CN102556341A - Group flying robot with distribution and self-assembly characteristics - Google Patents
Group flying robot with distribution and self-assembly characteristics Download PDFInfo
- Publication number
- CN102556341A CN102556341A CN201110400157XA CN201110400157A CN102556341A CN 102556341 A CN102556341 A CN 102556341A CN 201110400157X A CN201110400157X A CN 201110400157XA CN 201110400157 A CN201110400157 A CN 201110400157A CN 102556341 A CN102556341 A CN 102556341A
- Authority
- CN
- China
- Prior art keywords
- robot
- module
- butt joint
- monomer
- flying
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a group flying robot with distribution and self-assembly characteristics. The group flying robot comprises at least three single robots, wherein in the single robots, single forward peddle robots and single backward peddle robots are required to be simultaneously included; the single robots are respectively of a hollow cylindrical structure and are formed by coating casings with stands; and each single robot consists of a ground motion module, an active docking module, a passive abutting module, a sensing and positioning module, a flying power module and a control module which are respectively connected and arranged on the stand. The group flying robot disclosed by the invention has powerful ground omni-directional motion capability and can form various complex target configurations by self assembly and realize the integral flying control. The group flying robot has stronger environmental adaptability, control redundancy and survival ability.
Description
Technical field
The present invention relates to a kind of groups flying robot, the flying robot of this colony is made up of a plurality of flying robot of independently colony monomers, has typical distributed, self assembly and modularization characteristics.
Background technology
Colony's self-organizing behavior through the social biology of observation of nature circle; People have recognized strong functions extendability, alerting ability and comformability when colony's robot is executed the task in destructuring environment complicated and changeable through working in coordination with each other, have begun the research of the theoretical and application facet of colony's robot.At present; The field of research of colony's robot mainly is confined to the self assembly of ground motion robot, from reconstruct and motion control aspect; For research, mostly also rest on the control and the application of the fixing single aircraft of configuration, owing to receive the restriction of himself structure in the flying robot field of field extensive application such as monitoring, detection, exploration, the disaster relief and military affairs; Determine the simplification of its function, can't adapt to environment complicated and changeable and task.Though more rare researchs have related to the contents such as the collaborative and control of forming into columns between a plurality of fixed configuration aircraft, the theoretical property that relates to the colony's aircraft with distributed, self assembly and modularization characteristics and the research of practicality are arranged seldom.The extendability that colony's robot is good, redundancy and robustness do not have and can effectively be used in the flying robot field.
Summary of the invention
The object of the present invention is to provide a kind of have distributed and the flying robot of colony self-assembly characteristic; Adopt idea of modular; The flying robot of colony is made up of at least three robot monomers, and each robot monomer all is a complete autonomous module, can form all types of target configuration through the self assembly between the robot monomer; Have stronger adaptive capacity to environment, and realize distributed flicon.
The present invention adopts following technical scheme to realize: the present invention is a kind of have distributed and flying robot of colony self-assembly characteristic; Adopt modularization idea to design; The flying robot of colony is made up of at least three robot monomers; And comprise positive oar and anti-oar robot monomer simultaneously, each robot monomer by the ground motion module, initiatively to connection module, passive connection module, sensing locating module, flying power module and control module are formed.Described positive oar is different with the inclination angle that anti-oar robot monomer mainly is a screw propeller in the flying power module.
Described ground motion module is installed in the bottom of robot monomer; Can flexible and comprehensive ground motion ability be provided for the robot monomer; What adopt is the scheme that a plurality of omnidirectionals wheel is evenly arranged on circuferential spacing; Each omnidirectional's wheel utilizes minimum resource to realize that the active omnidirectional of robot monomer drives by the DC machine individual drive control of a tape code dish feedback.
Described active comprises the butt joint buckle to connection module, and is passive to having the butt joint draw-in groove on the connection module, has 1 side to be the active interface in each side of robot monomer, and all the other sides are passive interface.
Described sensing locating module comprises a pair of simulation infrared receiving/transmission sensor that is arranged on each side, is used for short-range target robot range finding location and keeps away barrier; Be arranged on each side 3 and be one group RGB three look one LED, 3 LED of every group are arranged in the three-dimensional space with certain size relationship, conveniently utilize monocular CMOS camera to observe the location; Be arranged in the monocular CMOS camera on the active interface, confirm the position relation between the robot monomer with the imaging size of observing LED.
Described flying power module can be divided into two types according to the classification of screw propeller, " positive oar module " and " anti-oar module "; Described flying power module comprises 1 screw propeller, drives the dc brushless motor and the circular air-flow duct of design in the middle of body of this screw propeller.Individual machine people monomer does not have complete flight performance, but just can obtain complete flight function through distributed collaboration control after a plurality of positive oars and the anti-oar robot monomer butt joint combination.
Described control module is done the algorithm of master control by the treater STM32 F103ZCT6 of 1 ARM framework; In addition the treater of 1 ARM framework is that the IMU module of core is done the inertial navigation attitude algorithm, and bottom is that core is done all motors drive controlling and the information acquisition of simulating the infrared receiving/transmission sensor of (comprising dc brushless motor that drives screw propeller and the DC machine that drives omnidirectional's wheel) with the AVRMega8 micro controller system; Signalling methods between the robot monomer has two kinds of selections: the Zigbee wireless networking that with cc2431 is core can not provide efficient communication set up physical connection between the robot monomer through self assembly before and after the assembling, can also connect through the CAN bus physical after the assembling of robot monomer and set up communication.
Described have distributed and the flying robot of colony self-assembly characteristic, and the rack construction of the body of each robot monomer is built by rigidity carbon fiber square tube big, that density is lighter, and body fuselage mainly is to adopt the EPP material.
The described flying robot of colony with distributed and self-assembly characteristic can be connected to form various configurations through the mutual butt joint between the robot monomer; The active interface of each robot monomer can dock with any one passive interface of another one robot monomer, also can dock each other with the active interface of another robot monomer to constitute the flying robot of colony with target configuration; For a kind of target configuration, the robot monomer can have multiple different connection mode to realize, the connection topology that can link to each other in order and form an annular, and also can link to each other successively forms tree topology or forms a kind of compound mesh topology.
Advantage of the present invention is:
(1) characteristics of colony's robot " distributed " and " self assembly " is introduced in the flying robot's of colony the research and design, designed a kind of independently flying robot of colony being connected into all types of target configuration and flying with distributed strategy control.
(2) adopt idea of modular, each main functional parts of robot monomer itself is distinguished into different design modules, each module has the connecting interface of standard, makes things convenient for installation and maintenance.
(3) the ground motion scheme adopts omnidirectional's wheel to set up the simplest omnidirectional mobile platform, makes robot have ground maneuver ability flexibly, conveniently rapidly moves to the target location, improves the butt joint efficient in the self assembling process.
(4) designed a kind of mechanical type butt joint clamping body and relevant symmetrical coupled crank rocker driver train thereof based on buckle and draw-in groove; Relevant interface is divided into initiatively interface and passive interface, and the active interface of each robot monomer can dock with any passive interface or the active interface of another robot monomer.
(5) mode of butt joint guiding utilization camera observation LED imaging size relation is carried out the accurate location of relative pose between the robot; LED is arranged in the three-dimensional space with certain size relationship, makes that the relative pose relation between the robot can be definite fully through a monocular cam imaging.
(6) structure of fuselage and Control System Design are compact, adopt EPP and carbon fibre material to do shell and frame respectively, and quality and volume are all smaller.
Description of drawings
Fig. 1 is the structural representation of the colony flying robot of the present invention with distributed and self-assembly characteristic robot monomer;
Fig. 2 is a ground motion module arrangement scheme drawing;
Fig. 3 is initiatively to connection module and passive butt joint module diagram;
Fig. 3 A, Fig. 3 B initiatively dock the module driving mechanism sketch;
Fig. 4 is sensing locating module and flying power module arrangement scheme drawing;
Fig. 5 is the structure and the schematic appearance of control module and frame and shell;
Fig. 6 is three rotor configuration robots;
Fig. 7 is four rotor configuration robots;
Fig. 8 is many rotors configuration robot.
Among the figure:
1. ground motion module; 2. initiatively to connection module; 3. passive to connection module; 4. sensing locating module; 5. flying power module; 6. shell; 7. frame; 8. robot monomer; 9. robot monomer; 10. robot monomer; 11. control module 101. omnidirectionals wheel; 102. DC machine; 103. erection support; 201. butt joint buckle; 202. revolute pair; 203. drive link; 204. driving disk; 205. drive motor; 206. axle drive shaft; 301. butt joint draw-in groove; 401.CMOS camera; 402. top LED; 403. bottom LED; 404. simulation infrared receiving/transmission sensor; 501 screw propellers; 502. dc brushless motor; 503. air-flow duct; 504. motor subpanel; 505. base; 506. support.
The specific embodiment
To combine accompanying drawing and embodiment that the present invention is done further detailed description below:
Of the present invention have distributed and the flying robot of colony self-assembly characteristic, and each flying robot of colony is made up of at least three robot monomers, and will comprise positive oar robot monomer and anti-oar robot monomer simultaneously in three robot monomers.Described robot monomer is as shown in Figure 1; Geometric shape structure with rule; Can be polygonal hollow cylinder structures (perhaps being called the hollow prism structure) such as triangle, quadrangle, pentagon or hexagon; Described hollow cylinder structure coats frame 7 (like Fig. 5) by shell 6 and forms; Each robot monomer by ground motion module 1, initiatively to connection module 2, passive connection module 3, sensing locating module 4, flying power module 5 and control module 11 (like Fig. 5) are formed, each module all has specific size and function independently, and good commonality and interchangeability are arranged between the module; Fig. 1 has showed the embodiment of the robot monomer of a complete function; Robot monomer among the described embodiment is hexagonal hollow prism structure, and shell 6 inside are the frame 7 that is coated, described ground motion module 1, initiatively to being arranged on the frame 7 connection module 2, passive connection module 3, sensing locating module 4, flying power module 5 all are connected with control module 11.Connection combination through correlation module between a plurality of robot monomers can obtain changeable configuration and configuration, has simple body construction, abundant form configuration and powerful adaptive capacity.
As depicted in figs. 1 and 2; Described ground motion module 1 is installed in the bottom of the frame 7 of robot monomer, mainly is made up of omnidirectional's wheel 101, DC machine 102 and erection support 103, and is preferred; Be furnished with three omnidirectionals altogether in frame 7 bottoms of each robot monomer in the present embodiment and take turns 101; Angular interval is 120 degree, be evenly distributed on the circuferential spacing of chassis, each omnidirectional wheel 101 all with a DC machine 102 output shaft direct connections; Described DC machine 102 is also claimed direct current encoder feedback motor for having the closed loop DC servo motor of incremental encoder.Described erection support 103 is fixed on the frame 7, has the motor mounting groove on the erection support 103, and DC machine 102 can partly insert in the motor mounting groove and through being threaded and be fixed on the erection support 103.Described omnidirectional wheel 101 can be provided with a plurality of, and connection mode is identical with the connection mode of three omnidirectional's wheels 101.
See also shown in Figure 3ly, described active is set on one of them side initiatively connection module 2 on connection module 2 and the passive side that connection module 3 is arranged on the robot monomer; Be called initiatively interface; It is passive to connection module 3 all to be set on all the other sides, is called passive interface, and described active comprises a pair of buckle 201 that initiatively docks to connection module 2; Two butt joint buckles 201 certain distances that on short transverse and horizontal direction, all will stagger, promptly two dock bayonet sockets 201 difference highly are set.In the present embodiment, two butt joint bayonet socket 201 vertical dimension direction spacing 15mm, level interval 80mm; Describedly passive connection module 3 is meant and docks buckle 201 cooresponding butt joint draw-in grooves 301; Be arranged on active interface and the passive interface, two butt joint draw-in grooves 301 cooperatively interact to tighten with described butt joint buckle 201 and can realize that the effective of two robot monomers is connected; The driver module of described butt joint buckle 201 adopts symmetrical coupled crank rocker form to drive, and drives the achieve a butt joint folding of buckle of two butt joint buckles 201 symmetry actions simultaneously through a buckle drive motor 205.Shown in Fig. 3 A, 3B, two butt joint buckles 201 are rotatably connected on the frame 7 through two revolute pairs 202 respectively, are connected with drive link 203 respectively on two butt joint buckles 201; The other end of described two drive link 203 is connected on the driving disk 204; Described driving disk 204 is positioned at two butt joint buckle 201 position intermediate, and driving disk 204 center fixation connect the axle drive shaft 206 of drive motor 205, under the driving of drive motor 205; Axle drive shaft 206 drives driving disk 204 and rotates; And then through 201 rotations of the 203 drive butt joint buckles of the drive link on the driving disk 204, the folding butt joint that achieves a butt joint buckle 201 and dock draw-in groove 301, like this; Just can realize two connections between the robot monomer, with two robot monomer assemblings.
See also shown in Figure 4; Described sensing locating module 4 mainly comprises a CMOS camera 401, a top LED402, two bottom LED 403 and two simulation infrared receiving/transmission sensors 404, and described CMOS camera 401 is installed on the active interface of robot monomer; A described top LED402 and two bottom LED403 form the LED group; On each side of robot monomer, all arrange a LED group; Wherein two bottom LED403 separation are on the side of robot monomer, and top LED402 is arranged near the inboard position of body, and LED403 is high in the aspect ratio bottom; From the top view of active interface, it is the leg-of-mutton geometric centre position on summit with LED that CMOS camera 401 is positioned at three just.Described simulation infrared receiving/transmission sensor 404 also is arranged on each side of robot monomer; And preferably with the horizontal throw between two simulation infrared receiving/transmission sensors 404 greater than the distance between two bottom LED403 on the side, place, be about to two simulation infrared receiving/transmission sensors 404 and be arranged on as far as possible position, both sides of the edge near the side, place.The height of described top LED402 is higher than the height of CMOS camera 401, guarantees when achieving a butt joint, and each CMOS camera 401 can be seen each LED of LED group.Preferably, LED403 position, described bottom is higher than the position of two simulation infrared receiving/transmission sensors 404, the position that the position of two simulation infrared receiving/transmission sensors 404 is higher than butt joint bayonet socket 201 or docks draw-in groove 301.
Described flying power module 5 mainly is made up of screw propeller 501, dc brushless motor 502 and air-flow duct 503, and is preferred, and single rotor that wherein said screw propeller 501 be a bifolium is oar at a slow speed, on the direct fastening output shaft that is installed in dc brushless motor 502; Described dc brushless motor 502 is fixed on through being threaded in the motor subpanel 504 of base 505, and described base 505 is connected fixing with frame 7, and as shown in Figure 4, base 505 can be connected on the frame 7 through three supports 506; Described air-flow duct 503 is circular gas channels that formed by the casing 6 of EPP material, and air-flow duct 503 cooperates with screw propeller 501, can supercharging and reinforcing, and the flight of drive machines people's monomer.
Of the present invention have distributed and the flying robot of colony self-assembly characteristic; Be characterized in that the robot monomer is different according to the blade inclination direction of the screw propeller of being installed 501; (described inclination direction is meant the angle of rotating shaft vertical plane surface of blade plane and the oar of screw propeller; If define positive oar angle is that the anti-oar angle of canonical is negative) be divided into two types of positive oar robot monomer and anti-oar robot monomers, like Fig. 6, Fig. 7 and Fig. 8.Have colony's flying machine man-hour of flight performance when the assembling of robot monomer forms, a positive oar robot monomer and an anti-oar robot monomer will be arranged at least.
See also shown in Figure 5; The shell 6 of robot monomer of the present invention adopts the EPP foamed materials, and frame 7 adopts the carbon fiber square tube of lightweight, and shell 6 is coated on the outside of frame 7; Forming profile is six prisms of hollow, and this hollow structure is just as the air-flow duct 503 of screw propeller 501.Link on the frame 7 be fixed with surface driving module 1, initiatively the shell 6 to connection module 2, passive relevant position to connection module 3, sensing locating module 4 and flying power module 5 is provided with perforate; The installation that had so both guaranteed above-mentioned each module is firm; Played the certain protection effect again; Especially to the protection of sensing locating module 4, infringement bumps and rubs in the time of the robot monomer butt joint avoided.
Of the present invention have distributed and a flying robot of colony self-assembly characteristic, through initiatively to the butt joint buckle 201 of connection module 2 with initiatively connection module 2 or passive butt joint draw-in groove 301 to connection module 3 chucking that cooperatively interacts is formed a whole robot that has certain configuration.A kind of comparison basis is as shown in Figure 6 with simple configuration; A passive interface of the active interface chucking robot monomer 9 (anti-oar robot monomers) of robot monomer 10 (positive oar robot monomer); A passive interface of the active interface chucking robot monomer 8 (positive oar robot monomers) of robot monomer 9; Between the passive interface of the active interface of robot monomer 8 chucking robot monomer 10,3 bare metal people monomers through each other in order the mode of chucking form the configuration of one three rotor.As shown in Figure 7, four robot monomers are through tightening the whole robot that can realize four common rotor configurations in order, comprising two positive oar robot monomers and two anti-oar robot monomers; More general; Tighten through butt joint between a plurality of positive oars and the anti-oar robot monomer; Can realize the foundation of all target configurations in the robot configuration space, as shown in Figure 8, form a whole robot that adapts to concrete environment and application requirements; Be made up of eight robot monomers, positive oar and choosing of anti-oar robot monomer can rationally be chosen according to flying to control the algorithm inspectable space.
See also shown in Figure 9; Described control module 11 is attached on the frame 7; The main control board of control module 11 adopts STM32 F103ZCT6; Be arranged on the frame 7 of interface institute correspondence position initiatively, ground motion module 1 and sensing locating module 4 are specially each MEGA8 and are responsible for controlling a LED group and a simulation infrared receiving/transmission sensor 404 in 101, two the sensing locating modules 4 of omnidirectional's wheel in the surface driving module 1 by 3 AVRMega8 (MEGA8) control.Dc brushless motor 502 in the flicon module 5 drives through the electric tuned plate of 1 MEGA8 control; The attitude measurement of robot monomer is accomplished by the IMU module that is core with second STM32 treater; Described IMU module is nine compound IMU modules that are integrated with triaxial accelerometer, three-axis gyroscope and three betwixt mountains Magnetic Sensors; Above-described IMU module and MEGA8 control desk all are affiliated on the I2C bus, control through I2C bus and governor circuit board communications and by main control board.Be reserved with the message pick-up passage of PPM remote control coding (MEGA128 PPM Ecoder) on the described main control board,, conveniently fly the control debugging through ICP (Input Signal Capture) the channel-decoded telecommand of treater; The Zigbee module of radio communication is a core with the cc2431 with positioning function; Accept master control control through USART (Universal Synchronous/Asynchronous Receiver/Transmitter); Communication between the different robot monomers has Zigbee and two kinds of selection modes of CAN: the Zigbee wireless networking that with cc2431 is core can not provide efficient communication set up physical connection between the robot monomer through self assembly before and after the assembling, can connect through the CAN bus physical after the assembling of robot monomer and set up communication.
The quantity of described MEGA8 attendes the side number of the prism structure that quantity and robot monomer are set of omnidirectional wheel 101 according to ground motion module 1, can adjust, and MEGA8 also is attached on the frame 7.In the present embodiment; Therefore three omnidirectional's wheels 101 are provided with three MEGA8, and each MEGA8 is responsible for controlling omnidirectional's wheel; Simultaneously, each MEGA8 also is used for respectively being responsible for controlling the LED group in the sensing locating module 4 on two sides that are adjacent and simulating infrared receiving/transmission sensor 404.
Of the present invention have distributed and the flying robot of colony self-assembly characteristic; The characteristics of colony's robot " distributed " and " self assembly " are introduced in flying robot's the research and design; Broken through the restriction in traditional colony robot research field, designed a kind of independently flying robot of colony being connected into all types of target configuration and flying with distributed strategy control; Adopt idea of modular, the robot architecture is simple, and is with low cost, and various complex environments and application requirements are all had stronger comformability and extendability.
The above; Be merely one of preferable specific embodiment of the present invention; But protection scope of the present invention is not limited thereto; Any technical personnel of being familiar with the present technique field is in the technical scope that the present invention discloses, and the variation that can expect easily or alternative all should be encompassed within protection scope of the present invention.
Claims (5)
1. have distributed and the flying robot of colony self-assembly characteristic; It is characterized in that: the described flying robot of colony is made up of at least three robot monomers; And to comprise positive oar robot monomer and anti-oar robot monomer in the robot monomer simultaneously; Can independently dock assembling between a plurality of robot monomers; Form the whole robot of arbitrary configuration structure in the two-dimensional space; Described robot monomer is polygonal hollow cylinder structure; Described hollow cylinder structure coats frame by shell and forms, each robot monomer by the ground motion module, initiatively to connection module, passive connection module, sensing locating module, flying power module and control module are formed, described ground motion module, active are to being arranged on the frame connection module, passive connection module, sensing locating module, flying power module all are connected with control module;
Described ground motion module mainly is made up of omnidirectional's wheel, DC machine and erection support, described each omnidirectional wheel all with a DC machine output shaft direct connection; Described erection support is fixed on the circumference of frame bottom, has the motor mounting groove on the erection support, and DC machine partly inserts in the motor mounting groove and through being threaded and is fixed on the erection support;
Described active is arranged on the side of robot monomer to connection module to connection module and passive; Be set on one of them side initiatively connection module; Be called initiatively interface; It is passive to connection module all to be set on all the other sides, is called passive interface, and described active comprises a pair of buckle and a pair of butt joint draw-in groove of initiatively docking to connection module; Describedly passive connection module be meant and dock the cooresponding butt joint draw-in groove of buckle, described butt joint buckle with arbitrarily initiatively or the chucking that cooperatively interacts of the butt joint draw-in groove on the passive interface realize being connected of two robot monomers;
Described sensing locating module mainly comprises a CMOS camera, a top LED, two bottom LED and two simulation infrared receiving/transmission sensors, and described CMOS camera is installed on the active interface of robot monomer; A described top LED and two bottom LED form the LED group; On each side of robot monomer, all arrange a LED group; Wherein two bottom LED separation are on the side of robot monomer, and top LED is arranged near the inboard position of body, and LED is high in the aspect ratio bottom; From the top view of active interface, it is the leg-of-mutton geometric centre position on summit with LED that the CMOS camera is positioned at three just; Described simulation infrared receiving/transmission sensor also is arranged on each side of robot monomer, and the horizontal throw between two simulation infrared receiving/transmission sensors is greater than the distance between two LED on the side, place;
Described flying power module mainly is made up of screw propeller, drive motor and air-flow duct, and wherein said screw propeller is directly fastening to be installed on the output shaft of drive motor; Described drive motor is fixed on through being threaded in the motor subpanel of base, and described base is connected fixing with frame; Described air-flow duct is a circular gas channel that is formed by the casing of EPP material;
The main control board of described control module adopts STM32 F103ZCT6; Be arranged on the frame of active interface institute correspondence position; Drive motor in ground motion module, sensing locating module and the flicon module is respectively by a slice MEGA8 Single-chip Controlling; The attitude measurement of robot monomer is accomplished by the IMU module that with the STM32 treater is core; Described IMU module is nine compound IMU modules that are integrated with triaxial accelerometer, three-axis gyroscope and three betwixt mountains Magnetic Sensors, and above-described IMU module and MEGA8 singlechip control panel all are affiliated on the I2C bus, controls through I2C bus and governor circuit board communications and by main control board; Be reserved with the message pick-up passage of PPM remote control coding on the described main control board,, conveniently manually fly the control debugging through the ICP channel-decoded telecommand of treater; The Zigbee module of radio communication is a core with the cc2431 with positioning function, accepts master control control through USART, and the communication between the different robot monomers has Zigbee and two kinds of selection modes of CAN.
2. according to claim 1 have distributed and the flying robot of colony self-assembly characteristic, it is characterized in that: the height of described top LED is higher than CMOS shooting thickness of head.
3. according to claim 1 have distributed and the flying robot of colony self-assembly characteristic; It is characterized in that: LED position, described bottom is higher than the position of two simulation infrared receiving/transmission sensors, the position that the position of two simulation infrared receiving/transmission sensors is higher than the butt joint buckle or docks draw-in groove.
4. according to claim 1 have distributed and the flying robot of colony self-assembly characteristic, it is characterized in that: described butt joint is buckled in difference highly is set, and is staggeredly arranged.
5. according to claim 1 have distributed and the flying robot of colony self-assembly characteristic; It is characterized in that: described butt joint buckle structure is specially: two butt joint buckles are rotatably connected on the frame through two revolute pairs respectively; Link respectively on two butt joint buckles drive link is arranged; The other end of described two drive link is connected on the driving disk, and described driving disk is positioned at two butt joint buckle position intermediate, and the driving disk center fixation connects the axle drive shaft of drive motor; Under the driving of drive motor; Axle drive shaft drives driving disk and rotates, and then rotates through the drive of the drive link on driving disk butt joint buckle, and buckle and the folding of docking draw-in groove achieve a butt joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110400157XA CN102556341B (en) | 2011-12-05 | 2011-12-05 | Group flying robot with distribution and self-assembly characteristics |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110400157XA CN102556341B (en) | 2011-12-05 | 2011-12-05 | Group flying robot with distribution and self-assembly characteristics |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102556341A true CN102556341A (en) | 2012-07-11 |
| CN102556341B CN102556341B (en) | 2013-11-13 |
Family
ID=46403301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110400157XA Active CN102556341B (en) | 2011-12-05 | 2011-12-05 | Group flying robot with distribution and self-assembly characteristics |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102556341B (en) |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102913275A (en) * | 2012-11-01 | 2013-02-06 | 金纯� | Search and rescue system based on crawler robots |
| CN103217700A (en) * | 2013-04-10 | 2013-07-24 | 南昌大学 | GPS (global positioning system), IMU (inertial measurement unit), magnetometer and barometer combinational navigation system device |
| CN103353768A (en) * | 2013-06-18 | 2013-10-16 | 陕西理工学院 | Three-quadrant sunshine tracking sensing apparatus |
| CN104089617A (en) * | 2014-07-31 | 2014-10-08 | 四川阿泰因机器人智能装备有限公司 | Locating device and method for mobile robot |
| CN104590553A (en) * | 2015-01-05 | 2015-05-06 | 惠州市加迈电器有限公司 | Rescue equipment |
| CN105644777A (en) * | 2016-03-17 | 2016-06-08 | 中国直升机设计研究所 | Assembly type multi-rotor aerocraft |
| CN105799923A (en) * | 2016-04-28 | 2016-07-27 | 南京信息工程大学 | Four-rotor aircraft-based carrying manipulator |
| CN106005361A (en) * | 2016-04-07 | 2016-10-12 | 珠海市磐石电子科技有限公司 | Aviation power unit, flight rack of aviation power unit and modularized aircraft of aviation power unit |
| CN106339553A (en) * | 2016-08-29 | 2017-01-18 | 华东师范大学 | Method and system for reconstructing flight control of spacecraft |
| CN106354930A (en) * | 2016-08-29 | 2017-01-25 | 华东师范大学 | Adaptive reconstruction method and system for spacecraft |
| CN106427436A (en) * | 2015-08-10 | 2017-02-22 | 汤翠华 | Modularization all-terrain traffic device |
| CN106794895A (en) * | 2016-05-18 | 2017-05-31 | 深圳市创客工场科技有限公司 | Multi-rotor aerocraft |
| CN106828896A (en) * | 2016-12-29 | 2017-06-13 | 东莞产权交易中心 | Modularized splice formula unmanned plane |
| CN107000837A (en) * | 2016-05-18 | 2017-08-01 | 深圳市创客工场科技有限公司 | It is a kind of can ground running unmanned plane |
| CN107263457A (en) * | 2017-06-22 | 2017-10-20 | 清华大学 | Split type robot and combinations thereof, separation method |
| CN107472521A (en) * | 2017-06-22 | 2017-12-15 | 深圳大学 | The control method of more rotor flying platforms and more rotor flying platforms |
| CN107963204A (en) * | 2017-11-13 | 2018-04-27 | 西北工业大学 | One kind is based on modular combination culvert type rotor wing unmanned aerial vehicle |
| CN108394242A (en) * | 2018-05-15 | 2018-08-14 | 西南交通大学 | A kind of air-ground amphibious modularization robot |
| CN108557073A (en) * | 2018-02-06 | 2018-09-21 | 雷安静 | A kind of duct unmanned aerial vehicle Systems Air performance method |
| CN108557072A (en) * | 2018-02-06 | 2018-09-21 | 雷安静 | A kind of duct unmanned aerial vehicle air show system |
| CN109334968A (en) * | 2018-02-06 | 2019-02-15 | 酷黑科技（北京）有限公司 | Can aerial Real-time Reconstruction duct aircraft, docking separation method and system |
| CN109398704A (en) * | 2018-12-19 | 2019-03-01 | 向杰 | A kind of urgent transport flight equipment |
| EP3450309A1 (en) * | 2017-08-28 | 2019-03-06 | Airbus Operations GmbH | A coupling device for coupling modules with each other, aircraft comprising the coupling device, method for the coupling and decoupling of modules |
| CN109460060A (en) * | 2018-12-05 | 2019-03-12 | 四川航天系统工程研究所 | It is unmanned to equip intelligent coordinated control assembly and control method |
| CN109703751A (en) * | 2019-02-22 | 2019-05-03 | 中船重工(武汉)凌久信息技术有限公司 | A kind of military survey mission instrument |
| CN110065071A (en) * | 2019-05-11 | 2019-07-30 | 西安电子科技大学 | A kind of group's self assembly robot modeling method based on the description of three element configurations |
| CN112318504A (en) * | 2020-10-28 | 2021-02-05 | 浙江树人学院（浙江树人大学） | Multi-sensor industrial robot cooperative motion device and control method thereof |
| CN113165728A (en) * | 2019-12-03 | 2021-07-23 | 向杰 | Honeycomb array multi-rotor composite part, rack and aircraft |
| CN115122306A (en) * | 2022-07-28 | 2022-09-30 | 哈尔滨工业大学（深圳） | Rotationally symmetric reconfigurable robot platform and method thereof |
| CN116022324A (en) * | 2023-01-04 | 2023-04-28 | 浙江大学 | Chain type autonomous splicing and reconstructing modularized aerial robot |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017184095A1 (en) * | 2016-04-22 | 2017-10-26 | Gozluklu Burak | Three dimensional scalable and modular aircraft |
| CN111666215A (en) * | 2020-06-04 | 2020-09-15 | 清华大学 | Desktop cluster hardware platform for distributed algorithm testing and human-computer interaction research |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005125466A (en) * | 2003-10-27 | 2005-05-19 | Sharp Corp | Group robot system, sensing robot included in group robot system, base station included in group robot system and pheromone robot included in group robot system |
| CN101549494A (en) * | 2009-05-11 | 2009-10-07 | 北京航空航天大学 | Monomer automatic transformable robot with self-assembly characteristic |
| CN101890724A (en) * | 2010-07-02 | 2010-11-24 | 上海理工大学 | Standard quick-change interface of SWARM robot module |
| CN101913152A (en) * | 2010-07-23 | 2010-12-15 | 上海理工大学 | Swarm-robot passive rotating assembly |
-
2011
- 2011-12-05 CN CN201110400157XA patent/CN102556341B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005125466A (en) * | 2003-10-27 | 2005-05-19 | Sharp Corp | Group robot system, sensing robot included in group robot system, base station included in group robot system and pheromone robot included in group robot system |
| CN101549494A (en) * | 2009-05-11 | 2009-10-07 | 北京航空航天大学 | Monomer automatic transformable robot with self-assembly characteristic |
| CN101890724A (en) * | 2010-07-02 | 2010-11-24 | 上海理工大学 | Standard quick-change interface of SWARM robot module |
| CN101913152A (en) * | 2010-07-23 | 2010-12-15 | 上海理工大学 | Swarm-robot passive rotating assembly |
Non-Patent Citations (1)
| Title |
|---|
| 魏洪兴等: "模块化群体机器人构型分析与自组装控制", 《机械工程学报》, vol. 46, no. 13, 31 July 2010 (2010-07-31), pages 100 - 107 * |
Cited By (48)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102913275B (en) * | 2012-11-01 | 2014-09-17 | 金纯� | Search and rescue system based on crawler robots |
| CN102913275A (en) * | 2012-11-01 | 2013-02-06 | 金纯� | Search and rescue system based on crawler robots |
| CN103217700A (en) * | 2013-04-10 | 2013-07-24 | 南昌大学 | GPS (global positioning system), IMU (inertial measurement unit), magnetometer and barometer combinational navigation system device |
| CN103353768A (en) * | 2013-06-18 | 2013-10-16 | 陕西理工学院 | Three-quadrant sunshine tracking sensing apparatus |
| CN104089617A (en) * | 2014-07-31 | 2014-10-08 | 四川阿泰因机器人智能装备有限公司 | Locating device and method for mobile robot |
| CN104089617B (en) * | 2014-07-31 | 2017-07-04 | 四川阿泰因机器人智能装备有限公司 | A kind of mobile robot positioner and localization method |
| CN104590553B (en) * | 2015-01-05 | 2017-06-20 | 泉州东行贸易有限公司 | Rescue aid |
| CN104590553A (en) * | 2015-01-05 | 2015-05-06 | 惠州市加迈电器有限公司 | Rescue equipment |
| CN106427436A (en) * | 2015-08-10 | 2017-02-22 | 汤翠华 | Modularization all-terrain traffic device |
| CN105644777A (en) * | 2016-03-17 | 2016-06-08 | 中国直升机设计研究所 | Assembly type multi-rotor aerocraft |
| CN106005361B (en) * | 2016-04-07 | 2019-06-28 | 珠海市磐石电子科技有限公司 | Aviation power unit and its flight rack and modular aircraft |
| CN106005361A (en) * | 2016-04-07 | 2016-10-12 | 珠海市磐石电子科技有限公司 | Aviation power unit, flight rack of aviation power unit and modularized aircraft of aviation power unit |
| CN105799923A (en) * | 2016-04-28 | 2016-07-27 | 南京信息工程大学 | Four-rotor aircraft-based carrying manipulator |
| US11027832B2 (en) | 2016-05-18 | 2021-06-08 | Makeblock Co., Ltd. | Multi-rotor aircraft |
| CN106794895A (en) * | 2016-05-18 | 2017-05-31 | 深圳市创客工场科技有限公司 | Multi-rotor aerocraft |
| EP3459846A4 (en) * | 2016-05-18 | 2020-01-15 | Makeblock Co., Ltd. | Multi-rotor aircraft |
| CN107000837A (en) * | 2016-05-18 | 2017-08-01 | 深圳市创客工场科技有限公司 | It is a kind of can ground running unmanned plane |
| CN106794895B (en) * | 2016-05-18 | 2020-04-17 | 深圳市创客工场科技有限公司 | Multi-rotor aircraft |
| WO2017197602A1 (en) * | 2016-05-18 | 2017-11-23 | 深圳市创客工场科技有限公司 | Multi-rotor aircraft |
| CN107000837B (en) * | 2016-05-18 | 2020-10-13 | 深圳市创客工场科技有限公司 | Unmanned aerial vehicle capable of walking on ground |
| CN106339553A (en) * | 2016-08-29 | 2017-01-18 | 华东师范大学 | Method and system for reconstructing flight control of spacecraft |
| CN106354930A (en) * | 2016-08-29 | 2017-01-25 | 华东师范大学 | Adaptive reconstruction method and system for spacecraft |
| CN106339553B (en) * | 2016-08-29 | 2019-06-21 | 华东师范大学 | A kind of the reconstruct flight control method and system of spacecraft |
| CN106354930B (en) * | 2016-08-29 | 2019-06-21 | 华东师范大学 | A kind of self-adapting reconstruction method and system of spacecraft |
| CN106828896A (en) * | 2016-12-29 | 2017-06-13 | 东莞产权交易中心 | Modularized splice formula unmanned plane |
| CN107472521A (en) * | 2017-06-22 | 2017-12-15 | 深圳大学 | The control method of more rotor flying platforms and more rotor flying platforms |
| CN107263457A (en) * | 2017-06-22 | 2017-10-20 | 清华大学 | Split type robot and combinations thereof, separation method |
| EP3450309A1 (en) * | 2017-08-28 | 2019-03-06 | Airbus Operations GmbH | A coupling device for coupling modules with each other, aircraft comprising the coupling device, method for the coupling and decoupling of modules |
| CN107963204B (en) * | 2017-11-13 | 2020-09-22 | 西北工业大学 | Duct type rotor unmanned aerial vehicle based on modular combination |
| CN107963204A (en) * | 2017-11-13 | 2018-04-27 | 西北工业大学 | One kind is based on modular combination culvert type rotor wing unmanned aerial vehicle |
| CN109334968A (en) * | 2018-02-06 | 2019-02-15 | 酷黑科技（北京）有限公司 | Can aerial Real-time Reconstruction duct aircraft, docking separation method and system |
| CN108557073A (en) * | 2018-02-06 | 2018-09-21 | 雷安静 | A kind of duct unmanned aerial vehicle Systems Air performance method |
| CN108557072A (en) * | 2018-02-06 | 2018-09-21 | 雷安静 | A kind of duct unmanned aerial vehicle air show system |
| WO2019154118A1 (en) * | 2018-02-06 | 2019-08-15 | 酷黑科技（北京）有限公司 | Ducted aircraft capable of implementing aerial reconstruction in real time, and docking separation method and system |
| CN108394242A (en) * | 2018-05-15 | 2018-08-14 | 西南交通大学 | A kind of air-ground amphibious modularization robot |
| CN109460060A (en) * | 2018-12-05 | 2019-03-12 | 四川航天系统工程研究所 | It is unmanned to equip intelligent coordinated control assembly and control method |
| CN109398704A (en) * | 2018-12-19 | 2019-03-01 | 向杰 | A kind of urgent transport flight equipment |
| CN109703751A (en) * | 2019-02-22 | 2019-05-03 | 中船重工(武汉)凌久信息技术有限公司 | A kind of military survey mission instrument |
| CN109703751B (en) * | 2019-02-22 | 2022-01-28 | 韩绍泽 | Military detection flight instrument |
| CN110065071B (en) * | 2019-05-11 | 2021-11-09 | 西安电子科技大学 | Group self-assembly robot configuration method based on three-element configuration description |
| CN110065071A (en) * | 2019-05-11 | 2019-07-30 | 西安电子科技大学 | A kind of group's self assembly robot modeling method based on the description of three element configurations |
| CN113165728A (en) * | 2019-12-03 | 2021-07-23 | 向杰 | Honeycomb array multi-rotor composite part, rack and aircraft |
| CN112318504B (en) * | 2020-10-28 | 2021-09-14 | 浙江树人学院（浙江树人大学） | Multi-sensor industrial robot cooperative motion device and control method thereof |
| CN112318504A (en) * | 2020-10-28 | 2021-02-05 | 浙江树人学院（浙江树人大学） | Multi-sensor industrial robot cooperative motion device and control method thereof |
| CN115122306A (en) * | 2022-07-28 | 2022-09-30 | 哈尔滨工业大学（深圳） | Rotationally symmetric reconfigurable robot platform and method thereof |
| CN115122306B (en) * | 2022-07-28 | 2024-05-10 | 哈尔滨工业大学（深圳） | Rotationally symmetrical reconfigurable robot platform and method thereof |
| CN116022324A (en) * | 2023-01-04 | 2023-04-28 | 浙江大学 | Chain type autonomous splicing and reconstructing modularized aerial robot |
| CN116022324B (en) * | 2023-01-04 | 2024-04-12 | 浙江大学 | Chain type autonomous splicing and reconstructing modularized aerial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102556341B (en) | 2013-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102556341B (en) | Group flying robot with distribution and self-assembly characteristics | |
| US10293937B2 (en) | Unmanned aerial vehicle protective frame configuration | |
| CN108698685B (en) | Unmanned aerial vehicle, frame, kit, assembly method and operation method thereof | |
| Dorigo et al. | Swarmanoid: a novel concept for the study of heterogeneous robotic swarms | |
| JP5586983B2 (en) | Rotor transportation means | |
| CN103025609A (en) | Reconfigurable battery-operated vehicle system | |
| KR20160031602A (en) | Reconfigurable Aerial Vehicle Based on Multi-rotor | |
| CN106428541A (en) | Transformable aircraft | |
| CN204473140U (en) | New vertical landing tilting rotor two axle aircraft | |
| CN113844221B (en) | Amphibious three-mode flight adsorption wall climbing robot and control method | |
| KR101519954B1 (en) | Vertical Take Off and Landing Unmanned Aerial Vehicle | |
| CN107933915A (en) | A kind of air-robot based on six rotor wing unmanned aerial vehicles | |
| CN108423153A (en) | Modularized micro unmanned plane | |
| CN208248488U (en) | Modularized micro unmanned plane | |
| CN205554623U (en) | Optical zoom nacelle | |
| CN111356632A (en) | System for forming a two-degree-of-freedom actuator, for example for changing the pitch angle of a propeller blade during rotation | |
| CN108583182A (en) | A kind of amphibious ball shape robot in sky land | |
| US20220001971A1 (en) | Modular flat-packable drone kit | |
| KR20160102826A (en) | Multi rotor unmanned aerial vehicle | |
| CN113074698B (en) | Intelligent tower inclination detection system based on machine vision | |
| CN214930610U (en) | Unmanned aerial vehicle capable of sailing on water | |
| CN112478125B (en) | Flight array system with autonomous flight capability | |
| CN211618110U (en) | Diaxon VTOL unmanned aerial vehicle | |
| CN113359866A (en) | Cooperative control framework of distributed multi-dwelling spherical unmanned system | |
| CN106516079A (en) | Assembly type aircraft based on micro electromechanical system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230801 Address after: Room 407, building 5, yard 98, lianshihu West Road, Mentougou District, Beijing 102300 Patentee after: AUBO (Beijing) Intelligent Technology Co.,Ltd. Address before: 100191 No. 37, Haidian District, Beijing, Xueyuan Road Patentee before: BEIHANG University |
|
| TR01 | Transfer of patent right |