CN107160962A - A kind of air-ground amphibious multipurpose robot - Google Patents
A kind of air-ground amphibious multipurpose robot Download PDFInfo
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- CN107160962A CN107160962A CN201710311346.7A CN201710311346A CN107160962A CN 107160962 A CN107160962 A CN 107160962A CN 201710311346 A CN201710311346 A CN 201710311346A CN 107160962 A CN107160962 A CN 107160962A
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- 238000001931 thermography Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of air-ground amphibious multipurpose robot, including robot body (A), power supply and control system (B), application apparatus (C), robot body (A) includes both sides fuselage (A1), equipment compartment panel (A2), flying power system (A3), Surface power drive system (A4), power supply includes power supply (B1) with control system (B), land sky chip (B2), ground control chip (B3), application apparatus main control chip (B4), application apparatus (C) includes motion-sensing component (C1), weak magnetic sensor (C2), baroceptor (C3), mechanical arm (C4), smog and Temperature and Humidity module (C5), camera (C6), infrared eyeglass (C7), voice module (C8).The present invention had both been provided with caterpillar type robot heavy load ability, strong cross-country power, long operating radius；The quick climbing ability of multi-rotor unmanned aerial vehicle and high speed ride-through capability are provided with again.
Description
Technical field
The invention belongs to unmanned aerial vehicle platform and intelligent robot apparatus field, more particularly to a kind of air-ground amphibious multi-purpose machine
People.
Background technology
Since the unmanned plane since development, being mostly only can middle flight on high, the undercarriage form of traditional unmanned plane
Although diversified, intensity is high, is a lack of effective ground motion ability.And traditional robot is quickly transported in the task of execution
Scene is sent, robot is driven towards danger zone work by operating personnel with remote control equipment.But traditional robot is all by car
Wheel, crawler belt are operated on land, larger by the influence of topography, are only applicable to danger zone of the flat without fluctuating physical features,
And some with a varied topography, ravines and guillies criss-cross areas will cause very big obstruction to the action of robot, thus robot is performed
Work produces very negative impact.
The content of the invention
Goal of the invention：For the defect of existing unmanned plane or robot, design it is a kind of both can with traditional many rotors nobody
The air-ground amphibious multipurpose robot that the same VTOL of machine can move ahead by self power on the ground again.
Technical scheme：A kind of air-ground amphibious multipurpose robot, including robot body, power supply and control system, using setting
It is standby, it is characterised in that：
The robot body includes both sides fuselage, equipment compartment panel, flying power system, Surface power drive system, described
Both sides fuselage include symmetrically arranged left plate, right plate, the left plate and right plate again respectively include it is parallel to each other and in
The interior plate and outer panel of portion's hollow out, by being located at the cogged belt of some bands at edge between the interior plate and outer panel
Wheel and bearing are linked together, and the external engagement one of some belt pulleys is enclosed with cogged crawler belt；The interior plate and outer
Side plate fixes the carbon pipe of a horizontal direction between the openwork part of middle part, is equipped with the carbon pipe vertically disposed with carbon pipe
Two groups of coaxial double-rotary wings；Pass through some symmetrically arranged connecting rods, screw and middle equipment on-deck between described two interior plates
Plate is connected；The flying power system includes four groups of flight DC Brushless Motors, DC speed regulation frequency converters, is respectively mounted
In the centre of every group of coaxial double-rotary wing；The Surface power drive system includes two groups of ground driving DC Brushless Motors, straight
Flow speed regulation frequency converter, be separately mounted to left plate, on right plate, the ground driving DC Brushless Motor drive belt pulley with
Crawler belt, completes walking of the robot on ground；The power supply and control system and the application apparatus are all by being located at
Hitch point and nylon rope on standby on-deck plate are fixed on the equipment compartment panel；
The power supply includes power supply with control system, flies control chip, ground control chip, application apparatus main control chip, institute
State fly control chip and ground control chip driven respectively by producing pwm pulse signal the flight DC Brushless Motor and
Ground drives DC Brushless Motor, controls flight and the ground running of the air-ground amphibious multipurpose robot；The application is set
Standby main control chip controls action and the function of the various application apparatus；
The application apparatus includes motion-sensing component, weak magnetic sensor, baroceptor, mechanical arm, smog and temperature
Detection module, camera, infrared eyeglass, voice module；The application apparatus is bought without exception, and only programmed algorithm is adjusted,
Excessive narration is not done.
It is preferred that, the crawler belt is made up of polyurethane material, and the belt pulley is made up of nylon material；
It is preferred that, interior plate, outer panel and the equipment compartment panel of the both sides fuselage are carbon fiber plate material, carbon fiber ratio
Weight is 1.732, and specific strength is high, and density is low；Dustproof and waterproof, while isolation high temperature expands its application to a certain extent；
It is preferred that, the connecting rod is almag material, and impact resistance, damping performance is good；
It is preferred that, the ground control chip includes closed-loop control system, advance systems stabilisation.
Due to the structure using belt pulley and crawler haulage, impact resistance specific to crawler belt, big approach angle, big departure angle
Characteristic is played, and its advance, retrogressing, speed and changed power is the remote control control by remote control, computer, smart mobile phone etc.
The rotation that the ground drives DC Brushless Motor is made, and then realizes the control to belt pulley and crawler belt.
And flying power system protection, inside crawler belt, general collision is not enough to cause damage to aviation mechanism；It is described
Fly control chip by the remote control installed in the internal winged control module such as remote control, computer, smart mobile phone, produce pwm pulse
Signal drives the flight DC Brushless Motor, so as to control the state of flight of the air-ground amphibious multipurpose robot.
The main distinction of the coaxial double-rotary wing and the single rotor of tradition is two groups of rotors using contrarotation up and down, is used for
Balance rotor torque so that robot can also leave ground after toppling with inverted flight state, can actively resist and incline
Cover；In structure, due to using two secondary rotors, compared with single rotor of identical weight, according to identical disk loading, it revolves
Wing radius is only the 70% of single rotor.
The manufacturing process of the robot body is described below as the procedural order of processing technology：
It is with the left plate needed for engraving machine machine-shaping fuselage, right plate, equipment compartment panel first；Then after handling
The belt pulley of nylon material combined with bearing, by the left plate of preprocessing, right plate, equipment compartment panel and corresponding magnalium
The connecting rod of alloy material links together, and is fixed on correspondence position；By the connection of left plate, right plate and equipment compartment panel, juxtaposition
In calibrated horizontal on tooling platform；Then by belt pulley, crawler belt, coaxial double-rotary wing, flying power system, Surface power drive system point
It is not installed on the robot body.
Beneficial effects of the present invention：Unmanned plane is combined by the present invention with land caterpillar type robot, learns from other's strong points to offset one's weaknesses, both had
There are caterpillar type robot heavy load ability, strong cross-country power, long operating radius；Multi-rotor unmanned aerial vehicle is provided with again quickly to climb
Ability and high speed ride-through capability, two are combined and make it have great practicality；It can carry out any between land and air double-used pattern
Switching；Realtime graphic can be shown in earth station, while inside unmanned plane later image image point can be easy to archives data
Analysis；There is mechanical arm, it is seen that thing can sense crawl；Equipped with smog and Temperature Humidity Sensor and infrared eyeglass, fire is detected
Realtime Alerts can be carried out.
Brief description of the drawings
Fig. 1 is air-ground amphibious multipurpose robot front view (being faced in front of from right plate) of the present invention；
Fig. 2 is air-ground amphibious multipurpose robot perspective view (down being overlooked from front) of the present invention.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair
The present invention is described in detail.
A kind of air-ground amphibious multipurpose robot, including robot body A, power supply and control system B, application apparatus C, it is special
Levy and be：
The robot body A includes both sides fuselage A1, equipment compartment panel A2, flying power system A3, Surface power drive system
Unite A4, and the both sides fuselage A1 includes symmetrically arranged left plate A11, right plate A12, the left plate A11 and right plate A12
Include interior plate 1 parallel to each other and middle part hollow out and outer panel 2 respectively again, by setting between the interior plate 1 and outer panel 2
The cogged belt pulley 3 of some bands and bearing at edge link together, the circle band of external engagement one of some belt pulleys 3
Cogged crawler belt 4；The interior plate 1 and outer panel 2 fix the carbon pipe 5 of a horizontal direction between the openwork part of middle part,
It is equipped with and vertically disposed two groups of coaxial double-rotary wings 6 of carbon pipe on the carbon pipe 5；By some between described two interior plates 1
Symmetrically arranged connecting rod 7, screw are connected with middle equipment compartment panel A2；The flying power system A3 includes four groups and flown
Row DC Brushless Motor 9, DC speed regulation frequency converter, are separately mounted to the centre of coaxial double-rotary wing 6 described in every group；The ground
Dynamical system A4 includes two groups of ground driving DC Brushless Motors 10, DC speed regulation frequency converters, is separately mounted to left plate
On A11, right plate A12, the ground driving DC Brushless Motor 10 drives belt pulley 3 and crawler belt 4, completes the land sky two
Dwell walking of the multipurpose robot on ground；The power supply and control system B and the application apparatus C are by being located at equipment on-deck
Hitch point 11 and nylon rope on plate A2 are fixed on the equipment compartment panel A2；
The power supply includes power supply B1 with control system B, flies control chip B2, ground control chip B3, application apparatus master control
Chip B4, the winged control chip B1 and ground control chip B2 drive the flight straight by producing pwm pulse signal respectively
Brushless motor 9 and ground driving DC Brushless Motor 10 are flowed, flight and the ground of the air-ground amphibious multipurpose robot is controlled
Walk in face；The application apparatus main control chip B4 controls action and the function of various application apparatus；
The application apparatus C includes motion-sensing component C1, weak magnetic sensor C2, baroceptor C3, mechanical arm C4, cigarette
Mist and Temperature and Humidity module C5, camera C6, infrared eyeglass C7, voice module C8；The application apparatus is bought without exception, only right
Programmed algorithm is adjusted, and excessive narration is not done.
It is preferred that, the crawler belt 4 is made up of polyurethane material, and the belt pulley 3 is made up of nylon material；
It is preferred that, interior plate A11, the outer panel A12 and equipment compartment panel A2 of the both sides fuselage A1 are carbon fiber plate material
Matter, carbon fiber proportion is 1.732, and specific strength is high, and density is low；Dustproof and waterproof, while isolation high temperature expands it to a certain extent
Application；
It is preferred that, the connecting rod 7 is almag material, and impact resistance, damping performance is good；
It is preferred that, the ground control chip B3 includes closed-loop control system, advance systems stabilisation.
Due to the structure being driven using belt pulley 3 and crawler belt 4, impact resistance, big approach angle, big departure angle specific to crawler belt
Characteristic played, its advance, retrogressing, speed and changed power are the remote controls by remote control, computer, smart mobile phone etc.
Control the ground to drive the rotation of DC Brushless Motor 10, and then realize the control to belt pulley 3 and crawler belt 4.
And flying power system A3 is protected inside crawler belt 4, general collision is not enough to cause damage to aviation mechanism；Institute
State and fly control chip B2 by the remote control installed in the internal winged control module such as remote control, computer, smart mobile phone, produce PWM
Pulse signal drives the flight DC Brushless Motor 9, so as to control the flight shape of the air-ground amphibious multipurpose robot
State.
The main distinction of the coaxial double-rotary wing 6 and the single rotor of tradition is two groups of rotors using contrarotation up and down, is used
To balance rotor torque so that robot can also leave ground after toppling with inverted flight state, can actively resist
Topple；In structure, due to using two secondary rotors, compared with single rotor of identical weight, according to identical disk loading, its
Rotor radius is only the 70% of single rotor.
The manufacturing process of the robot body A is described below as the procedural order of processing technology：
It is with the left plate A11 needed for engraving machine machine-shaping fuselage, right plate A12, equipment compartment panel A2 first；Then
The belt pulley 3 of nylon material after processing is combined with bearing, by the left plate A11, right plate A12, equipment on-deck of preprocessing
Plate A2 and the connecting rod 7 of corresponding almag material link together, and are fixed on correspondence position；By left plate A11, right plate
A12 is connected with equipment compartment panel A2, is placed in calibrated horizontal on tooling platform；Then by belt pulley 3, crawler belt 4, coaxial double-rotary wing
6th, flying power system A3, Surface power drive system A4 are respectively arranged on the robot body A.
Embodiment：(left plate and right plate respectively have 2 groups of DCB Specimens to the rotor crawler belt unmanned planes of wheelbase 900mm eight, come to 4
Group DCB Specimen, that is, eight rotors), bare weight 4.2kg, non-loaded effective hang time, ground was effectively advanced up to 25min
30km。
The flying power system A3, power is provided for robot body flight；Using the coaxial anti-of model 150MNK
To motor, 35 inches of diameter, thrust are 50kg propeller, and complete machine, which is born a heavy burden, can reach 80kg.
The Surface power drive system A4, using 2820 DC Brushless Motor, voltage 16V is shared dynamic with flight system
Power power supply；Motor collocation 14.5:1 reduction gearing ripple case, to increase its moment of torsion, improves the strength that crawler belt advances；Motor
Control using VESC Benjamins electricity tune of increasing income, it is simple in construction, it is powerful, can be with addition to possessing general vehicle electric tune feature
It is controlled by FOC modes, is particularly suitable for high pulling torque working condition；Enabling power is big, and control is accurate, and thoughts are noninductive all to prop up
Hold；Band CAN interface, supports the speed preset of PWM/CAN/UART and analog voltage signal, and crawler belt is advanced so as to realize
The step-less adjustment of speed；Power meets conventional use and required with bearing a heavy burden up to 3000W；Strap brake energy regeneration function, can be accurate
Pid regulator parameters.
The application apparatus main control chip B4 uses STM32F1 family chips, and its kernel uses CORTEX-M3, most
High 72MHz working frequencies, when 0 latent period of memory is accessed up to 1.25DMips/MHZ, can carry out monocycle multiplication
With the computing such as hardware division, its speed of service is fast, make the characteristics of low in energy consumption its can apply in terms of power electronic system should
With motor driving, application control is medical, handheld device, GPS platforms programmable controller (PLC), in terms of frequency converter scanner
Exploitation.
The application apparatus C, enumerates wherein composition and function as follows：
The mechanical arm C4 is 6DOF mechanical arm, easily and flexibly captures thing；
Smog and the Temperature Humidity Sensor C5 is monitored in real time to surrounding environment, such as runs into toxic gas, it may occur that
Alarm；MQ135 modules are used for detecting sulfur dioxide in air, Nitrogen element, and the concentration of the toxic gas such as alcohol, the concentration passes through
Arduino plates are driven, and the normalized form of concentration of toxic gases is switched to using related voltage, and simulating mouth by arduino receives
Data, when air quality is better, the numerical value is bigger, when numerical value is smaller, reaches the alarm line set by us,
Arduino plates can touch buzzer, so that robot sends alarm；The camera：Imaged using the Sony of 700 lines
Head, real-time Transmission is carried out by TS5832 figures transmission module, and figure in real time is carried out to surrounding environment and is passed.
The camera C6 uses the line FQV of high definition 700, and its feature is：Camera aims at FPV customizations, is directed to FPV high
Clear camera of taking photo by plane is made, and miniature ultralight design, image clearly is fine and smooth, and high definition image quality, color is true to nature, and illumination is low, Width funtion,
Micro energy lose, there is common (million) high definition camera lens, ultra-small volume 25mm*25mm, only 15 grams or so of weight.
The infrared eyeglass C7 utilizes the principle of thermal imaging, for monitoring fire；When fire occurs for forest, the temperature of big fire
Degree is significantly larger than the temperature of surrounding environment, and raging flame can produce strong heat radiation, with around forming the huge radiation of difference
Difference；Infrared eyeglass can observantly capture the strong region of heat radiation, after being imaged, by wireless communication transmission to base
Stand, help staff to find fire, and determine flame range scope, so as to realize early warning and put out a fire in the function of one；Moreover, real
Now the expense of the function is well below thermal imaging system on the market, and maintenance cost is low, facilitates unmanned plane to load and large-scale promotion.
The foregoing is only the present invention preferred embodiments, be not intended to limit the invention, the present invention spirit and
Within any modification, equivalent substitution and improvements made within principle etc., the system architecture that should be included in the present invention.
Claims (4)
1. a kind of air-ground amphibious multipurpose robot, including robot body (A), power supply and control system (B), application apparatus (C),
It is characterized in that：
The robot body (A) is moved including both sides fuselage (A1), equipment compartment panel (A2), flying power system (A3), ground
Force system (A4), the both sides fuselage (A1) includes symmetrically arranged left plate (A11), right plate (A12), the left plate
(A11) and right plate (A12) but respectively include interior plate (1) parallel to each other and middle part hollow out and outer panel (2), the inner side
Linked together between plate (1) and outer panel (2) by being located at the cogged belt pulley of some bands (3) and bearing at edge, institute
The external engagement one for stating some belt pulleys (3) is enclosed with cogged crawler belt (4)；The interior plate (1) and outer panel (2) are at middle part
The carbon pipe (5) of a horizontal direction is fixed between openwork part, is equipped with and vertically disposed two groups of carbon pipe on the carbon pipe (5)
Coaxial double-rotary wing (6)；Pass through some symmetrically arranged connecting rods (7), screw and middle equipment between described two interior plates (1)
On-deck plate (A2) is connected；The flying power system (A3) includes four groups of flight DC Brushless Motors (9), DC speed regulations
Frequency converter, is separately mounted to the centre of coaxial double-rotary wing (6) described in every group；The Surface power drive system (A4) includes two groups of ground
DC Brushless Motor (10), DC speed regulation frequency converter are driven, left plate (A11) is separately mounted to, on right plate (A12), institute
State ground driving DC Brushless Motor (10) and drive belt pulley (3) and crawler belt (4), complete the air-ground amphibious multipurpose robot
Walking on ground；The power supply is with control system (B) and the application apparatus (C) all by being located on equipment compartment panel (A2)
Hitch point (11) and nylon rope be fixed on the equipment compartment panel (A2)；
The power supply includes power supply (B1), the empty chip (B2) in land, ground control chip (B3), application apparatus with control system (B)
Main control chip (B4), the empty chip (B1) in the land and ground control chip (B2) are driven by producing pwm pulse signal respectively
The flight DC Brushless Motor (9) and ground driving DC Brushless Motor (10), control the air-ground amphibious multiple purpose aeroplane
The flight of device people and ground running；The application apparatus main control chip (B4) controls action and the function of various application apparatus；
The application apparatus (C) includes motion-sensing component (C1), weak magnetic sensor (C2), baroceptor (C3), mechanical arm
(C4), smog and Temperature and Humidity module (C5), camera (C6), infrared eyeglass (C7), voice module (C8).
2. air-ground amphibious multipurpose robot according to claim 1, it is characterised in that：The crawler belt (4) is by polyurethane material
Material is made, and the belt pulley (3) is made up of nylon material.
3. air-ground amphibious multipurpose robot according to claim 1, it is characterised in that：The inner side of the both sides fuselage (A1)
Plate (A11), outer panel (A12) and equipment compartment panel (A2) are carbon fiber plate material, and carbon fiber proportion is 1.732.
4. air-ground amphibious multipurpose robot according to claim 1, it is characterised in that：The connecting rod (7) is almag
Material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710311346.7A CN107160962A (en) | 2017-05-05 | 2017-05-05 | A kind of air-ground amphibious multipurpose robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710311346.7A CN107160962A (en) | 2017-05-05 | 2017-05-05 | A kind of air-ground amphibious multipurpose robot |
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| CN107160962A true CN107160962A (en) | 2017-09-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107839775A (en) * | 2017-11-02 | 2018-03-27 | 中国二十冶集团有限公司 | The crawler type device of transport concrete support |
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| CN201692643U (en) * | 2010-03-15 | 2011-01-05 | 张学元 | Airphibian aircraft |
| CN104494818A (en) * | 2014-11-28 | 2015-04-08 | 吉林大学 | Novel four-rotor-wing amphibious robot |
| CN204309541U (en) * | 2014-12-02 | 2015-05-06 | 长春工业大学 | Air-ground amphibious robot |
| CN205149428U (en) * | 2015-10-20 | 2016-04-13 | 南京市锅炉压力容器检验研究院 | Empty amphibious emergency rescue investigation robot in land |
| CN206703862U (en) * | 2017-05-05 | 2017-12-05 | 张蒙宇 | A kind of air-ground amphibious multipurpose robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107839775A (en) * | 2017-11-02 | 2018-03-27 | 中国二十冶集团有限公司 | The crawler type device of transport concrete support |
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