CN110281718A - Air-ground amphibious bio-robot and control method - Google Patents
Air-ground amphibious bio-robot and control method Download PDFInfo
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- CN110281718A CN110281718A CN201910565847.7A CN201910565847A CN110281718A CN 110281718 A CN110281718 A CN 110281718A CN 201910565847 A CN201910565847 A CN 201910565847A CN 110281718 A CN110281718 A CN 110281718A
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- 238000000034 method Methods 0.000 title claims description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 84
- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 230000000007 visual effect Effects 0.000 claims abstract description 9
- 230000005021 gait Effects 0.000 claims description 18
- 238000005452 bending Methods 0.000 claims description 13
- 230000006870 function Effects 0.000 claims description 13
- 238000013459 approach Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 208000010877 cognitive disease Diseases 0.000 claims description 2
- 230000008447 perception Effects 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims description 2
- 238000007499 fusion processing Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 8
- 230000009193 crawling Effects 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 11
- 230000004888 barrier function Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 230000004043 responsiveness Effects 0.000 description 3
- 241000238421 Arthropoda Species 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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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
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses air-ground amphibious bio-robots, are equipped with depth camera swing mechanism, rotor flying movement mechanism, Fang Zu Land Movement mechanism；Depth camera swing mechanism is equipped with rotation free bearing, and swing steering engine is equipped on the inside of rotation free bearing, and swing steering engine is connected to swing arm, and swing arm is equipped with depth camera sensor；Rotor flying movement mechanism is equipped with rotor wings frame, and six groups of horn axis are equipped in rotor wings frame, brshless DC motor is equipped on horn axis, rotor unit is equipped on brshless DC motor；Fang Zu Land Movement mechanism is equipped with chassis, and tuning controller and Land Movement controller are equipped in chassis, is equipped with flight controller above the chassis；Robot of the present invention have land crawling exercises, sporting flying, visual detection function, the functional characteristics with visual detection, the empty integrated operation in land improves robot to the adaptability of various complicated landforms, while ensure that the stability of robot.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of air-ground amphibious bio-robot and control method.
Background technique
With the development of science and technology and society, people are accelerated to the region that can not be related to before, such as cave, desert, pole
Ground, seabed etc. or even outer space environment.But these unknown regions are filled with risk, if searcher fails to carry out sufficiently
Preparation or careless slightly, huge cost will be paid.Even so, but often these places may be contained largely
Resource goes to explore before drive people.In today of rapid technological growth, many searchers using robot by being visited
Rope can so allow robot to replace mankind's activity, reduce the risk of the person.Develop the Robot Design of comparative maturity at present
Main two kinds: wheeled robot and caterpillar type robot, the unmanned express delivery trolley in wheeled robot such as Jingdone district have small-scale
Using and possess preferable market prospects, but have greater room for improvement in terms of adaptation to the ground in contrast；Crawler frame
People's such as explosive-removal robot, in the use (such as explosive-removal robot) of some particular surroundings.
Though existing polypody, wheeled, rotary wind type robot perhaps, which are constantly developed and apply, carries out operation in the land field Kong Deng,
But these robots still remain the deficiencies of environmental suitability is poor for multi-field operation.For this deficiency, domestic and international expert
Scholar mostly uses scheme of the wheeled or caterpillar type robot in conjunction with rotary wind type robot, designs air-ground amphibious robot, so that
The ability and the adaptability to multi-field environment work that robot has multi-field operation.Though wheeled robot is in relatively flat
In landform when driving, have structure simple, the features such as speed is rapid, steady, but soft terrain or it is serious ruggedly
In shape, the energy consumption of wheel will be greatly increased, and also serious loss substantially reduces mobile efficiency for effect.And caterpillar type robot
Although in landform adaptability having certain promotion compared to wheeled robot, there is also low efficiency, track wear are fast, not
Mobility on plane earth is still very poor, there is fuselage when driving and shakes serious phenomenon.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provide air-ground amphibious bio-robot and
Control method.
Technical solution: to achieve the above object, a kind of air-ground amphibious bio-robot provided by the invention, from top to bottom according to
It is secondary to be equipped with depth camera swing mechanism, rotor flying movement mechanism, Fang Zu Land Movement mechanism；
The depth camera swing mechanism is equipped with swing steering engine, and the swing steering engine is connected to swing arm, the swing arm
It is equipped with depth camera sensor；The swing steering engine drives swing arm rotational motion, realizes that depth camera sensor swings control
System；
The rotor flying movement mechanism is equipped with six groups of horn axis, sets respectively at left and right sides of Fang Zu Land Movement mechanism
There are three groups of legs.
As a further improvement, the depth camera swing mechanism is equipped with two swing steering engines of left and right, two swing steering engines difference
Two swing arm lower ends are connected, two swing arm upper ends connect depth camera sensor；The swing steering engine is fixed on rotor flying fortune
Right above motivation structure.
As a further improvement, the swing arm is equipped with bending part and vertical portion, the bending part is equipped with rotation hole, described
Cross fastener hole is equipped on the inside of rotation hole, the swing steering engine rotation axis is fixedly connected with bending part cross fastener hole；Institute
It states and is equipped with rotation free bearing on the outside of swing arm, the rotation free bearing is flexibly connected with bending part rotation hole；The vertical portion upper end connects
Connect the depth camera sensor.
As a further improvement, Fang Zu Land Movement mechanism is equipped with chassis, the chassis front end is passed equipped with ultrasonic wave
Sensor；Three groups of legs are separately connected at left and right sides of the chassis；
Flight controller is equipped with above the chassis；Tuning controller is installed in the chassis and Land Movement controls
Device.
As a further improvement, the rotor flying movement mechanism is equipped with rotor wings frame, six groups of machines are equipped in the rotor wings frame
Arm axle, brshless DC motor is equipped on the horn axis, and the brshless DC motor is equipped with rotor unit；
The leg is all provided with there are three steering engine is rotated, and every leg all has three degree of freedom；Leg described in six groups, left side
Front and back leg and right side middle leg portion constitute triped gait group I, and the front and back leg on right side and left side middle leg portion constitute triangle step
State group II.
As a further improvement, using equidistant circumference array between six groups of horn axis in the rotor flying movement mechanism
Distribution, be mutually divided into 60 °, and be interspersed with the leg of Fang Zu Land Movement mechanism, with prevent leg during exercise with horn axis
It collides；
Horn axis shaft end is equipped with fixture and horn axis is fixed；The horn shaft end cotter pin configuration part pair
Brshless DC motor is fixed.
As a further improvement, the depth camera swing mechanism and rotor flying movement mechanism, imitative sufficient Land Movement machine
The center of structure is located in same vertical line.
A kind of control method for implementing above-mentioned air-ground amphibious bio-robot, tuning controller and Land Movement controller,
Flight controller carries out gradational coordination control to robot, specifically includes the following steps:
(1) Land Movement: Land Movement controller is connected with the steering engine on all legs, and by steering engine to six groups of legs
The driving combination triped gait control algolithm in portion carries out gait motion control；
(2) operation control: when depth camera working sensor can get robot current visual angle under environment RGB image,
Depth image and point cloud chart, tuning controller pass through the point cloud chart data combination iteration closest approach that acquires to depth camera sensor
Algorithm calculates the pose of robot, and then realizes the instant map structuring of robot, in conjunction with A-Star algorithm, quiet
Shortest path is solved in state road network, to realize path optimization and the independent navigation function of robot；
(3) sporting flying: flight controller carries out rotation control to brshless DC motor, and uses PID control principle knot
The deviation between the posture and desired value that sensor obtains is closed, to correct the response for adjusting airframe systems, realizes that robot is real-time
Hovering, rotation, side flies and inverted flight；
(4) coordinated control: tuning controller, which is concentrated, carries out flight and land to Land Movement controller and flight controller
The instruction control of motor function switching；
Above step in no particular order sequence.
As a further improvement, the ultrasonic sensor and depth camera sensor are handled by sensor data fusion
Ultrasonic wave and deep image information obtain the similar value of the two and are used as measured value.
As a further improvement, depth camera sensor identification function, disturbance of perception object apart from while, be also able to achieve knowledge
Other barrier.
The beneficial effects of the present invention are:
1. the present invention is by setting Land Movement mechanism, rotor flying movement mechanism, depth camera swing mechanism, this is three big
Coordinate operation between mechanism, realize respectively the land crawling exercises of air-ground amphibious bio-robot, sporting flying, visual detection,
The function of the empty integrated operation in land.
2. the gait motion that the present invention is supported ground, is swung by six legs of Fang Zu Land Movement mechanism,
Contour structures copy the arthropod in living nature, and the Multi-contact with ground can be kept in traveling process, so can subtract
Few influence of the hypsography to robot overall stability, while can maintain that robot body's is steady, it ensure that robot
Stability, while also greatly improving the ability that robot adapts to various complicated landforms.
3. PID control principle sense aircraft that present invention employs depth camera sensors in conjunction with flight controller is flying
Attitude angle variation during row realizes that hovering in real time, rotation, side flies and inverted flight, there is fine stability, responsiveness and robust
Property, various flight investigation operations can be coped with calmly.
4. the present invention passes through ultrasonic sensor pathfindings algorithm such as A-Star of controller in conjunction with depth camera sensor
With sensor data fusion technology, the limitation of signal can not be received by enabling robot to overcome the underground space, while realize machine
Device people independent navigation, immediately building map and barrier avoiding function.
5. the present invention uses WIFI module and bluetooth module in the mode of control, allow user can be by a variety of controls
Mode processed is carrying out a series of activity far from dangerous place operation robot, while also can be by the real-time condition of robot
The concrete condition of the case where passing the upper end of computer back, allowing user that can grasp robot in real time and the environment where it.
Detailed description of the invention
Attached drawing 1 is the overall structure signal one of the air-ground amphibious bio-robot of the present embodiment 1；
Attached drawing 2 is the overall structure signal two of the air-ground amphibious bio-robot of the present embodiment 1；
Attached drawing 3 is one of the local structural graph of the air-ground amphibious bio-robot of the present embodiment 1；
Attached drawing 4 is part A enlarged structure schematic diagram in Fig. 3；
Attached drawing 5 is the partial structurtes perspective view of the explosion of the air-ground amphibious bio-robot of the present embodiment 1；
Attached drawing 6 is the two of the local structural graph of the air-ground amphibious bio-robot of the present embodiment 1；
Attached drawing 7 is the four of the local structural graph of the air-ground amphibious bio-robot of the present embodiment 1；
Attached drawing 8 is the five of the local structural graph of the air-ground amphibious bio-robot of the present embodiment 1；
Attached drawing 9 is the overall structure signal six of the air-ground amphibious bio-robot of the present embodiment 1；
Attached drawing 10 is the circuit diagram of the air-ground amphibious bio-robot of the present embodiment 1；
Attached drawing 11 is the local structural graph one of the air-ground amphibious bio-robot of the present embodiment 5.
In figure: 1 depth camera swing mechanism, 11 depth camera sensors, 12 swing steering engines, 13 rotation free bearings, 14 are swung
Arm, 141 bending parts, 142 rotation holes, 143 vertical portions, 144 cross fastener holes, 145 cross fasteners, 146 latches, 2 rotations
Wing sporting flying mechanism, 21 rotor wings frames, 22 horn axis, 23 brshless DC motors/24 rotor units, 3 Fang Zu Land Movement mechanisms,
31 chassis, 32 legs, 33 tuning controllers, 34 Land Movement controllers, 35 flight controllers, 36 ultrasonic sensors, 37 turns
Dynamic steering engine, 4 rotation mechanism in vertical shaft.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
Embodiment 1, such as attached drawing 1 to attached air-ground amphibious bio-robot shown in Fig. 9, be equipped with depth camera swing mechanism 1,
Rotor flying movement mechanism 2, Fang Zu Land Movement mechanism 3；Realize respectively air-ground amphibious bio-robot land crawling exercises,
Sporting flying, visual detection function, have the function of the empty integrated operation of visual detection, land.
The depth camera swing mechanism 1 is equipped with swing steering engine 12, and the swing steering engine 12 is connected to swing arm 14, described
Swing arm 14 is equipped with depth camera sensor 11；The swing steering engine 12 drives 14 rotational motion of swing arm, realizes depth phase
11 weave control of machine sensor；
The rotor flying movement mechanism 2 is equipped with six groups of horn axis 22, divides at left and right sides of Fang Zu Land Movement mechanism 3
It She You not three groups of legs 32.
The depth camera swing mechanism 1 is equipped with two swing steering engines 12 of left and right, and two swing steering engines 12 are separately connected two swings
14 lower end of arm, two swing arms, 14 upper end connect depth camera sensor 11；The swing steering engine 12 is fixed on rotor flying movement
Right above mechanism 2, depth camera sensor 11 can be Kinect depth camera.
The swing arm 14 is equipped with bending part 141 and vertical portion 143, and the bending part 141 is equipped with rotation hole 142, described
Cross fastener hole 144 is equipped on the inside of rotation hole, 12 rotation axis of swing steering engine passes through with bending part cross fastener hole 144
Cross locking part 145 connects, and cross locking part 145 is connect by latch 146 with 12 shaft of swing steering engine, cross fastening
Hole 144 guarantees that swing steering engine 12 is synchronous with the rotation of swing arm 14, does not generate offset or dislocation；It is equipped on the outside of the swing arm 14
Free bearing 13 is rotated, the rotation free bearing 13 is flexibly connected with bending part rotation hole；The vertical portion upper end connects the depth phase
Machine sensor 11.Rotation control is carried out by fixed steering engine, drives the rotation of swing arm 14, realizes depth camera sensor 11
Wave control, provide broader, flexible controllable robot visual angle for robot.
Fang Zu Land Movement mechanism 3 is equipped with chassis 31, and 31 front end of chassis is equipped with ultrasonic sensor 36；It is described
Three groups of legs 32 are separately connected at left and right sides of chassis 31；
Flight controller 35 is equipped with above the chassis 31；Tuning controller 33 is installed in the chassis 31 and land is transported
Movement controller 34.
The rotor flying movement mechanism 2 is equipped with rotor wings frame 21, and six groups of horn axis 22 are equipped in the rotor wings frame 21, described
Brshless DC motor 23 is equipped on horn axis 22, the brshless DC motor 23 is equipped with rotor unit 24；
The leg 32 is all provided with there are three steering engine 37 is rotated, and every leg 32 all has three degree of freedom；Leg described in six groups
Portion 32, left side front and back leg 32 and right side middle leg portion constitute triped gait group I, leg among the front and back leg 32 and left side on right side
Portion 32 constitutes triped gait group II.
Equidistant circumference array distribution is used between six groups of horn axis 22 in the rotor flying movement mechanism 2, is mutually divided into
60 °, and be interspersed with the leg 32 of Fang Zu Land Movement mechanism 3, to prevent leg 32 from colliding during exercise with horn axis 22
It hits；
21 shaft end of horn axis is equipped with fixture 25 and horn axis 22 is fixed；The 22 end split pin of horn axis
Brshless DC motor 23 is fixed in structural member, and motor caused by vibrating when flight is avoided to fall off.
The center of the depth camera swing mechanism 1 and rotor flying movement mechanism 2, Fang Zu Land Movement mechanism 3 is located at
In same vertical line.
The present embodiment also provides the control method of air-ground amphibious bio-robot, and tuning controller 33 and Land Movement control
Device 34, flight controller 35 carry out gradational coordination control to robot, specifically includes the following steps:
(1) Land Movement: Land Movement controller 34 is connected with the steering engine 37 on all legs 32, and passes through steering engine 37
Gait motion control is carried out to the driving combination triped gait control algolithm of six groups of legs 32；The triangle step when carrying out Land Movement
Tri- legs 32 state group I are used as support phase, and tri- legs 32 triped gait group II are used as swing phase, the triangle step in support phase
Tri- legs 32 state group I form a triangle stress support, when the triped gait group II in swing phase travels forward, branch
The triped gait group I's half of step-length s/2 of support phase has also travelled forward under the action of steering engine 37 drives；When the triangle step of swing phase
After state group II movement in place, ground is put down and contacted immediately, is converted to support phase, meanwhile, the previously triped gait of support phase
Group I is converted to swing phase state, and after triped gait group I also completes pendulum motion, triped gait group II will also travel forward
Half of step-length s/2, the movement of a cycle have just travelled forward a step-length s；The support phase and swing phase looped back and forth like this
Between converted, that is, realize the constantly forward movement of robot；The step that ground is supported, is swung by six legs
State movement, is suitable for various non-structural ground, has multistep state, obstacle detouring flexibly and moves freely；Every leg all has three certainly
By spending, entire body has 18 freedom degrees altogether；Land Movement controller 34 can be the microcontroller of STM32F4；
(2) operation control: it can get the RGB figure of environment under robot current visual angle when depth camera sensor 11 works
Picture, depth image and point cloud chart, tuning controller 33 are combined by the point cloud chart data acquired to depth camera sensor 11 and are changed
For closest approach algorithm, the pose of the design robot can be calculated, and then realizes the instant map constructing function of robot, may be used also
In conjunction with A-Star algorithm, shortest path is solved in static road network, to realize path optimization and the independent navigation function of robot
Energy；
(3) sporting flying: flight controller 35 carries out rotation control to brshless DC motor 23, and former using PID control
The deviation between posture and desired value that reason combines sensor to obtain realizes robot to correct the response for adjusting airframe systems
Hovering in real time, rotation, side flies and inverted flight, improves stability, responsiveness and the robustness of bio-robot flight；Flight controller
35 can be the flight controller of Pixhawk 4；
(4) coordinated control: the concentration of tuning controller 33 flies to Land Movement controller 34 and flight controller 35
With the coordinated control of Land Movement function switch instruction；
The tuning controller 33 is equipped with wifi or bluetooth module, realizes that a variety of connection types are controlled, by more
Kind control mode remotely operates the robot, while the image data of Kinect depth camera can be sent to receiving device,
Facilitate the research of host computer and the opening of other application.The tuning controller 33 can be 3 controller of raspberry pie.
The ultrasonic sensor 36 passes through sensor data fusion technical treatment ultrasonic wave with depth camera sensor 11
With deep image information, obtains the similar value of the two and be used as measured value, in conjunction in 11 identification function of depth camera sensor, sense
While knowing obstacle distance, it is also able to achieve cognitive disorders object.
Such as Figure 10, sensor of the invention includes depth camera sensor and ultrasonic sensor, and controller includes flight
Controller, Land Movement controller, tuning controller, executing agency include rotor flying movement mechanism and Land Movement mechanism,
It further include PC host computer and power supply；Deep image information, RGB image, point cloud chart are sent PC host computer by sensor, and PC is upper
Command signal is assigned to controller to controller after machine combination algorithm operation, and controller controls executing agency by steering engine
Rotation.
A kind of new robot architecture of major design of the present invention, can greatly improve robot to the adaptation energy of landform
Power makes user far from dangerous.Wheeled, caterpillar type robot, common robot determines in structure on the market for both
They have a higher requirement to the landform used, but it is less for some mankind explore, the place that risk is big, often landform
Situation is sufficiently complex, and the robot of both the above structure is just helpless in face of these complicated landform, but personnel carry out
It is again too high to explore risk.
Land Movement mechanism of the present invention contour structures copy the arthropod in living nature, can be kept in traveling process with
The Multi-contact on ground so influence of the hypsography to robot overall stability can be reduced, while maintaining robot master
Body it is steady, ensure that the stability of robot, while also greatly improving the ability that robot adapts to various complicated landforms.
In addition, the present invention uses WIFI module and bluetooth module in the mode of control, allow user can be by a variety of
Control mode is carrying out a series of activity far from dangerous place operation robot, while also can be by the real-time feelings of robot
The concrete condition of the case where condition passes computer end back, allows user that can grasp robot in real time and the environment where it.
Using depth camera sensor in conjunction with flight controller PID control principle sense aircraft in flight course
Attitude angle variation, realize that hovering in real time, rotation, side flies and inverted flight, there is fine stability, responsiveness and robustness, can be from
Hold and copes with various flights investigation operations.
Embodiment 2, the present embodiment is substantially same as Example 1, the difference is that:
Step (3) also comprises the steps of: that (31) air-ground amphibious bio-robot under the control of flight controller 35, drives
Brshless DC motor 23 rotates, and when air-ground amphibious bio-robot is in vacant state, Land Movement controller 34 controls six
Steering engine 37 on leg 32 acts, so that leg 32 is sagging and draws close to air-ground amphibious bio-robot perpendicular bisector, leg 32
After lower end is drawn close, imitative plummet state is formed, 3 center of gravity of Fang Zu Land Movement mechanism is concentrating on rotor flying movement mechanism 2 just
Lower section is conducive to the skyborne gravity's center control of air-ground amphibious bio-robot, is realized by the change of physical aspect more stable outstanding
Stop, rotate, side fly and inverted flight, and be not easy by wind, air-flow etc. influence.
Embodiment 3, the present embodiment is substantially same as Example 1, the difference is that:
Two swing steering engines, 12 independent control, depth camera sensor 11 are that bulb is connect with the connection of swing arm 14.
When two swing steering engines 12 rotate in same direction, depth camera sensor 11 under the movement of two swing arms 14, forward or
Backward around the axis rotation of swing steering engine 12；
When two swing steering engines 12 rotate backward, depth camera sensor 11 under the movement of two swing arms 14, to the left or
It twists to the right.
Embodiment 4, the present embodiment is substantially same as Example 1, the difference is that:
Circular rotatable track is equipped in the middle part of Fang Zu Land Movement mechanism 3, the setting of ultrasonic sensor 36 turns in circle
On dynamic rail road, 360 degree of rotations can be done around 3 central axes of Fang Zu Land Movement mechanism.
When air-ground amphibious bio-robot is in the traveling process of land, positioned at the appearance of the side of air-ground amphibious bio-robot
When barrier, ultrasonic sensor 36 can be driven to turn to certain angle by circular rotatable track, carry out the detection of barrier,
The detection of side barrier can be realized in orientation without adjusting air-ground amphibious bio-robot.
Embodiment 5, referring to Figure 11, the present embodiment is substantially same as Example 1, the difference is that:
Rotation mechanism in vertical shaft 4, the depth phase are equipped between rotor flying movement mechanism 2 and depth camera swing mechanism 1
Machine swing mechanism 1 is arranged on rotation mechanism in vertical shaft 4, and the rotation of rotation mechanism in vertical shaft 4 can be followed to carry out 360 degree of rotations.
When air-ground amphibious bio-robot is in land traveling process or flight course, can be driven by rotation mechanism in vertical shaft
Depth camera swing mechanism 1 is rotated horizontally, and the orientation without adjusting air-ground amphibious bio-robot can be realized 360 degree
Detection improves maneuverability.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of air-ground amphibious bio-robot, it is characterised in that: be successively arranged from top to bottom depth camera swing mechanism (1),
Rotor flying movement mechanism (2), Fang Zu Land Movement mechanism (3)；
The depth camera swing mechanism (1) is equipped with swing steering engine (12), and the swing steering engine (12) is connected to swing arm (14),
The swing arm (14) is equipped with depth camera sensor (11)；Swing steering engine (12) driving swing arm (14) the rotation fortune
It is dynamic, realize depth camera sensor (11) weave control；
The rotor flying movement mechanism (2) is equipped with six groups of horn axis (22), Fang Zu Land Movement mechanism (3) left and right sides
It is respectively equipped with three groups of legs (32).
2. air-ground amphibious bio-robot according to claim 1, it is characterised in that: the depth camera swing mechanism (1)
Equipped with left and right two swing steering engines (12), two swing steering engines (12) are separately connected two swing arms (14) lower end, on two swing arms (14)
End connection depth camera sensor (11)；The swing steering engine (12) is fixed on right above rotor flying movement mechanism (2).
3. air-ground amphibious bio-robot according to claim 2, it is characterised in that: the swing arm is equipped with bending part and erects
Straight portion, the bending part are equipped with rotation hole, and cross fastener hole, swing steering engine (12) rotation are equipped on the inside of the rotation hole
Axis is fixedly connected with bending part cross fastener hole；Rotation free bearing, the rotation free bearing and bending are equipped on the outside of the swing arm
Portion's rotation hole is flexibly connected；The vertical portion upper end connects the depth camera sensor (11).
4. air-ground amphibious bio-robot according to claim 1, it is characterised in that: Fang Zu Land Movement mechanism (3)
Equipped with chassis (31), chassis (31) front end is equipped with ultrasonic sensor (36)；Connect respectively at left and right sides of the chassis (31)
Connect three groups of legs (32)；
Flight controller (35) are equipped with above the chassis (31)；Tuning controller (33) and land are installed in the chassis (31)
Ground motion controller (34).
5. air-ground amphibious bio-robot according to claim 1, it is characterised in that: the rotor flying movement mechanism (2)
Equipped with rotor wings frame (21), it is equipped with six groups of horn axis (22) in the rotor wings frame (21), is equipped on the horn axis (22) brushless
Direct current generator (23), the brshless DC motor (23) are equipped with rotor unit (24)；
The leg (32) is all provided with there are three steering engine (37) are rotated, and every leg (32) all has three degree of freedom；Described in six groups
Leg (32), left side front and back leg (32) and right side middle leg portion constitute triped gait group I, the front and back leg (32) and a left side on right side
Side middle leg portion (32) constitutes triped gait group II.
6. air-ground amphibious bio-robot according to claim 1, it is characterised in that: the rotor flying movement mechanism (2)
In six groups of horn axis (22) between use equidistant circumference array distribution, be mutually divided into 60 °, and with Fang Zu Land Movement mechanism (3)
Leg (32) be interspersed, to prevent leg (32) from colliding during exercise with horn axis (22)；
Horn axis (21) shaft end is equipped with fixture (25) and horn axis (22) is fixed；Horn axis (22) end is with opening
Brshless DC motor (23) is fixed in mouth latch structure part.
7. air-ground amphibious bio-robot according to claim 1, it is characterised in that: the depth camera swing mechanism (1)
It is located in same vertical line with the center of rotor flying movement mechanism (2), Fang Zu Land Movement mechanism (3).
8. a kind of control method for implementing air-ground amphibious bio-robot described in one of claim 1-7, it is characterised in that: coordinate
Controller (33) and Land Movement controller (34), flight controller (35) carry out gradational coordination control to robot, specific to wrap
Include following steps:
(1) Land Movement: Land Movement controller (34) is connected with the steering engine (37) on all legs (32), and passes through steering engine
(37) gait motion control is carried out to the driving combination triped gait control algolithm of six groups of legs (32)；
(2) operation control: depth camera sensor (11) work when can get robot current visual angle under environment RGB image,
Depth image and point cloud chart, tuning controller (33) are combined by the point cloud chart data acquired to depth camera sensor (11) and are changed
For closest approach algorithm, the pose of robot is calculated, and then realizes the instant map structuring of robot, is calculated in conjunction with A-Star
Method solves shortest path in static road network, to realize path optimization and the independent navigation function of robot；
(3) sporting flying: flight controller (35) carries out rotation control to brshless DC motor (23), and former using PID control
The deviation between posture and desired value that reason combines sensor to obtain realizes robot to correct the response for adjusting airframe systems
Hovering in real time, rotation, side flies and inverted flight；
(4) coordinated control: tuning controller (33) concentration carries out Land Movement controller (34) with flight controller (35) winged
Capable and Land Movement function switch instruction controls；
Above step in no particular order sequence.
9. the control method of air-ground amphibious bio-robot according to claim 8, it is characterised in that: the supersonic sensing
Device (36) and depth camera sensor (11) obtain the two by sensor data fusion processing ultrasonic wave and deep image information
Similar value is used as measured value.
10. the control method of air-ground amphibious bio-robot according to claim 9, it is characterised in that；Depth camera sensing
Device (11) identification function, disturbance of perception object apart from while, be also able to achieve cognitive disorders object.
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