27 height.
As Fig. 7 a, when running into wall barrier 27, hip joint drive motors B11 on the one leg above being positioned at and knee joint drive motors B15 guide joint rotation separately, the wall road wheel B19 and the wall 26 that are positioned at the top are disengaged, and lift to enough height, make the leg of top can not run into wall barrier 27.Robot crosses wall barrier 27 along upwards walking of wall 26 fully up to the leg of top.
2, the wall road wheel B19 of the top wall 26 that resumes contacts, the below leg lifts.
As Fig. 7 b, after the leg of robot top was crossed wall barrier 27, hip joint drive motors B11 on the one leg above being positioned at and knee joint drive motors B15 guided joint rotation separately, and the wall road wheel B19 and the wall 26 that are positioned at the top are resumed contacts; Hip joint drive motors A10 on the one leg below being positioned at then and knee joint drive motors A14 guide joint rotation separately, and the wall road wheel A18 and the wall 26 that are positioned at the below are disengaged.Robot continues to cross wall barrier 27 along upwards walking of wall 26 fully up to the leg that is positioned at the below.
3, being positioned at below wall road wheel A18 recovers to contact with wall.
As Fig. 7 c, two legs of robot are all crossed after the wall barrier 27, hip joint drive motors A10 on the one leg below being positioned at and knee joint drive motors A14 guide joint rotation separately, and the wall road wheel A18 and the wall 26 that are positioned at the below are resumed contacts, and promptly finish obstacle detouring.In whole obstacle detouring process, rotor A1, rotor B2, rotor C3, rotor D4 with climb wall thigh A12, climb wall thigh B13, climb wall shank A16, climb wall shank B17 and cooperatively interact, guarantee that the attitude of robot keeps stable.
(5), robot transfers the motion planning of state of flight to from climbing the wall state.
1, static stable being adsorbed on the wall 26 of robot.
2, be positioned at the leg disengaging wall 26 of top.
As Fig. 8 a, hip joint drive motors B11, knee joint drive motors B15 counterclockwise rotate, and drive one leg and lift disengaging wall 26, reduce the rotating speed of rotor drive motors B6, make the thrust of rotor B2 reduce.Appropriateness increases the rotating speed of rotor drive motors A5, makes the thrust of rotor A1 increase, and the gross thrust that many rotors produce can balancing gravity, makes the unlikely downslide of robot.
3, be positioned at the leg disengaging wall 26 of below, finish from climbing the wall state and be converted to state of flight.
As Fig. 8 b, hip joint drive motors A10, knee joint drive motors A14 clockwise direction rotate, and continue to reduce the rotating speed of rotor drive motors B6, make the thrust of rotor B2 reduce, and the rotating speed of appropriateness increase rotor drive motors A5, make the thrust of rotor A1 increase.The thrust direction that produces up to many rotors deviates from wall on being tilted to.
As Fig. 8 c, the hip joint drive motors A10 and the knee joint drive motors A14 that are positioned at this moment on other one leg guide joint rotation separately, and other one leg and wall 26 are disengaged.Strengthen rotor drive motors A5 simultaneously, rotor drive motors B6, rotor drive motors C7, the rotating speed of rotor drive motors D8 makes rotor A1, rotor B2, rotor C3, and the thrust that rotor D4 produces breaks away from robot from wall 26.After breaking away from wall 26, robot is the collapsible wall thigh A12 that climbs, and climbs wall thigh B13 and climbs wall shank A16, climbs wall shank B17, thereby changes state of flight over to.
Claims (4)
1. aerial robot of multi-rotor wheel-leg type multifunctional, comprise the robot body, it is characterized in that, also comprise: rotor A, rotor B, rotor C, rotor D, rotor drive motors A, rotor drive motors B, rotor drive motors C, rotor drive motors D, climb wall thigh A, climb wall thigh B, climb wall shank A, climb wall shank B, hip joint drive motors A, hip joint drive motors B, knee joint drive motors A, knee joint drive motors B, land support bar, rotor support bar, rigidity reinforcing ring, wall road wheel A, wall road wheel B;
The robot body is the circular discoid structure, and four rotor support bars are symmetrical distribution around robot body's lower surface; Rotor drive motors A, rotor drive motors B, rotor drive motors C, rotor drive motors D are screwed respectively in the outer end of rotor support bar, and rotor A, rotor B, rotor C, rotor D are fixed on the turning cylinder of rotor drive motors A, rotor drive motors B, rotor drive motors C, rotor drive motors D successively; And the Plane of rotation of rotor A, rotor B, rotor C, rotor D is positioned at the below of rotor support bar; The rigidity reinforcing ring is concentric with the robot body, is anchored on the below of rotor support bar; The support bar that lands is fixedly connected on rotor support bar and the crossing below of rigidity reinforcing ring respectively;
Climb wall thigh A, climb wall thigh B and be connected with robot body's upper surface by hip joint, climb wall shank A, climb wall shank B by knee joint with climb wall thigh A, climb wall thigh B and be connected, climb wall thigh A, climb wall thigh B and climb wall shank A, climb the symmetrical plane that wall shank B is positioned at robot for two groups; Wall road wheel A, wall road wheel B are positioned at the end of climbing wall shank A, climbing wall shank B; Climb wall thigh A, climb wall thigh B, climb wall shank A, climb two leg wheel type wall climbing mechanisms that wall shank B and wall road wheel A, wall road wheel B form robot;
On hip joint and knee joint, be fixed with hip joint drive motors A, hip joint drive motors B, knee joint drive motors A, knee joint drive motors B respectively.
2. the aerial robot of multi-rotor wheel-leg type multifunctional according to claim 1 is characterized in that: land mounting spring on the support bar.
3. the aerial robot of multi-rotor wheel-leg type multifunctional according to claim 1 is characterized in that: the support bar that lands connects U-iron silk one end, and the U-iron silk other end and an annulus iron wire welding form fender bracket, cover on the outside of described aerial robot.
4. motion planning method of handling the aerial robot of the described multi-rotor wheel-leg type multifunctional of claim 1, it is characterized in that: described planing method comprises that the planning robot is state of flight, transfers to from state of flight and climb the wall state, climb the wall state, climb under the wall state across obstacle and transfer state of flight to from climbing the wall state that concrete motion planning process is as follows:
(1), the motion planning of robot under state of flight;
Two rotors on I, the diagonal are one group, make two groups of rotor A, rotor B and rotor C, rotor D with opposite direction rotation;
Open rotor drive motors A, rotor drive motors B, rotor drive motors C, rotor drive motors D, for rotor A, rotor B, rotor C, rotor D provide lift;
II, change rotor A, rotor B, rotor C, rotor D speed make robot produce corresponding actions;
Increase or reduce the vertical action of speed generation of four rotor A, rotor B, rotor C, rotor D simultaneously;
One group of rotor-speed is constant on the maintenance diagonal, and speed of meanwhile other one group of rotor increases, and a speed reduces to produce the attitude of pitching and rolling;
The generation of yaw-position then comes from the difference of two groups of rotor A, rotor B and rotor C, rotor D torsional moment;
Under III, the robot state of flight, aerial object is grasped operation;
I), robot when state of flight, both legs are folding;
Ii), climb wall thigh A, climb wall thigh B, climb wall shank A, climb wall shank B and make as arm and be used for grabbing object, at this moment, climb wall thigh A, climb wall thigh B and become big arm, climb wall shank A, climb wall shank B and become forearm, hip joint drive motors A, hip joint drive motors B and knee joint drive motors A, knee joint drive motors B drive hip joint and knee joint rotation separately simultaneously, and big arm and forearm are opened;
Iii), the knee joint that drives simultaneously separately of knee joint drive motors A, knee joint drive motors B rotates, and object closely is held between wall road wheel A and the wall road wheel B, increases the rotating speed of rotor A, rotor B, rotor C, rotor D simultaneously;
(2), robot transfers the motion planning process of climbing the wall state to from state of flight;
(1) robot flies to from the nearer position of wall, allows robot body's maintenance level, and both legs are turned up;
(2) robot clockwise rotates near the knee joint drive motors A of wall, drives the wall shank A that climbs that is attached thereto and moves to the lower right, and the robot body tilts to wall gradually;
The wall hip joint drive motors A that climbs of robot clockwise rotates, and drives the wall shank A that climbs that is attached thereto and moves to wall, and wall road wheel A contacts wall;
(3) rotating speed of increasing rotor drive motors B, make rotor B rotating speed increase, simultaneously, knee joint drive motors B counterclockwise rotates, make to climb wall thigh B and climb wall shank B and be positioned at straight line, hip joint drive motors B is rotated counterclockwise then, works with rotor B one, and B is pushed on the wall with the wall road wheel;
(3), robot is at the motion planning of climbing under the wall state;
The mode of I, two-wheeled contact wall is walked along wall;
Strengthen rotor drive motors A simultaneously, rotor drive motors B, rotor drive motors C, the rotating speed of rotor drive motors D makes rotor A, rotor B, rotor C, and the vertical component of rotor D thrust vectoring surpasses robot gravity, and robot is walking upwards;
Increase angle of inclination between robot body and the wall by the rotational angle of regulating two knee joints and two hip joints simultaneously;
Equally, when robot walks downwards, obtain by opposite approach, when robot walks about in climbing the wall state, rotating speed by control rotor A, rotor B, rotor C, rotor D, adjust robot body's attitude angle, make gross thrust that rotor A, rotor B, rotor C, rotor D produce to the left or to the right;
II, alternately contact the upwards walking of mode of wall with single-wheel;
I), hip joint drive motors B, knee joint drive motors B counterclockwise rotate, the leg that drives wall road wheel B place lifts the disengaging wall, increase the rotating speed of rotor drive motors A, make the thrust of rotor A increase, reduce the rotating speed of rotor drive motors B, make the thrust of rotor B reduce, wall road wheel A is walking upwards;
Ii), the rotation of hip joint drive motors B, knee joint drive motors B clockwise direction, make this leg at wall road wheel B place contact wall again; Simultaneously, reduce rotor drive motors A rotating speed, increase the rotating speed of rotor drive motors B, knee joint drive motors A counterclockwise rotates, and this leg at wall road wheel A place breaks away from wall, and wall road wheel B is walking upwards;
Iii), the above-mentioned mode that alternately contacts wall with the single-wheel step I of walking upwards), robot has just finished and has climbed under the wall state mode that alternately contacts wall with single-wheel at the wall one-period of walking upwards step I i), repeat such cycle, robot promptly alternately contacts mode upwards walking on wall of wall with single-wheel, when the mode that single-wheel alternately contacts wall was walked downwards, the direction of motion of each parts was opposite;
(4), robot is at the motion planning of climbing across obstacle under the wall state;
I, the wall road wheel B that is positioned at the top and wall break away from, and leg is lifted to above obstacle height;
When running into the wall barrier, hip joint drive motors B and knee joint drive motors B guide joint rotation separately, wall road wheel B and wall are disengaged, and lift to enough height, make the leg of top can not run into the wall barrier; Wall road wheel A crosses the wall barrier along upwards walking of wall fully up to the leg of top;
II, the wall road wheel B wall that resumes contacts, the below leg lifts;
The robot one leg is crossed the wall barrier, and hip joint drive motors B on it and knee joint drive motors B guide joint rotation separately, and wall road wheel B and wall are resumed contacts; Hip joint drive motors A and knee joint drive motors A guide joint rotation separately, and wall road wheel A and wall disengage; Wall road wheel B continues to cross the wall barrier along upwards walking of wall fully up to the leg that is positioned at the below;
III, wall road wheel A recover to contact with wall, cross the wall barrier;
After two legs of robot were all crossed the wall barrier, hip joint drive motors A and knee joint drive motors A guided joint rotation separately, and wall road wheel A and wall are resumed contacts, and promptly finish obstacle detouring;
(5), robot transfers the motion planning of state of flight to from climbing the wall state;
I, static stable being adsorbed on the wall of robot;
II, hip joint drive motors B and knee joint drive motors B counterclockwise rotate, drive wall road wheel B and break away from wall, reduce the rotating speed of rotor drive motors B, make the thrust of rotor B reduce, increase the rotating speed of rotor drive motors A, the thrust of rotor A is increased;
III, hip joint drive motors A, the rotation of knee joint drive motors A clockwise direction reduce rotor drive motors B rotating speed, and the thrust of rotor B is reduced, and the rotating speed of appropriateness increase rotor drive motors A, make the thrust of rotor A increase;
Hip joint drive motors A and knee joint drive motors A guide joint rotation separately, wall road wheel A and wall are disengaged, strengthen rotor drive motors A simultaneously, rotor drive motors B, rotor drive motors C, the rotating speed of rotor drive motors D, the thrust that rotor A, rotor B, rotor C, rotor D are produced breaks away from robot from wall; After the disengaging, robot promptly folds and climbs wall thigh A, climbs wall thigh B and climb wall shank A, climbs wall shank B, thereby changes state of flight over to.
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