CN109927498A - The changeable amphibious quadrotor robot of body - Google Patents
The changeable amphibious quadrotor robot of body Download PDFInfo
- Publication number
- CN109927498A CN109927498A CN201910295246.9A CN201910295246A CN109927498A CN 109927498 A CN109927498 A CN 109927498A CN 201910295246 A CN201910295246 A CN 201910295246A CN 109927498 A CN109927498 A CN 109927498A
- Authority
- CN
- China
- Prior art keywords
- servo motor
- robot
- amphibious
- flight
- foot
- 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
Abstract
The present invention provides a kind of changeable amphibious quadrotor robots of body, are related to robotic technology field, comprising: body；Rotor structure, rotor structure described in every group include a horn, a flight servo motor, a brushless motor and a propeller；Sufficient wheel construction, foot wheel construction described in every group are provided with more piece foot limb, and a land row servo motor is provided between foot limb described in two adjacent sections, and the bottom end of foot limb described in final section is provided with a land row servo motor and an idler wheel；Collection module is arranged on the outer surface of the body, including a laser radar, multiple groups binocular camera and multiple groups ultrasonic wave module；The inside of the body, including an onboard computer, a servo controller and a flight controller is arranged in control module.The present invention have fly, translate, creeping and three between the motion mode that cooperates, can pass through under complicated empty condition or land condition, the ability for adapting to environment is strong, the efficiency and reliability height of operation.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of amphibious quadrotor robot of changeable body.
Background technique
Quadrotor drone has speed fast, moves flexible feature, but the quadrotor drone of ordinary construction can only be
It flies in broad environment, and flies difficult or even can not fly in narrow space.Mobile robot can be in narrow sky
Between in walk, but when the plane of walking is uneven or has larger particles shape barrier, they cannot as quadrotor drone that
Sample is cleared the jumps by way of flight, therefore can only be slow transitted through.It is limited by motion mode, the robot singly dwelt can only
Suitable for single operating environment.It is not single broad or narrow working space, Ta Menhui in many operating environments
Staggeredly exist, in such environment, air-ground amphibious ratio Dan Qi robot, robot better adapts to environment, and working efficiency is more
It is high.Such as earthquake field, common quadrotor drone machine can only patrol in the air in height, it can not be careful in ground spreading
Search and rescue, and ground mobile robot must someone carry past scene and search and rescue, rescue worker is deposited in the case of having aftershock
In some potential safety problems, and the range that ground mobile robot is searched and rescued is small, and the slow-footed disadvantage of search and rescue allows search-and-rescue work exhibition
Open difficulty.And air-ground amphibious robot can then adapt to above-mentioned operating environment very well.Existing amphibious robot forms of motion is each
Formula various kinds common are the wheeled translation of combination of flying, flight combines rolling etc..
A kind of novel quadrotor amphibious robot disclosed in patent CN204368417U, the robot is in addition to that can fly it
Outside, the function of translation and steering can also be realized on the ground, but by having larger particles shape barrier and space on ground
When narrow, which is difficult to pass through in a manner of translating or fly.Patent CN104786768A discloses a kind of quadrotor two
It dwells robot spherical mechanism, which can fly or be walked on the ground in a manner of rolling, but the construction profile has been consolidated
It is fixed, it will not pass through when through the space place more slightly smaller than its shape, and when passing through steeper slope, in spherical mechanism
Quadrotor fuselage significantly to tilt could provide advance power, this results in the camera filled on fuselage that can not observe
Things immediately ahead of mechanism, the image information that the spherical reticulated item in addition rolled can interfere camera to capture.
Summary of the invention
The present invention provides a kind of changeable amphibious quadrotor robots of body, and its purpose is to solve existing amphibious machine
People ground it is uneven or when having the local operation of larger particles shape barrier or narrow space action it is more difficult, the visual field
The problem of being restricted, being unable to complete successfully appointed task.
In order to achieve the above object, the amphibious quadrotor robot of changeable body provided by the invention, comprising:
Body, the body setting is in flat hexahedron；
Rotor structure, the rotor structure include four groups, be separately positioned on four of the body top it is diagonal on, every group
The rotor structure includes a horn, a flight servo motor, a brushless motor and a propeller, and the first end of the horn can
It is rotatably arranged on the flight servo motor on the body top, the brushless motor is fixedly provided in the horn
Second end, the propeller is arranged in the rotation axis of the brushless motor；
Sufficient wheel construction, the foot wheel construction includes four groups, be separately positioned on four of the body bottom end it is diagonal on, every group
The foot wheel construction is provided with more piece foot limb, and a land row servo motor is provided between foot limb described in two adjacent sections, wherein head section
The first end of the foot limb is rotatably arranged on the land row servo motor of the body bottom end, foot limb described in final section
Second end is provided with a land row servo motor and an idler wheel, and the rotation axis of the land row servo motor is arranged in the idler wheel
On；
Collection module, the collection module are arranged on the outer surface of the body, including a laser radar, multiple groups binocular
The upper surface of the body, binocular camera described in every group is arranged in camera and multiple groups ultrasonic wave module, the laser radar
It is separately positioned on one of outer surface of body with the ultrasonic wave module；
The inside of the body, including an onboard computer, a servo controller is arranged in control module, the control module
With a flight controller, the laser radar, the binocular camera, the ultrasonic wave module, the servo controller and institute
Flight controller is stated to be electrically connected with the onboard computer.
Wherein, multiple accumulator tanks are provided at the top of the body, the accumulator tank and the horn correspond.
Wherein, the blade of the propeller is foldable to the same side of paddle shaft.
Wherein, the sufficient podomere number of foot wheel construction described in every group is three.
Wherein, foot limb described in first segment can be rotated in the horizontal plane by the land row servo motor, the second section and third
Saving the sufficient limb can be rotated on perpendicular by the land row servo motor.
Wherein, the collection module further includes Inertial Measurement Unit module, and the Inertial Measurement Unit module is arranged in institute
It states in body, the Inertial Measurement Unit module is electrically connected with the flight controller.
Wherein, rotary angle transmitter is provided at the position of each flight servo motor and the land row servo motor
And speed probe, the rotary angle transmitter and the speed probe are electrically connected with the servo controller.
Wherein, each brushless motor is independently electrically connected with the flight controller, each flight servo
Motor and land row servo motor are independently electrically connected with the servo controller.
Wherein, power module is additionally provided in the body.
Above scheme of the invention have it is following the utility model has the advantages that
The amphibious quadrotor robot of changeable body of the invention is provided with rotor structure and sufficient wheel construction, can fly in the sky
Row, there is the function of translation and steering on flat ground, by the way that there are can be with when the ground of more larger particles barrier
Passed through in a manner of creeping, but also the channel that space is smaller than itself normal appearance, this hair can be passed through by way of deformation
Bright robot is essentially different in the design of motion mode and airframe structure with existing amphibious robot, and suitable
It answers stronger in the ability of environment；
The amphibious quadrotor robot of changeable body of the invention, is disposed with a plurality of types of collection modules, can be robot
There is provided more accurate, reliable location information and environmental information more abundant, it is ensured that the control system of robot can be more
Accurate judgement accurately is made to ambient conditions, and issues instruction adjustment and controls its athletic posture, enables robot
Pass through in more complicated road conditions or empty condition, ensures its reliability of operation.
Detailed description of the invention
Three-dimensional structure diagram when Fig. 1 is present invention expansion；
Top view when Fig. 2 is present invention expansion；
Fig. 3 is the three-dimensional structure diagram when present invention is shunk；
Fig. 4 is control system architecture figure of the invention；
Schematic diagram when Fig. 5 is normal flight in the sky of the invention；
Fig. 6 is schematic diagram of the present invention in flat ground normal translation；
Fig. 7 is schematic diagram (front foot bending) of the present invention when flat ground accelerates translation；
Fig. 8 is schematic diagram of the present invention when flat ground accelerates translation (front foot stretches)；
Schematic diagram when Fig. 9 is propeller starting cooperation monopodia translation of the invention；
Schematic diagram when Figure 10 is propeller starting cooperation biped translation of the invention；
Figure 11 is schematic diagram of the present invention when commonly creeping；
Figure 12 is schematic diagram when propeller starting auxiliary of the invention is creeped；
Figure 13 is the schematic diagram (front foot bending) when the present invention translates on the slope；
Figure 14 is the schematic diagram when present invention translates on the slope (front foot stretches)；
Figure 15 is schematic diagram of the present invention when being creeped by slype.
[description of symbols]
1- body；2- horn；3- flight servo motor；4- brushless motor；5- propeller；6- foot limb；The land 7- row servo electricity
Machine；8- idler wheel；9- laser radar；10- binocular camera；11- ultrasonic wave module；12- accumulator tank；13- power module.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
The present invention in ground unevenness or has larger particles shape barrier or space for existing amphibious robot
The problem of action is more difficult when narrow local operation, and the visual field is restricted, is unable to complete successfully appointed task, provides one
The changeable amphibious quadrotor robot of body of kind.
As shown in Figure 1, Figure 2, Figure 3 shows, the amphibious quadrotor robot of changeable body that the embodiment of the present invention provides, comprising: machine
Body 1, the setting of body 1 is in flat hexahedron；Rotor structure, the rotor structure include four groups, are separately positioned on described
On four of 1 top of body are diagonal, rotor structure described in every group includes a horn 2, a flight servo motor 3, a brushless motor 4
With a propeller 5, the first end of the horn 2 is rotatably arranged on the flight servo motor 3 on 1 top of body, institute
The second end that brushless motor 4 is fixedly provided in the horn 2 is stated, the rotation of the brushless motor 4 is arranged in the propeller 5
On axis；Sufficient wheel construction, the foot wheel construction includes four groups, be separately positioned on four of 1 bottom end of body it is diagonal on, every group of institute
It states sufficient wheel construction and is provided with more piece foot limb 6, a land row servo motor 7 is provided between foot limb 6 described in two adjacent sections, wherein is first
The first end for saving the sufficient limb 6 is rotatably arranged on the land row servo motor 7 of 1 bottom end of body, described in final section
The second end of sufficient limb 6 is provided with a land row servo motor 7 and an idler wheel 8, and the setting of idler wheel 8 is in the land row servo electricity
In the rotation axis of machine 7；Collection module, the collection module are arranged on the outer surface of the body 1, including a laser radar 9,
Multiple groups binocular camera 10 and multiple groups ultrasonic wave module 11, the laser radar 9 are arranged in the upper surface of the body 1, and every group
The binocular camera 10 and the ultrasonic wave module 11 are separately positioned on one of outer surface of body 1；Control module,
The inside of the body 1, including an onboard computer, a servo controller and a flight controller is arranged in the control module,
The laser radar 9, the binocular camera 10, the ultrasonic wave module 11, the servo controller and flight control
Device is electrically connected with the onboard computer.
The changeable amphibious quadrotor robot of body, is provided with flat hexahedron described in the above embodiment of the present invention
Rotor structure is arranged at the top of body in body 1, and sufficient wheel construction is arranged in bottom, meets the needs of robot energy amphibious operation.It is logical
The fit system for crossing rotor structure and sufficient wheel construction, passes through space or road surface with complex barrier object to adapting to property.Wherein,
Four groups of rotor structures be separately positioned on four of the top of body 1 it is diagonal on, every group of rotor structure includes a horn 2, and a flight is watched
Take motor 3, a brushless motor 4 and a propeller 5.Flight servo motor 3 is arranged at the diagonal position of body 1, and the of horn 2
One end is connect with flight servo motor 3, allows horn 2 under its driving in rotation in surface where the upper surface of body 1,
The expansion of rotor structure and the Posture exchange withdrawn are completed, to adapt to different pass through environment.It is arranged in the second end of horn 2
Brushless motor 4 and propeller 5, brushless motor 4 provide the power of robot flight, and entire machine for driving propeller 5 to rotate
Body 1 uses common quadrotor structure and designs, it is ensured that the stability and reliability of robot state of flight.
Sufficient wheel construction of the invention, be divided into four groups be separately positioned on four of 1 bottom of body it is diagonal on, every group of foot wheel construction
Idler wheel 8 including more piece foot limb 6 and bottom end, wherein it is diagonal to be rotatably arranged at 1 bottom of body for the first end of first segment foot limb 6
On land row servo motor 7, allow first segment foot limb 6 under its driving in rotation in surface where the lower surface of body 1, it is complete
At the Posture exchange of the expansion and withdrawal of sufficient wheel construction.One land row servo motor 7 is set between two adjacent sections foot limb 6, it is latter
Saving sufficient limb 6 can rotate under the driving of land row servo motor 7 around the second end of previous section foot limb 6, so that the whole of sufficient limb 6 can be complete
At the movement of similar reptile limbs, under the driving of the corresponding land row servo motor 7 of each section foot limb 6, robot can lead to
The mode creeped is crossed by the way that there are the road surfaces of larger particles shape barrier.6 second end of final section foot limb setting idler wheel 8,
It is connect with the shaft of the land row servo motor 7 of second end, robot is rolled forward, in road surface evenness and without larger
When granular barrier, quickly robot can be made to be translated across road surface by idler wheel 8.During actual passage, it can pass through
The posture for adjusting sufficient limb 6, cooperates the rotation of idler wheel 8, forms robot in the passage mode on different situation road surfaces.
The collection module being arranged on each outer surface of body 1, including laser radar 9, binocular camera 10 and ultrasound
Wave module 11 can collect the information around body 1 in all directions, it is ensured that robot has one accurately to sentence complex environment
It is disconnected, ensure its posture passed through.It is six groups that wherein binocular camera 10, which is divided, is separately positioned on six outer surfaces of body 1, energy
Environmental information around intake in all directions, and be converted into image information and be delivered in the onboard computer of control module, onboard electricity
Brain handles these image informations and obtains the location information and obstacle information of robot.In addition binocular camera 10 can also can be with
For target identification, can play an important role in the tasks such as disaster area search and rescue.Meanwhile it is each on six outer surfaces of body
It is provided with a ultrasonic wave module 11, the distance of peripheral obstacle can be detected in all directions using ultrasonic wave, and ranging is obtained
Data are delivered in onboard computer, the motion mode of range information that onboard computer is broken the barriers adjustment robot or
Track can make up the shortcomings that binocular camera 10 does not see transparent glass since ultrasonic wave cannot pass through glass.Into
One step, it is also provided with a laser radar 9 in the upper surface of body 1, laser radar 9 can be believed with the barrier on the plane of scanning motion
Breath, and be delivered in onboard computer, because laser radar 9 can also position under no light conditions, therefore binocular camera can be made up
10 the shortcomings that can only working under bright light environments.The amphibious quadrotor robot of changeable body of the invention, by binocular camera 10,
The cooperation of ultrasonic wave module 11 and laser radar 9 is collected the environmental information of surrounding, is delivered in onboard computer after conversion, onboard
Computer sends control command to servo-driver and (or) flight controller by the barrier etc. of information analysis ambient enviroment,
The motion mode of robot is adjusted by servo-driver and (or) flight controller, with realize the fixed point of robot, track with
The functions such as track, avoidance.Wherein, flight controller is mainly responsible for the control of robot flight attitude, with realize hovering, forward, to
Afterwards, to the left, to the right, the flight that rotates in place, servo controller is mainly responsible for the work of all servo motors, to realize horn
The function of translating with creep of 2 expansion or recycling, sufficient the flexible of limb 6, body 1.Robot of the invention, have flight, translation,
Creep and three between the motion mode that cooperates, robot is passed through in more complicated empty condition or road conditions.
Wherein, the top of the body 1 is provided with multiple accumulator tanks 12, and the accumulator tank 12 and the horn 2 one are a pair of
It answers.The blade of the propeller 5 is foldable to the same side of paddle shaft.When robot is flown through or is passed through in ground running narrow
When channel, four groups of horns 2 can be recycled in the accumulator tank 12 on body, the blade of propeller 5 is folded inward, to pass through
Catwalk.
Wherein, 6 joint number of sufficient limb of foot wheel construction described in each group of robot is three, and foot limb 6 described in first segment can pass through land
Row servo motor 7 rotates in the horizontal plane, and foot limb 6 described in the second section and third section can put down vertically by land row servo motor 7
It is rotated on face.The present invention is provided with the sufficient wheel construction of three section foot limbs 6, and first segment foot limb 6 can be rotated in horizontal plane, be can be switched whole
The expansion and withdrawal posture of a foot wheel construction, and the second section and third section foot limb 6 can be rotated in perpendicular, similar can be creeped
It creeps as the limbs of animal or pose adjustment, to adapt to different road surface demands.
Wherein, the collection module further includes Inertial Measurement Unit module, and the Inertial Measurement Unit module is arranged in institute
It states in body 1, the Inertial Measurement Unit module is electrically connected with the flight controller.In unmanned plane during flying, flight control
Device reads the information of Inertial Measurement Unit module, to four 4 transfer instructions of brushless motor to control its revolving speed.
Wherein, be provided at the position of each flight servo motor 3 and land row servo motor 7 rotary angle transmitter and
Speed probe, the rotary angle transmitter and the speed probe are electrically connected with the servo controller.Servo controller
Whole corners of servo motor and the information of revolving speed are read by each sensor, forward instruction regulation is each to watch to servo motor
The revolving speed and corner of motor are taken, with the process for controlling robot flight, translating or creeping.
Wherein, each brushless motor 4 is independently electrically connected with the flight controller, each flight servo
Motor 3 and land row servo motor 7 are independently electrically connected with the servo controller.Robot can according to the width of environment and
Flat case independently controls each brushless motor 4, flight servo motor 3 and land row servo motor 7, with selection flight, puts down
Move, creep or fly cooperation translation, the airspace or road surface for cooperating the motion mode creeped to pass through different situations of flying.
Wherein, it is additionally provided with power module 13 in the body 1, provides mobile and control power for entire robot
Source.
The specific control system and control mode of the amphibious quadrotor robot of changeable body of the invention are as shown in figure 4, onboard
Computer reads 10 groups of binocular camera of image information by universal serial bus (USB), is handled the position for obtaining robot
Confidence breath and obstacle information；The ranging data that 11 groups of ultrasonic wave module are read by universal serial bus (USB), learns body
1 range information of six faces from barrier；The data that laser radar 9 is read by universal serial bus (USB), learn laser thunder
Obstacle information on up to the plane of 9 scannings；Control is sent to the good servo controller of flight controller by universal serial bus (USB)
System order, to reach the regulation purpose of robot flight or servo.Flight controller is read used by Serial Peripheral Interface (SPI) (SPI)
The information of property measuring unit (IMU) module；Pulsewidth modulation (PWM) wave is sent to four brushless motors 4 to control its revolving speed.Servo
Controller reads the corner of each servo motor and the information of revolving speed by serial ports, and sends pulsewidth tune to each servo motor
(PWM) wave is made, the revolving speed and corner of servo motor are controlled, to achieve the purpose that regulate and control that robot flies, translates or creeps.
Below in conjunction with specific embodiments of the present invention, technical solution of the present invention is more clearly and completely retouched
It states.The implementation of following embodiment all relies on the information for accurately positioning and accurately acquiring road conditions or empty condition, such as robot
The feelings of the case where location information of versus environmental, the flat case on road surface, there are graininess barriers on road surface and flight space
Condition etc..And the collection module that these information can be transferred through 1 six face arrangements of body obtains, the integrity degree of information is able to satisfy machine
The various movement needs of people.Two o'clock explanation is done before saying embodiment: the translation mentioned in following embodiment is referred to by certain
It is required that other servo motors on fixing foot limb 6 in addition to the land row servo motor 7 of idler wheel 8, allow the land row servo motor of idler wheel 8 to turn
Dynamic 7, realize the movement of robot；Creeping for mentioning refers to that the flight of the land row servo motor 7 and horn 2 of fixed idler whell 8 is watched
Motor 3 is taken, other land row servo motors 7 on sufficient limb 6 are controlled with certain rule, realizes the function of creeping of similar sufficient formula reptile
Can, in crawling process, usually diagonal two sufficient limbs 6 land or liftoff simultaneously.
Embodiment 1:
As shown in figure 5, the artificial common offline mode of machine, four groups of foot wheel constructions are recycled to body 1, so that robot exists
It is as small as possible by resistance when flight；Four horns 2 are deployed into appropriate location, so that the center of four 4 bottom surfaces of brushless motor is rigid
Benefit is on a square vertex.Start brushless motor 4 at this time, the normal flight mould of robot quadrotor may be implemented
Formula.
Embodiment 2:
As shown in fig. 6, the artificial common ground translational mode of machine, when robot is flatting and without graininess barrier
Ground on when walking, robot withdraws horn 2 so that the space occupied is smaller, can pass through smaller channel；By four groups
Sufficient wheel construction slight curvature lowers center of gravity；Drive the land row servo motor 7 of idler wheel 8 that robot is put down on the ground at this time
Steady translation.In addition, controlling the land row servo motor 7 that sufficient limb 6 is connect with body 1 rotates a certain angle or controls four rollings
Realize turning function in the direction of rotation of wheel 8.
Embodiment 3:
The artificial level land of machine fast moves mode, as shown in fig. 7, when robot is needed quickly through the inconvenient low latitude taken off
When flat ground, robot can be by the bending of the two groups of foot wheel constructions in front and two groups of foot wheel constructions are straightened below so that body 1 to
It leans forward；Or as shown in figure 8, the sufficient wheel construction of front and back is all straightened, and two groups of foot wheel constructions of front are toward extension, so that body 1
It turns forward.Then each horn 2 is unfolded, while starts the land row servo motor of the brushless motor 4 on horn 2 and each idler wheel 8
7, robot can be made to quickly move through flat ground.The lift that propeller 5 generates at this time can also adjust the posture of robot,
It prevents it from toppling over overturning, is turned to furthermore it is also possible to be realized by the steering mode that embodiment 2 describes.
Embodiment 4:
As shown in fig. 9 or 10, machine, which artificially flies, cooperates the motion mode of monopodia wheel construction or biped wheel construction.Work as machine
Device people walks when there is the ground of a small amount of particle shape barrier, and four groups of foot wheel constructions land translation there are certain difficulty simultaneously, this
When can only be landed translation with one group of foot wheel construction or two groups of foot wheel constructions.Meanwhile the horn of robot 2 being unfolded, allow spiral shell
It revolves the rotation of paddle 5 and generates lift to mitigate the weight bearing of Ground roller 8, and adjust certain posture to provide the power of advance.In addition,
It can control the land row servo motor 7 that the sufficient wheel construction to land is connect with body 1, turning function realized, so that landing idler wheel 8 can
To bypass graininess barrier.
Embodiment 5:
As is illustrated by figs. 11 and 12, machine is artificially creeped the mode of walking.When there are more graininess to hinder on the road surface passed through
Hinder object and make idler wheel 8 be difficult to by when, can star the creep mode of robot, i.e., climbed in such a way that four groups of foot wheel constructions are walked
Cross graininess barrier.The mode wherein creeped is: the characteristics of motion of one of them two groups of diagonal foot wheel construction is consistent, and general
Logical quadruped creeps similar, creeps forward or backward in such a way that two diagonal sufficient limbs 6 alternately land.In addition can be unfolded
Horn 8 starts propeller 5, on the one hand can mitigate the weight bearing of each group foot wheel construction, and on the other hand adjustable robot is flat
Weighing apparatus.
Embodiment 6:
The mode that the artificial slope of machine is walked.It as shown in figure 13, can will be on slope when robot is by compared with steeply inclined
Two groups of foot wheel constructions of side are bent, and two groups of foot wheel constructions of downside stretch；Or as shown in figure 14, all sufficient wheel constructions are stretched
Directly, make stretching upwards for upside.Such mode makes the holding substantially of robot fuselage horizontal.In addition expansion horn 2 starts spiral shell
It revolves paddle 5 and generates lift, on the one hand can mitigate the weight bearing of sufficient wheel construction, on the other hand the power that robot climb can be provided
Or robot can be made to slow down and glided.
Embodiment 7:
As shown in figure 15, the mode of the artificial auto Deformation walking of machine.When road conditions are bad, robot generally all can be by machine
Arm 2 is unfolded, and starts propeller 5, to guarantee the balance of robot.But when by slype, robot horn 2 is unfolded
Shi Buneng passes through, and at this moment robot can withdraw horn 2, and two groups of foot wheel constructions is bent, the shape ruler of such robot
It is very little to become smaller, pass through slype.
Different running method described in the above embodiment of the present invention, other than embodiment 1, other embodiments are all
It is difficult to take off or fly in robot and carry out under difficult environment, it can be seen that the amphibious quadrotor machine of changeable body of the invention
The method of operation of people is flexible and varied, adapts to the empty land environment of Various Complex.
The above is a preferred embodiment of the present invention and multiple embodiments, it is noted that for the art
For those of ordinary skill, without departing from the principles of the present invention, it can also make several improvements and retouch, these
Improvements and modifications also should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of amphibious quadrotor robot of changeable body characterized by comprising
Body, the body setting is in flat hexahedron；
Rotor structure, the rotor structure include four groups, be separately positioned on four of the body top it is diagonal on, described in every group
Rotor structure includes a horn, a flight servo motor, a brushless motor and a propeller, and the first end of the horn can be rotated
Ground is arranged on the flight servo motor on the body top, and the brushless motor is fixedly provided in the of the horn
Two ends, the propeller are arranged in the rotation axis of the brushless motor；
Sufficient wheel construction, the foot wheel construction includes four groups, be separately positioned on four of the body bottom end it is diagonal on, described in every group
Sufficient wheel construction is provided with more piece foot limb, and a land row servo motor is provided between foot limb described in two adjacent sections, wherein described in head section
The first end of sufficient limb is rotatably arranged on the land row servo motor of the body bottom end, the second of foot limb described in final section
End is provided with a land row servo motor and an idler wheel, and the idler wheel is arranged in the rotation axis of the land row servo motor；
Collection module, the collection module are arranged on the outer surface of the body, including a laser radar, multiple groups binocular camera shooting
The upper surface of the body, binocular camera described in every group and institute is arranged in head and multiple groups ultrasonic wave module, the laser radar
Ultrasonic wave module is stated to be separately positioned on one of outer surface of body；
The inside of the body, including an onboard computer, a servo controller and one is arranged in control module, the control module
Flight controller, the laser radar, the binocular camera, the ultrasonic wave module, the servo controller and it is described fly
Line control unit is electrically connected with the onboard computer.
2. the amphibious quadrotor robot of changeable body according to claim 1, which is characterized in that the top of the body is arranged
There are multiple accumulator tanks, the accumulator tank and the horn correspond.
3. the amphibious quadrotor robot of changeable body according to claim 1, which is characterized in that the blade of the propeller can
It is folded to the same side of paddle shaft.
4. the amphibious quadrotor robot of changeable body according to claim 1, which is characterized in that foot wheel construction described in every group
Sufficient podomere number is three.
5. the amphibious quadrotor robot of changeable body according to claim 4, which is characterized in that foot limb described in first segment can lead to
It crosses the land row servo motor to rotate in the horizontal plane, foot limb described in the second section and third section can pass through the land row servo motor
It is rotated on perpendicular.
6. the amphibious quadrotor robot of changeable body according to claim 1, which is characterized in that the collection module further includes
Inertial Measurement Unit module, the Inertial Measurement Unit module are arranged in the body, the Inertial Measurement Unit module with
The flight controller electrical connection.
7. the amphibious quadrotor robot of changeable body according to claim 6, which is characterized in that each flight servo electricity
Rotary angle transmitter and speed probe, the rotary angle transmitter and institute are provided at the position of machine and the land row servo motor
Speed probe is stated to be electrically connected with the servo controller.
8. the amphibious quadrotor robot of changeable body according to claim 7, which is characterized in that each brushless motor is equal
Independently be electrically connected with the flight controller, each flight servo motor and land row servo motor independently with it is described
Servo controller electrical connection.
9. the amphibious quadrotor robot of changeable body according to claim 1, which is characterized in that be additionally provided in the body
Power module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910295246.9A CN109927498B (en) | 2019-04-12 | 2019-04-12 | Multi-variant amphibious four-rotor robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910295246.9A CN109927498B (en) | 2019-04-12 | 2019-04-12 | Multi-variant amphibious four-rotor robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109927498A true CN109927498A (en) | 2019-06-25 |
| CN109927498B CN109927498B (en) | 2021-02-19 |
Family
ID=66989878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910295246.9A Active CN109927498B (en) | 2019-04-12 | 2019-04-12 | Multi-variant amphibious four-rotor robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109927498B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110584962A (en) * | 2019-08-28 | 2019-12-20 | 西安工业大学 | Combined obstacle-detection intelligent blind-guiding system |
| CN110597291A (en) * | 2019-10-09 | 2019-12-20 | 酷黑科技（北京）有限公司 | Detection method, device and system |
| CN110949558A (en) * | 2019-12-13 | 2020-04-03 | 江南大学 | Rotor multi-foot hybrid wall-climbing robot |
| CN111098650A (en) * | 2019-12-11 | 2020-05-05 | 中国飞机强度研究所 | Dual-purpose robot of world |
| CN111516770A (en) * | 2020-04-28 | 2020-08-11 | 扬州大学 | Snake state/quadruped state/rotor wing flight state robot based on mimicry state |
| WO2021022727A1 (en) * | 2019-08-07 | 2021-02-11 | 清华大学 | Air-ground amphibious unmanned driving platform |
| CN113147294A (en) * | 2021-04-30 | 2021-07-23 | 东南大学 | Air-ground amphibious autonomous investigation robot and working method |
| CN113511040A (en) * | 2021-09-15 | 2021-10-19 | 清华大学 | Air-ground amphibious multi-mode carrying platform |
| CN113635721A (en) * | 2021-08-19 | 2021-11-12 | 西安戴森电子技术有限公司 | Air-land amphibious biped wheel multi-mode walking flying bionic robot |
| CN114043830A (en) * | 2021-10-25 | 2022-02-15 | 浙江大学台州研究院 | Land, water and air three-purpose safety intelligent robot |
| CN114368255A (en) * | 2020-10-14 | 2022-04-19 | 中南大学 | Water, land and air multi-purpose robot |
| CN114802739A (en) * | 2022-06-09 | 2022-07-29 | 广东汇天航空航天科技有限公司 | Rotor positioning method for aircraft, aircraft and storage medium |
| CN116374041A (en) * | 2023-05-06 | 2023-07-04 | 深圳技术大学 | Land-air multi-mode four-foot bionic robot and control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203046783U (en) * | 2013-02-27 | 2013-07-10 | 广东工业大学 | Rescue robot for polymorphic real-time information transmission |
| CN104494818A (en) * | 2014-11-28 | 2015-04-08 | 吉林大学 | Novel four-rotor-wing amphibious robot |
| CN205554560U (en) * | 2016-02-22 | 2016-09-07 | 深圳市大疆创新科技有限公司 | Unmanned vehicles and frame thereof |
| CN106184456A (en) * | 2016-07-08 | 2016-12-07 | 上海大学 | A kind of agent structure can the leg-wheel robot of multi-stage expansion |
| JP6448071B2 (en) * | 2018-02-23 | 2019-01-09 | 株式会社佐竹技研 | Drone |
-
2019
- 2019-04-12 CN CN201910295246.9A patent/CN109927498B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203046783U (en) * | 2013-02-27 | 2013-07-10 | 广东工业大学 | Rescue robot for polymorphic real-time information transmission |
| CN104494818A (en) * | 2014-11-28 | 2015-04-08 | 吉林大学 | Novel four-rotor-wing amphibious robot |
| CN205554560U (en) * | 2016-02-22 | 2016-09-07 | 深圳市大疆创新科技有限公司 | Unmanned vehicles and frame thereof |
| CN205554572U (en) * | 2016-02-22 | 2016-09-07 | 深圳市大疆创新科技有限公司 | Unmanned vehicles and frame thereof |
| CN106184456A (en) * | 2016-07-08 | 2016-12-07 | 上海大学 | A kind of agent structure can the leg-wheel robot of multi-stage expansion |
| JP6448071B2 (en) * | 2018-02-23 | 2019-01-09 | 株式会社佐竹技研 | Drone |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021022727A1 (en) * | 2019-08-07 | 2021-02-11 | 清华大学 | Air-ground amphibious unmanned driving platform |
| CN110584962A (en) * | 2019-08-28 | 2019-12-20 | 西安工业大学 | Combined obstacle-detection intelligent blind-guiding system |
| CN110597291A (en) * | 2019-10-09 | 2019-12-20 | 酷黑科技（北京）有限公司 | Detection method, device and system |
| CN111098650A (en) * | 2019-12-11 | 2020-05-05 | 中国飞机强度研究所 | Dual-purpose robot of world |
| CN110949558A (en) * | 2019-12-13 | 2020-04-03 | 江南大学 | Rotor multi-foot hybrid wall-climbing robot |
| CN111516770A (en) * | 2020-04-28 | 2020-08-11 | 扬州大学 | Snake state/quadruped state/rotor wing flight state robot based on mimicry state |
| CN114368255A (en) * | 2020-10-14 | 2022-04-19 | 中南大学 | Water, land and air multi-purpose robot |
| CN114368255B (en) * | 2020-10-14 | 2024-03-19 | 中南大学 | Amphibious robot |
| CN113147294A (en) * | 2021-04-30 | 2021-07-23 | 东南大学 | Air-ground amphibious autonomous investigation robot and working method |
| CN113147294B (en) * | 2021-04-30 | 2022-06-14 | 东南大学 | Air-ground amphibious autonomous investigation robot and working method |
| CN113635721A (en) * | 2021-08-19 | 2021-11-12 | 西安戴森电子技术有限公司 | Air-land amphibious biped wheel multi-mode walking flying bionic robot |
| CN113511040A (en) * | 2021-09-15 | 2021-10-19 | 清华大学 | Air-ground amphibious multi-mode carrying platform |
| CN114043830A (en) * | 2021-10-25 | 2022-02-15 | 浙江大学台州研究院 | Land, water and air three-purpose safety intelligent robot |
| CN114043830B (en) * | 2021-10-25 | 2024-03-05 | 浙江大学台州研究院 | Land, water and air three-purpose safe intelligent robot |
| CN114802739A (en) * | 2022-06-09 | 2022-07-29 | 广东汇天航空航天科技有限公司 | Rotor positioning method for aircraft, aircraft and storage medium |
| CN116374041A (en) * | 2023-05-06 | 2023-07-04 | 深圳技术大学 | Land-air multi-mode four-foot bionic robot and control method |
| CN116374041B (en) * | 2023-05-06 | 2023-11-21 | 深圳技术大学 | Land-air multi-mode four-foot bionic robot and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109927498B (en) | 2021-02-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109927498A (en) | The changeable amphibious quadrotor robot of body | |
| US11124298B2 (en) | Foldable UAV | |
| EP3254964B1 (en) | Transformable aerial vehicle | |
| US20210276734A1 (en) | Automated Docking Of Unmanned Aerial Vehicle | |
| CN205891228U (en) | Flying robot | |
| Bouabdallah | Design and control of quadrotors with application to autonomous flying | |
| JP7265017B2 (en) | Unmanned flight systems and control systems used in unmanned flight systems | |
| Zufferey et al. | A 10-gram vision-based flying robot | |
| CN111137082A (en) | Single-duct land air cross-domain robot and control method thereof | |
| CN114801613A (en) | Deformable small four-rotor four-foot crawling robot and control method thereof | |
| Zufferey et al. | A 10-gram microflyer for vision-based indoor navigation | |
| CN206679256U (en) | Flight mechanical arm and UAS | |
| Floreano et al. | Aerial locomotion in cluttered environments | |
| CN213814412U (en) | Double-cradle head unmanned aerial vehicle | |
| CN217477022U (en) | Deformable small four-rotor four-foot flying robot | |
| AU2022246278A1 (en) | An aerial vehicle also capable of moving on inclined surfaces | |
| US20230150660A1 (en) | Multi-Modal Mobility Unmanned Vehicle | |
| CN207240181U (en) | A kind of robot | |
| CN112549886A (en) | Amphibious six-rotor aircraft applicable to multiple terrains and having walking function | |
| Wu | Biomimetic sensor modeling and simulations for flight control of a micromechanical flying insect | |
| CN114802732A (en) | Coaxial double-rotor unmanned aerial vehicle | |
| Manning et al. | An Indoor Aerial Robot for Herding Ground Robots |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |