CN109398009A - Land sky caterpillar mobile robot - Google Patents
Land sky caterpillar mobile robot Download PDFInfo
- Publication number
- CN109398009A CN109398009A CN201811316105.2A CN201811316105A CN109398009A CN 109398009 A CN109398009 A CN 109398009A CN 201811316105 A CN201811316105 A CN 201811316105A CN 109398009 A CN109398009 A CN 109398009A
- Authority
- CN
- China
- Prior art keywords
- component
- robot
- crawler belt
- mobile
- ground moving
- 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.)
- Pending
Links
- 230000004888 barrier function Effects 0.000 claims abstract description 7
- 239000000463 material Substances 0.000 claims abstract description 3
- 230000003139 buffering effect Effects 0.000 claims description 7
- 238000013461 design Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000011835 investigation Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 239000000203 mixture Substances 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 238000004880 explosion Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
Land sky caterpillar mobile robot, it is related to a kind of mobile multi-purpose intelligent robot with aerial rotor flying of land crawler belt, and the present invention is solves the problems, such as that caterpillar type robot ground travel speed is slow and handling capacity is not good enough, the aerial concealment of aerial rotor robot is poor and without ground traveling ability.Land sky caterpillar mobile robot is made of airflight system and ground moving system, and two systems are connected by a snap to assemble and to separate, and activity when two systems carry high energy density cells to support that it is together or respectively independent long.Airflight system is equipped with six rotors of lift, and is equipped with the sensing elements such as electronic compass, infra red thermograph.Ground moving system is equipped with two lightweight crawler belts, and main drive wheel drives crawler belt to realize that robot is moved forward and backward and pivot stud, auxiliary swing arm assist people pass through the larger barrier in ground.The mobile skeleton of crawler belt is equipped with cavity and selects low-density and high-strength material to reduce overall mass.It is movable to present invention can be suitably applied to investigation, the rescue on ground and aerial complex environment etc..
Description
Technical field
The present invention relates to a kind of land sky caterpillar mobile robots.
Background technique
With robotics development, legged mobile robot can satisfy certain special performance requirements, but due to its knot
Structure freedom degree is too many, and control is more complicated, using being subject to certain restrictions.Although wheeled mobile robot movement speed is very fast,
But its landform handling capacity is not relatively good enough.Caterpillar mobile robot can be well adapted for ground variation, have relatively good
Self-resetting and obstacle climbing ability.UAV is a kind of with wireless remotecontrol or by not manned based on itself process control
Aircraft.It has that small in size, low cost, easy to use, low to environmental requirement, survival ability is stronger etc. compared with manned aircraft
Advantage, by the favor of people.UAV is accurate with its, efficient and nimble scouting, interference, deception, search, school are penetrated
And under the conditions of informal fight etc. multi abilities, play obvious action, and caused the art of war to emerge one after another,
The research of the relevant issues such as equipment technology.Land sky caterpillar mobile robot has concentrated caterpillar robot and UAV
Advantage.This robot can carry out the activities such as exploration on a large scale, investigation, search and rescue in the sky, and specifically detect in determination
After surveying target, closely activity can be carried out in such a way that hidden investigation is advanced on land.Meanwhile this robot can also be in sky
It is middle when being found by enemy, hidden in such a way that crawler belt is advanced on ground.
Summary of the invention
Caterpillar type robot ground travel speed is slow and handling capacity is not relatively good enough, aerial rotor machine to solve by the present invention
People's aerial concealment difference and the problem of without ground traveling ability, and then it is mobile with aerial rotor flying to provide a kind of land crawler belt
Land sky caterpillar mobile robot.
The technical solution adopted by the present invention to solve the above technical problem is:
Land sky caterpillar mobile robot includes airflight system and ground moving system, and wherein airflight system includes electricity
Sub- compass, flight skeleton, hanging stick, flying power component, rotor protecting component, high definition tracking photorecorder and holder component, power
Source and sensing control component, buffering ball component, hanging stick support frame, infra red thermograph and holder component；Ground moving system packet
Include land sky mobile system connection buckle, crawler belt, main drive wheel, auxiliary swing arm, the mobile skeleton of crawler belt, crawler belt support wheel, ground shifting
For giving sensing position monitoring and control component, high definition tracking photorecorder, two systems can be cooperateed with or respectively be independently executed appoints dynamic system energy
Business, land sky mobile system connection buckle links together two systems, electronic compass be fixed on the geometric center of flight skeleton and
For the navigation and positioning of robot, hanging stick is distributed in around flight skeleton, and it is dynamic that the other end of every hanging stick is equipped with flight
Power component, rotor protecting component and high definition tracking photorecorder and holder component, rotor protecting component is for protecting flying power portion
Rotor in part, high definition tracks photorecorder and holder component is that robot constructs 360o full-view image, power source and sensing control
Component is placed in the support plate that buffering ball component is built, and hanging stick support frame is connected to flight skeleton and connects with land sky mobile system
Buckle, infra red thermograph and holder component are fixed between hanging stick, are used for tracked mobile target, ground moving system is by shoe
Band is advanced, and every crawler belt is driven by front and back main drive wheel, and auxiliary swing arm is placed in the core wheel position of main drive wheel to assist ground
Face mobile system breaks the barriers, and crawler belt mobile skeleton connection front and back main drive wheel, every crawler belt is supported by crawler belt support wheel,
Ground moving system energy is placed in the mobile skeleton of crawler belt, the energy for ground moving system for giving sensing position monitoring and control component
Source is placed in the mobile skeleton of crawler belt, the Image Acquisition for ground moving system for giving long-range control, high definition tracking photorecorder.
Compared with the prior art, the invention has the following beneficial effects:
Land sky caterpillar mobile robot of the invention includes airflight system and ground moving system, airflight system with
Ground moving system can together or respectively independently execute task, and two systems are equipped with energy resource supply independent, pass through land sky
Mobile system connection buckle connects or separates two systems, and the lift of airflight system is from six uniformly distributed flying powers
Component, and lower section is set there are six high definition tracking photorecorder and holder component, and robot can be made to obtain the 360o high definition of external environment
Full-view image, ground concussion is to power source and sensing control component when buffering ball component can effectively reduce the work of ground moving system
Influence, infra red thermograph and holder component guarantee that robot is round-the-clock to object real-time tracking, in ground moving system
Main drive wheel, hanging stick support frame etc. are hollow design in the case where proof strength, to reduce robot quality, improve machine
People's load capacity assists swing arm to provide Auxiliary support so that robot passes through biggish barrier for ground moving system.This hair
It is bright to give full play to the advantage of caterpillar type robot and aerial rotor robot respectively, robot is realized in different operating conditions
Efficient operation ability；Since robot is powered using storage source, guarantee that robot has small noise and superior reliability；
Structure of the invention is ingenious in design, easy to implement；The mankind under harsh environment are difficult to reach or the work dangerous to the mankind,
Land sky caterpillar mobile robot can replace the tasks such as completing, while can undertake investigation, drop a bomb, survey and draw.
Detailed description of the invention
Fig. 1 is land sky caterpillar mobile robot left view of the invention, and Fig. 2 is land sky crawler-type mobile machine of the invention
Device people's main view, Fig. 3 are land sky caterpillar mobile robot top views of the invention, and Fig. 4 is that land sky crawler type of the invention is moved
Mobile robot bottom view, Fig. 5 are land sky caterpillar mobile robot isometric side views of the invention.
Specific embodiment
Specific embodiment 1: illustrating in conjunction with FIG. 1 to FIG. 5, a kind of land sky caterpillar mobile robot of present embodiment
Including airflight system 1 and ground moving system 2, airflight system 1 includes electronic compass 1-1, flight skeleton 1-2, hangs
Bar 1-3, flying power component 1-4, rotor protecting component 1-5, high definition tracking photorecorder and holder component 1-6, power source and biography
Feel control unit 1-7, buffering ball component 1-8, hanging stick support frame 1-9, infra red thermograph and holder component 1-10, ground moving
System 2 includes land sky mobile system connection buckle 2-1, crawler belt 2-2, main drive wheel 2-3, auxiliary swing arm 2-4, the mobile skeleton of crawler belt
2-5, crawler belt support wheel 2-6, ground moving system energy are for giving sensing position monitoring and control component 2-7, high definition tracking photorecorder 2-
8, airflight system 1 can cooperate with ground moving system 2 or respectively independently execute task, pass through land sky mobile system connection card
Button 2-1 links together airflight system 1 and ground moving system 2, and electronic compass 1-1 is fixed on flight skeleton 1-2's
Geometric center and the navigation and positioning for being used for robot, 6 hanging stick 1-3 are distributed in around flight skeleton 1-2, every hanging stick 1-
3 other end is equipped with flying power component 1-4, rotor protecting component 1-5 and high definition tracking photorecorder and holder component 1-6,
Rotor protecting component 1-5 is used to protect the rotor in flying power component 1-4,6 high definition tracking photorecorders and holder component 1-6
360o full-view image is constructed for robot, power source and sensing control component 1-7 are placed in the support that buffering ball component 1-8 is built
On plate, hanging stick support frame 1-9 is connected to flight skeleton 1-2 and land sky mobile system connection buckle 2-1, infra red thermograph and cloud
Platform component 1-10 is fixed between 2 hanging stick 1-3, is used for tracked mobile target, ground moving system 2 is by 2 crawler belts in left and right
2-2 advances, and every crawler belt is driven by the main drive wheel 2-3 of front and back 2, and auxiliary swing arm 2-4 is placed in the core wheel of main drive wheel 2-3
Position is to assist ground moving system 2 to break the barriers, main drive wheel 2-3 before and after the mobile skeleton 2-5 connection of crawler belt, every crawler belt
2-2 is supported by 2 crawler belt support wheel 2-6, and ground moving system energy is placed in shoe for giving sensing position monitoring and control component 2-7
The mobile skeleton 2-5 of band, energy resource supply and long-range control for ground moving system 2, high definition tracking photorecorder 2-8 are placed in shoe
The mobile skeleton 2-5 of band, the Image Acquisition for ground moving system 2.
Specific embodiment 2: illustrating in conjunction with Fig. 3, Fig. 4 and Fig. 5,6 hanging stick 1-3-1 to hanging stick 1- of present embodiment
3-6 is uniformly distributed in flight skeleton 1-2, at 60o angle between adjacent hanging stick.Other compositions and connection relationship and specific embodiment party
Formula one is identical.
Specific embodiment 3: illustrating in conjunction with Fig. 1, Fig. 3, Fig. 4 and Fig. 5, the infra red thermograph and cloud of present embodiment
Platform component 1-10 has 3 freedom degrees to realize the target following of three-dimensional space, according to actual condition needs, infra red thermograph
It can be arbitrarily placed in holder component 1-10 between adjacent hanging stick 1-3.Other compositions and connection relationship and specific embodiment
One is identical.
Specific embodiment 4: illustrating in conjunction with Fig. 3, Fig. 4 and Fig. 5,6 rotor protecting component 1-5-1 of present embodiment
To rotor protecting component 1-5-6, the circular arc amplitude angle of each rotor protecting component 1-5 is 120o, and arc radius is slightly larger than rotation
Chord degree, to protect rotor.Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 5: illustrating in conjunction with Fig. 1, Fig. 3, Fig. 4 and Fig. 5,4 auxiliary swing arm 2-4-1 of present embodiment
It is placed in the core wheel position of 4 main drive wheel 2-3-1 to main drive wheel 2-3-4 respectively to auxiliary swing arm 2-4-4, and relies on itself
To assist ground moving system 2 to pass through big rugged barrier, main drive wheel 2-3 is used and is engraved the servo DC motor drive of carrying
Sky design is to reduce robot overall mass.Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 6: illustrating in conjunction with Fig. 1 and Fig. 5,4 main drive wheel 2-3 driving ground of present embodiment is moved
Dynamic system 2 is advanced, and power can be provided separately in each main drive wheel 2-3, when robot needs to provide larger movement speed, 4
Main drive wheel 2-3 is in working condition, and ground moving system 2 is realized by the differential of crawler belt 2-2-1 and crawler belt 2-2-2 to be turned
To.Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 7: illustrating in conjunction with Fig. 1 and Fig. 5, the mobile skeleton 2-5 of the crawler belt of present embodiment is that low-density is high
Intensity material and be hollow design, to reduce robot overall mass, improves robot load capacity.Other compositions and connection are closed
It is same as the specific embodiment one.
Working principle: when needing robot to execute the tasks such as the high altitude surveillance at high visual angle, mapping, airflight system 1
Work, ground moving system 2 stop working, and power source provides power with sensing control component 1-7 for flying power component 1-4,
And implement comprehensive, whole day using high definition tracking photorecorder and holder component 1-6 and infra red thermograph and holder component 1-10
That waits shoots with video-corder and tracks；If desired when airflight system 1 carries a fixed load, by the way that land sky mobile system connection buckle is arranged
2-1 is so that ground moving system 2 and airflight system 1 are detached from；When machine is artificially hidden aerial interference or is detected close to target,
Ground moving system 2 works, and airflight system 1 stops working, and ground moving system energy is for giving sensing position monitoring and control portion
Part 2-7 is that ground moving system 2 provides energy resource supply and control, and tracks the tracking of photorecorder 2-8 implementation goal by high definition；Machine
When device people implements ground blasting, ground moving system 2 is de- by land sky mobile system connection buckle 2-1 and airflight system 1
From tracking the observation of photorecorder 2-8 implementation goal, and implementation goal explosion by high definition, and airflight system 1 is fled from or hidden
To safety zone, and the explosion situation of ground mobile system 2 is observed in real time.
Claims (7)
1. a kind of land sky caterpillar mobile robot, it is characterised in that the land sky caterpillar mobile robot includes airflight
System (1) and ground moving system (2), airflight system (1) includes electronic compass (1-1), flight skeleton (1-2), hanging stick
(1-3), flying power component (1-4), rotor protecting component (1-5), high definition tracking photorecorder and holder component (1-6), power
Source and sensing control component (1-7), buffering ball component (1-8), hanging stick support frame (1-9), infra red thermograph and holder component
(1-10), ground moving system (2) include land sky mobile system connection buckle (2-1), crawler belt (2-2), main drive wheel (2-3),
Auxiliary swing arm (2-4), crawler belt mobile skeleton (2-5), crawler belt support wheel (2-6), ground moving system energy are fixed for giving sensing
Position observing and controlling component (2-7), high definition tracking photorecorder (2-8), airflight system (1) can be cooperateed with ground moving system (2) or
Task respectively is independently executed, by land sky mobile system connection buckle (2-1) airflight system (1) and ground moving system
(2) link together, electronic compass (1-1) be fixed on the geometric center of flight skeleton (1-2) and for robot navigation with
Positioning, 6 hanging sticks (1-3) are distributed in around flight skeleton (1-2), and it is dynamic that the other end of every hanging stick (1-3) is equipped with flight
Power component (1-4), rotor protecting component (1-5) and high definition tracking photorecorder and holder component (1-6), rotor protecting component (1-
5) for protecting the rotor in flying power component (1-4), 6 high definition tracking photorecorders and holder component (1-6) are robot
360o full-view image is constructed, power source and sensing control component (1-7) are placed in the support plate that buffering ball component (1-8) is built
On, hanging stick support frame (1-9) is connected to flight skeleton (1-2) and land sky mobile system connection buckle (2-1), infra red thermograph
It is fixed between 2 hanging sticks (1-3) with holder component (1-10), is used for tracked mobile target, ground moving system (2) is by left
Right 2 crawler belts (2-2) are advanced, and every crawler belt is driven by the main drive wheel (2-3) of front and back 2, and auxiliary swing arm (2-4) is placed in master
The core wheel position of driving wheel (2-3) is to assist ground moving system (2) to break the barriers, before crawler belt mobile skeleton (2-5) connection
Main drive wheel (2-3) afterwards, every crawler belt (2-2) are supported by 2 crawler belt support wheels (2-6), the supply of ground moving system energy
The energy resource supply that crawler belt is mobile skeleton (2-5), for ground moving system (2) is placed in sensing position monitoring and control component (2-7)
With long-range control, high definition tracking photorecorder (2-8) is placed in the figure that crawler belt is mobile skeleton (2-5), for ground moving system (2)
As acquisition.
2. land sky caterpillar mobile robot according to claim 1, it is characterised in that 6 hanging sticks (1-3-1) are extremely outstanding
Bar (1-3-6) is uniformly distributed in flight skeleton (1-2), at 60o angle between adjacent hanging stick.
3. sky caterpillar mobile robot in land according to claim 1 or claim 2, it is characterised in that the infra red thermograph and cloud
Platform component (1-10) has 3 freedom degrees to realize the target following of three-dimensional space, according to actual condition needs, infrared heat picture
Instrument and holder component (1-10) can be arbitrarily placed between adjacent hanging stick (1-3).
4. according to claim 1, the 2 or 3 land sky caterpillar mobile robot, it is characterised in that 6 rotor protection departments
For part (1-5-1) to rotor protecting component (1-5-6), the circular arc amplitude angle of each rotor protecting component (1-5) is 120o, circular arc
Radius is slightly larger than rotor length, to protect rotor.
5. according to claim 1, the land sky caterpillar mobile robot of 2,3 or 4, it is characterised in that 4 auxiliary swing arm
(2-4-1) extremely auxiliary swing arm (2-4-4) is placed in 4 main drive wheels (2-3-1) to the core wheel position of main drive wheel (2-3-4) respectively
It sets, and by self-contained servo DC motor drive to assist ground moving system (2) to pass through big rugged barrier, it is main
Driving wheel (2-3) uses hollow design to reduce robot overall mass.
6. according to claim 1, the land sky caterpillar mobile robot of 2,3,4 or 5, it is characterised in that 4 main drivings
It takes turns (2-3) driving ground mobile system (2) to advance, power can be provided separately in each main drive wheel (2-3), and robot needs mention
When for larger movement speed, 4 main drive wheels (2-3) are in working condition, and ground moving system (2) relies on crawler belt (2-2-
1) it realizes and turns to the differential of crawler belt (2-2-2).
7. according to claim 1, the land sky caterpillar mobile robot of 2,3,4,5 or 6, it is characterised in that the crawler belt is mobile
Skeleton (2-5) is low-density and high-strength material and is hollow design, to reduce robot overall mass, improves robot and loads energy
Power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811316105.2A CN109398009A (en) | 2018-11-07 | 2018-11-07 | Land sky caterpillar mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811316105.2A CN109398009A (en) | 2018-11-07 | 2018-11-07 | Land sky caterpillar mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109398009A true CN109398009A (en) | 2019-03-01 |
Family
ID=65471925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811316105.2A Pending CN109398009A (en) | 2018-11-07 | 2018-11-07 | Land sky caterpillar mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109398009A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110126563A (en) * | 2019-06-03 | 2019-08-16 | 河南林业职业学院 | A kind of multi-functional creeper truck |
| CN110154660A (en) * | 2019-06-13 | 2019-08-23 | 吉林大学 | Air-ground amphibious vehicle based on rotor driver |
| CN110341943A (en) * | 2019-06-11 | 2019-10-18 | 武汉理工大学 | A kind of unmanned vehicle that can be moved on inclined-plane |
| CN110435369A (en) * | 2019-07-18 | 2019-11-12 | 天津理工大学 | One kind novel three is dwelt robot system and its working method |
| WO2020187306A1 (en) * | 2019-03-19 | 2020-09-24 | 冯春魁 | Movable machine, control method, storage medium and control device |
| CN112882477A (en) * | 2021-01-26 | 2021-06-01 | 汕头大学 | Control method and system for separable air-ground amphibious cooperative robot |
| CN113511040A (en) * | 2021-09-15 | 2021-10-19 | 清华大学 | Air-ground amphibious multi-mode carrying platform |
| CN113752764A (en) * | 2021-09-06 | 2021-12-07 | 郑州大学 | Four-paddle crawler-type detection robot |
| JP2022055032A (en) * | 2020-09-28 | 2022-04-07 | 公益財団法人鉄道総合技術研究所 | Small unmanned aircraft |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204450529U (en) * | 2015-01-09 | 2015-07-08 | 南昌航空大学 | A kind of aerial explosive-removal robot |
| CN204526692U (en) * | 2015-04-23 | 2015-08-05 | 马鞍山市赛迪智能科技有限公司 | A kind of land and air double-used unmanned vehicle |
| US20160130000A1 (en) * | 2014-11-11 | 2016-05-12 | Jon RIMANELLI | Unmanned air-ground vehicle |
| CN106828832A (en) * | 2017-01-23 | 2017-06-13 | 西北工业大学 | A kind of bionical knife edge leg of migration mixing and crawler belt combination walking underwater robot and its control method |
| CN206367593U (en) * | 2016-12-28 | 2017-08-01 | 芜湖元一航空科技有限公司 | A kind of inspection multi-purpose unmanned aerial vehicle |
| WO2017185378A1 (en) * | 2016-04-29 | 2017-11-02 | SZ DJI Technology Co., Ltd. | Systems and methods for uav transport and data acquisition |
-
2018
- 2018-11-07 CN CN201811316105.2A patent/CN109398009A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160130000A1 (en) * | 2014-11-11 | 2016-05-12 | Jon RIMANELLI | Unmanned air-ground vehicle |
| CN204450529U (en) * | 2015-01-09 | 2015-07-08 | 南昌航空大学 | A kind of aerial explosive-removal robot |
| CN204526692U (en) * | 2015-04-23 | 2015-08-05 | 马鞍山市赛迪智能科技有限公司 | A kind of land and air double-used unmanned vehicle |
| WO2017185378A1 (en) * | 2016-04-29 | 2017-11-02 | SZ DJI Technology Co., Ltd. | Systems and methods for uav transport and data acquisition |
| CN206367593U (en) * | 2016-12-28 | 2017-08-01 | 芜湖元一航空科技有限公司 | A kind of inspection multi-purpose unmanned aerial vehicle |
| CN106828832A (en) * | 2017-01-23 | 2017-06-13 | 西北工业大学 | A kind of bionical knife edge leg of migration mixing and crawler belt combination walking underwater robot and its control method |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020187306A1 (en) * | 2019-03-19 | 2020-09-24 | 冯春魁 | Movable machine, control method, storage medium and control device |
| CN110126563A (en) * | 2019-06-03 | 2019-08-16 | 河南林业职业学院 | A kind of multi-functional creeper truck |
| CN110341943A (en) * | 2019-06-11 | 2019-10-18 | 武汉理工大学 | A kind of unmanned vehicle that can be moved on inclined-plane |
| CN110341943B (en) * | 2019-06-11 | 2020-10-13 | 武汉理工大学 | Unmanned aerial vehicle capable of moving on inclined plane |
| CN110154660A (en) * | 2019-06-13 | 2019-08-23 | 吉林大学 | Air-ground amphibious vehicle based on rotor driver |
| CN110435369A (en) * | 2019-07-18 | 2019-11-12 | 天津理工大学 | One kind novel three is dwelt robot system and its working method |
| CN110435369B (en) * | 2019-07-18 | 2024-01-30 | 天津理工大学 | Triphibian robot system and working method thereof |
| JP2022055032A (en) * | 2020-09-28 | 2022-04-07 | 公益財団法人鉄道総合技術研究所 | Small unmanned aircraft |
| JP7365308B2 (en) | 2020-09-28 | 2023-10-19 | 公益財団法人鉄道総合技術研究所 | small unmanned aircraft |
| CN112882477A (en) * | 2021-01-26 | 2021-06-01 | 汕头大学 | Control method and system for separable air-ground amphibious cooperative robot |
| CN113752764A (en) * | 2021-09-06 | 2021-12-07 | 郑州大学 | Four-paddle crawler-type detection robot |
| CN113511040B (en) * | 2021-09-15 | 2021-12-14 | 清华大学 | Air-ground amphibious multi-mode carrying platform |
| CN113511040A (en) * | 2021-09-15 | 2021-10-19 | 清华大学 | Air-ground amphibious multi-mode carrying platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109398009A (en) | Land sky caterpillar mobile robot | |
| Russell | Odex 1: The first functionoid | |
| CN103645740B (en) | Based on the intelligent cruise robot of wireless charging odd number axle aircraft | |
| CN108944304B (en) | A kind of amphibious robot having both flight and wall climbing function | |
| CN106004285A (en) | Land and air dual-purpose robot | |
| Xin et al. | The latest status and development trends of military unmanned ground vehicles | |
| CN106227202A (en) | A kind of Hexapod Robot having independent navigation and Remote concurrently | |
| Chikwanha et al. | Survey and requirements for search and rescue ground and air vehicles for mining applications | |
| Kedari et al. | Quadcopter-a smarter way of pesticide spraying | |
| CN104986232A (en) | Wheel and track replacement deformation robot | |
| CN109649095B (en) | Bionic crocodile amphibious robot | |
| Hu et al. | A flying-insect-inspired hybrid robot for disaster exploration | |
| Punith et al. | Internet rescue robots for disaster management | |
| CN110588829A (en) | But climbing big angle slope height hinders bionic robot more | |
| Elsamanty et al. | Novel hybrid ground/aerial autonomous robot | |
| CN212046750U (en) | Aircraft with vibration reduction function | |
| Narayan et al. | Search and Reconnaissance Robot for Disaster Management | |
| Rudakevych et al. | A man portable hybrid UAV/UGV system | |
| CN102030106A (en) | Omnidirectional traction type rotor reconnaissance aircraft and system thereof | |
| CN206569163U (en) | A kind of barrier getting over mechanism of empennage connecting rod Time-sharing control | |
| CN108189925B (en) | Multi-terrain multifunctional fighter robot | |
| De Santos et al. | SIL06: A six-legged robot for humanitarian de-mining tasks | |
| González de Santos et al. | Using walking robots for humanitarian de-mining tasks | |
| Olsen et al. | Martian Lava Tube Exploration Using Jumping Legged Robots: A Concept Study | |
| CN217477022U (en) | Deformable small four-rotor four-foot flying robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190301 |