CN204965186U - Vacant lot amphibious robot that patrols and examines of integration - Google Patents

Vacant lot amphibious robot that patrols and examines of integration Download PDF

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Publication number
CN204965186U
CN204965186U CN201520736871.XU CN201520736871U CN204965186U CN 204965186 U CN204965186 U CN 204965186U CN 201520736871 U CN201520736871 U CN 201520736871U CN 204965186 U CN204965186 U CN 204965186U
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China
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pin
module
electric capacity
ground
power supply
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CN201520736871.XU
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Chinese (zh)
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张钦彦
程磊
余秋月
宋镖
吴怀宇
陈洋
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武汉科技大学
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Abstract

The utility model relates to a vacant lot amphibious robot that patrols and examines of integration sets up single -chip module in robot many rotors of main part frame, single -chip module is connected with air travel module, ground mobile module, remote control module, boat appearance reference information module respectively to be connected with ground remote control machine sending module remote communications through the remote control module, the air travel module include a plurality of in the frame gyroplane oar of the even interval arrangement of circumference, each gyroplane oar is connected with rotor motor separately, the bottom of frame sets up ground mobile module, includes vacant lot connection frame of connecting bottom the frame and the ground handling wheel that sets up in vacant lot junctor rest base portion, boat appearance reference information module constitute by gyroscope accelerometer, barometer, magnetic field strength meter and GPS. Can be simultaneously use as aerial unmanned aerial vehicle and ground moving platform, realize the amphibious technique of vacant lot integration, for accomplish the three dimensions complex environment in the air / the dual task of patrolling and examining in ground provides the new way.

Description

Air-ground integrated amphibious crusing robot

Technical field

The utility model belongs to robotics, particularly a kind of can the robot of the amphibious motion with ground aloft.

Background technology

In the design studies of contemporary robot, can go more complicated task or realize the multifunction of robot to allow robot, the scope of activities of robot be not confined to initial ground moving already.As far back as eighties of last century, air-robot is as four rotors, Fixed Wing AirVehicle ubiquity, and underwater robot also reaches its maturity.Nowadays, the research & design of robot is just towards amphibiousization, development in pluralism.The research of amphibious robot has been done a lot, and the research of air-ground integrated single robot is then less, and design proposal main at present realizes air-ground integrated by multirobot cooperative cooperating.

Complete in complex task actual, single aerial crusing robot or ground crusing robot limit due to self movement patterns, can not complete the task in complex environment.The Air Ground Integration System realized by multirobot cooperative cooperating is mainly used in military aspect, but because cost of manufacture is high, it is complicated to control, so be difficult to be promoted in civilian.

Utility model content

The technical problems to be solved in the utility model is: provide a kind of air-ground integrated amphibious crusing robot, overcome the limitation of airborne aircraft and ground robot simple function separately, the environmental suitability possessing airflight and ground motion is wide, low energy consumption advantage, airflight can be completed, take photo by plane, ground Omni-mobile, the sophisticated functions such as the accurate up-close inspection of target, for complete three dimensions complex environment aerial/the dual patrol task in ground provides new platform.

For solving the problems of the technologies described above, the utility model adopts following technical scheme:

A kind of air-ground integrated amphibious crusing robot, it is characterized in that: robot body is many giros rack-like, frame arranges one-chip computer module, one-chip computer module respectively with airflight module, ground moving module, remote control module, boat appearance reference information model calling, and to be connected with the telecommunication of ground remote control machine sending module by remote control module; Airflight module comprises multiple giro oar that circumferential uniform intervals is arranged above frame, and each giro oar is connected with respective rotor motor, and each rotor motor is connected with electron speed regulator and by speed regulating control to provide power to flight; The bottom of frame arranges ground moving module, and comprise the vacant lot connection frame be connected to bottom frame and the ground handling wheel arranged bottom the connection frame of vacant lot, each ground handling wheel is connected with ground moving turbin generator; Described remote control module realizes the connection with single-chip microcomputer by Long-distance Control bus; Described boat appearance reference information module is made up of gyroscope accelerometer, barometer, magnetometer and GPS, and gyroscope accelerometer, barometer, magnetometer and GPS are connected with single-chip microcomputer respectively.

In technique scheme, in airflight module, arrange six giro oars, correspondence arranges six electron speed regulators and six brush DC rotor motors, and each electron speed regulator connects a brush DC rotor motor separately; In ground moving module, two motor drive modules and four brush DC ground moving turbin generators are set, each motor drive module is electrically connected with two ground moving turbin generators, simultaneously, the bottom symmetrical of frame arranges four vacant lot connection frames, connect a differential directional wheel separately bottom the link of each vacant lot, each differential directional wheel drives by the ground moving turbin generator connected separately.

In technique scheme, described one-chip computer module comprises a singlechip chip, the pin 9 of singlechip chip, pin 24, pin 36, pin 48 and pin 1 are all connected with stabilized voltage supply end VCC, the pin 8 of singlechip chip, pin 23, pin 35 and pin 47 respectively with power supply digitally GND be connected, the pin 1 of the pin 5 of singlechip chip and pin 6 and crystal oscillator Y1 and pin 2 is corresponding is connected, the pin 7 of singlechip chip is connected with one end of resistance R10 and electric capacity C4, the other end of resistance R10 and electric capacity C4 and power supply digitally GND are connected, the pin 44 of singlechip chip is connected with one end of resistance R7, the other end of resistance R7 and power supply digitally GND are connected, electric capacity C5 is connected with the pin 1 of crystal oscillator Y1 and one end of resistance R8, the other end of electric capacity C5 and power supply digitally GND are connected, electric capacity C6 is connected with the pin 2 of crystal oscillator Y1 and the other end of resistance R8, the other end of electric capacity C6 and power supply digitally GND are connected.

As the further optimization of this programme, in described airflight module, six output terminals PWM1, PWM2, PWM3, PWM4, PWM5, PWM6 involved by electron speed regulator are corresponding with input end TIM4_CH1, TIM4_CH2, TIM4_CH3, TIM4_CH4, TIM1_CH4, TIM1_CH1 of singlechip chip respectively to be connected.

As the further optimization of this programme, in described ground moving module, the pin 1 of motor drive module, pin 15 and pin 8 all with power supply digitally GND be connected, the pin 9 of motor drive module is connected with stabilized voltage supply VCC, and the pin 4 of motor drive module is connected with single-stage power supply VDD; In four brshless DC motors, the positive pole of two the first ground moving turbin generators is connected with pin 2, each first ground handling wheel electrode negative is connected with pin 3, and two the second ground moving turbin generator positive poles are connected with pin 13, and each second ground handling wheel electrode negative is connected with pin 14; The pin 6 of a motor drive module, pin 11, pin 5, pin 7, pin 10 and pin 12 are connected with TIM3_CH1, TIM3_CH2, PA1, PA2, PA3, PA5 of singlechip chip respectively, and the pin 6 of another motor drive module, pin 11, pin 5, pin 7, pin 10 and pin 12 are connected with TIM3_CH3, TIM3_CH4, PB12, PB13, PB14, PB15 of singlechip chip respectively.

As the further optimization of this programme, in described remote control module, the pin 1 of remote control module is connected with stabilized voltage supply VCC, the pin 2 of remote control module and power supply digitally GND are connected, and the output terminal S.BUS of remote control module is connected with the input end ADC12_IN0 of singlechip chip.

As the further optimization of this programme, described boat appearance reference information module is made up of gyroscope accelerometer, barometer, magnetometer and GPS, the pin 1 of gyroscope accelerometer, pin 18, pin 17, pin 15 all with power supply digitally GND be connected, the pin 9 of gyroscope accelerometer, pin 8, pin 3, pin 13 is all connected with stabilized voltage supply VCC, the pin 8 of gyroscope accelerometer is connected with pin 9 one end with electric capacity C7, the pin 20 of gyroscope accelerometer is connected with one end of electric capacity C9, the pin 10 of gyroscope accelerometer is connected with one end of electric capacity C11, the pin 3 of gyroscope accelerometer is connected with pin 13 one end with electric capacity 14, electric capacity C7, electric capacity C9, electric capacity C11 and electric capacity C14 all with power supply digitally GND be connected, two directions' inputing/output terminal the I2C2_SCL of gyroscope accelerometer, I2C2_SDA, INT6050 respectively with the two directions' inputing/output terminal I2C2_SCL of singlechip chip, I2C2_SDA, INT6050 correspondence connects,

Barometrical pin 3, pin 4 and pin 5 all with power supply digitally GND be connected, barometrical pin 1 is connected with pin 2 one end with stabilized voltage supply VCC and electric capacity C13, the other end of electric capacity C13 and power supply digitally GND are connected, barometrical two directions' inputing/output terminal I2C2_SCL, I2C2_SDA respectively with singlechip chip two directions' inputing/output terminal I2C2_SCL, I2C2_SDA are corresponding connects;

The pin 2 of magnetometer is all connected with stabilized voltage supply VCC with pin 13, the pin 9 of magnetometer and pin 11 all with power supply digitally GND be connected, the pin 6 of magnetometer is connected with one end of stabilized voltage supply VCC and electric capacity C8, the other end of electric capacity C8 is connected with stabilized voltage supply VCC, the pin 10 of magnetometer is connected with one end of electric capacity C10, the pin 4 of magnetometer is connected with one end of electric capacity C12, the other end of electric capacity C10 and electric capacity C12 all with power supply digitally GND be connected, one end of electric capacity C15 is connected with pin 8, the other end of electric capacity C15 is connected with the pin 12 of magnetometer, two directions' inputing/output terminal the I2C2_SCL of magnetometer, I2C2_SDA respectively with the two directions' inputing/output terminal I2C2_SCL of singlechip chip, I2C2_SDA correspondence connects, the pin 3 of GPS and power supply digitally GND are connected, and the two directions' inputing of GPS/output terminal UART1_TX, UART1_RX is connected with the two directions' inputing of singlechip chip/output terminal UART1_TX, UART1_RX respectively.

As the further optimization of this programme, described singlechip chip is STM32F103C8T6 singlechip chip.

As the further optimization of this programme, described motor drive module chip is L298N motor drive module chip.

As the further optimization of this programme, frame arranges airborne camera.

After adopting said structure, the air-ground integrated amphibious crusing robot of the utility model, compared with prior art, its remarkable advantage is as follows: (1) the utility model configuration ground moving module and airflight module, and each module carries out speed Control by respective driving mechanism; Simultaneously, the utility model robot configuration gyroscope accelerometer, barometer, magnetometer and GPS, information transmission is realized by remote communication module and ground remote control machine sending module, realize airflight and ground moving compound motion, when environment residing for robot is unfavorable for flight (such as indoor, jungle), come by ground moving, adapt to complex task environment: (2) airflight ability and ground moving have complementary functions, reduce when robot completes specific tasks the consumption of the energy and improve its flying power; Also ensure that flying power time one of them module runs into fault simultaneously.Thus, the utility model integrates airflight and ground moving function, realizes robot to the amphibious operation of patrolling and examining scene.

Accompanying drawing explanation

Fig. 1 is the structural representation (vertical view) of the air-ground integrated amphibious crusing robot of the utility model;

Fig. 2 is the structural representation (front elevation) of the air-ground integrated amphibious crusing robot of the utility model;

In Fig. 1 and 2, A1 ?A6 be giro oar, B1 ~ B4 is ground handling wheel, C is airborne camera, D is vacant lot connection frame;

Fig. 3 is the hardware block diagram of the air-ground integrated amphibious crusing robot of the utility model;

Fig. 4 is the hardware circuit diagram of the one-chip computer module of the air-ground integrated amphibious crusing robot of the utility model;

Fig. 5 is the hardware circuit diagram of the airflight module of the air-ground integrated amphibious crusing robot of the utility model;

Fig. 6 is the hardware circuit diagram of the ground moving module of the air-ground integrated amphibious crusing robot of the utility model;

Fig. 7 is the hardware circuit diagram of the remote control module of the air-ground integrated amphibious crusing robot of the utility model;

Fig. 8 is the hardware circuit diagram of the boat appearance reference information module of the air-ground integrated amphibious crusing robot of the utility model;

Figure 3 ?in 8, each Reference numeral is: one-chip computer module 1, airflight module 2, ground moving module 3, remote control module 4, boat appearance reference information module 5.

Embodiment

The air-ground integrated amphibious robot structural representation of the utility model as figure 1 ?shown in 8.As figure 1 ?shown in 2, many rotor wing unmanned aerial vehicles frame is comprised according to the air-ground integrated amphibious robot main body that the utility model is implemented, frame is arranged airflight module 2, comprise multiple giro oar A1 ~ A6 that circumferential uniform intervals is arranged in frame and (in the present embodiment, adopt six rotors, also can be more or less, as four rotors etc.), each giro oar A1 ~ A6 is driven by rotor motor, and each rotor motor is connected with electron speed regulator by speed regulating control; Arrange ground moving module in the bottom of this frame, comprise the vacant lot connection frame D be connected to bottom frame, arrange ground handling wheel B1 ~ B4 bottom the connection frame D of vacant lot, each ground handling wheel is driven by ground moving turbin generator; As figure 1 ?shown in 2, adopt four-wheel differentia directional wheel in the present embodiment.

It is the hardware block diagram of the air-ground integrated amphibious crusing robot of the utility model shown in Fig. 3, robot body is arranged one-chip computer module 1, one-chip computer module 1 respectively be arranged on the airflight module 2 of one-chip computer module 1 periphery, ground moving module 3, remote control module 4, appearance of navigating reference information module 5 be connected and be connected with the telecommunication of ground remote control machine sending module by remote control module.

Be the hardware circuit diagram of the one-chip computer module 1 of the air-ground integrated amphibious crusing robot of the utility model shown in Fig. 4, described one-chip computer module 1 comprises chip STM32F103C8T6, the pin 9 of chip STM32F103C8T6, pin 24, pin 36, pin 48 and pin 1 are all connected with stabilized voltage supply end VCC, the pin 8 of chip STM32F103C8T6, pin 23, pin 35 and pin 47 respectively with power supply digitally GND be connected, the pin 1 of the pin 5 of chip STM32F103C8T6 and pin 6 and crystal oscillator Y1 and pin 2 is corresponding is connected, the pin 7 of chip STM32F103C8T6 is connected with one end of resistance R10 and electric capacity C4, the other end of resistance R10 and electric capacity C4 and power supply digitally GND are connected, the pin 44 of chip STM32F103C8T6 is connected with one end of resistance R7, the other end of resistance R7 and power supply digitally GND are connected, electric capacity C5 is connected with the pin 1 of crystal oscillator Y1 and one end of resistance R8, the other end of electric capacity C5 and power supply digitally GND are connected, electric capacity C6 is connected with the pin 2 of crystal oscillator Y1 and the other end of resistance R8, the other end of electric capacity C6 and power supply digitally GND are connected,

The input end TIM4_CH1 of singlechip chip STM32F103C8T6, TIM4_CH2, TIM4_CH3, TIM4_CH4, TIM1_CH4, TIM1_CH1 respectively with the output terminal PWM1 of six electron speed regulators of airflight module 2, PWM2, PWM3, PWM4, PWM5, PWM6 correspondence connects, one-chip computer module 1 input end TIM3_CH1, TIM3_CH2, TIM3_CH3, TIM3_CH4, PA1, PA2, PA3, PA5, PB12, PB13, PB14, PB15 respectively with the output terminal PWM7 of ground moving module 3, PWM8, PWM9, PWM10, INA1, INA2, INB1, INB2, INC1, INC2, IND1, IND2 correspondence connects, and the input end ADC12_IN0 of one-chip computer module 1 is connected with the output terminal S.BUS of remote control module 4 respectively, the two directions' inputing of one-chip computer module 1 output terminal I2C2_SCL, I2C2_SDA, UART1_TX, UART1_RX, INT6050 respectively with boat appearance reference information module 5 two directions' inputing/output terminal I2C2_SCL, I2C2_SDA, UART1_TX, UART1_RX, INT6050 correspondence connects.

It is the hardware circuit diagram of the airflight module 2 of the air-ground integrated amphibious crusing robot of the utility model shown in Fig. 5, described airflight module 2 is made up of six electron speed regulators and six DC brushless motors (also i.e. rotor motor M 1 ?M6), electron speed regulator drives brushless electric machine to provide power to flight, six output terminal PWM1 of electron speed regulator, PWM2, PWM3, PWM4, PWM5, PWM6 respectively with the input end TIM4_CH1 of single-chip microcomputer STM32F103C8T6, TIM4_CH2, TIM4_CH3, TIM4_CH4, TIM1_CH4, TIM1_CH1 correspondence connects.

It is the hardware circuit diagram of the ground moving module 3 of the air-ground integrated amphibious crusing robot of the utility model shown in Fig. 6, described ground moving module 3 comprises 2 L298N motor drive modules and 4 brshless DC motors (being also ground handling wheel motor M), the pin 1 of L298N, pin 15 and pin 8 all with power supply digitally GND be connected, the pin 9 of L298N is connected with stabilized voltage supply VCC, and the pin 4 of L298N is connected with single-stage power supply VDD, in 4 brshless DC motors, two the first ground handling wheel motor M positive poles are connected with pin 2, each first ground handling wheel motor M negative pole is connected with pin 3, two other the second ground handling wheel motor M positive pole is connected with pin 13, each second ground handling wheel motor M negative pole is connected with pin 14, the pin 6 of a L298N, pin 11, pin 5, pin 7, pin 10 and pin 12 respectively with the TIM3_CH1 of singlechip chip STM32F103C8T6, TIM3_CH2, PA1, PA2, PA3, PA5 connects, the pin 6 of another L298N, pin 11, pin 5, pin 7, pin 10 and pin 12 respectively with the TIM3_CH3 of single-chip microcomputer STM32F103C8T6, TIM3_CH4, PB12, PB13, PB14, PB15 connects.

It is the hardware circuit diagram of the remote control module 4 of the air-ground integrated amphibious crusing robot of the utility model shown in Fig. 7, described remote control module 4 realizes the connection with single-chip microcomputer by S.BUS bus, the pin 1 of remote control module 4 is connected with stabilized voltage supply VCC, the pin 2 of remote control module 4 and power supply digitally GND are connected, and the output terminal S.BUS of remote control module 4 is connected with the input end ADC12_IN0 of single-chip microcomputer STM32F103C8T6.

Be the hardware circuit diagram of the boat appearance reference information module 5 of the air-ground integrated amphibious crusing robot of the utility model shown in Fig. 8, described boat appearance reference information module 5 is made up of gyroscope accelerometer U4, barometer U3, magnetometer U5 and GPS, the pin 1 of gyroscope accelerometer U4, pin 18, pin 17, pin 15 all with power supply digitally GND be connected, the pin 9 of gyroscope accelerometer U4, pin 8, pin 3, pin 13 is all connected with stabilized voltage supply VCC, the pin 8 of gyroscope accelerometer U4 is connected with pin 9 one end with electric capacity C7, pin 20 is connected with one end of electric capacity C9, pin 10 is connected with one end of electric capacity C11, pin 3 is connected with pin 13 one end with electric capacity 14, electric capacity C7, electric capacity C9, electric capacity C11 and electric capacity C14 all with power supply digitally GND be connected, two directions' inputing/output terminal the I2C2_SCL of gyroscope accelerometer U4, I2C2_SDA, INT6050 respectively with the two directions' inputing/output terminal I2C2_SCL of singlechip chip STM32F103C8T6, I2C2_SDA, INT6050 correspondence connects, the pin 3 of barometer U3, pin 4 and pin 5 all with power supply digitally GND be connected, the pin 1 of barometer U3 is connected with pin 2 one end with stabilized voltage supply VCC and electric capacity C13, the other end of electric capacity C13 and power supply digitally GND are connected, the two directions' inputing of barometer U3/output terminal I2C2_SCL, I2C2_SDA respectively with singlechip chip STM32F103C8T6 two directions' inputing/output terminal I2C2_SCL, I2C2_SDA are corresponding connects, the pin 2 of magnetometer U5 is all connected with stabilized voltage supply VCC with pin 13, the pin 9 of magnetometer U5 and pin 11 all with power supply digitally GND be connected, the pin 6 of magnetometer U5 is connected with one end of stabilized voltage supply VCC and electric capacity C8, the other end of electric capacity C8 is connected with stabilized voltage supply VCC, the pin 10 of magnetometer U5 is connected with one end of electric capacity C10, pin 4 is connected with one end of electric capacity C12, the other end of electric capacity C10 and electric capacity C12 all with power supply digitally GND be connected, one end of electric capacity C15 is connected with pin 8, the other end of electric capacity C15 is connected with pin 12, two directions' inputing/output terminal the I2C2_SCL of magnetometer U5, I2C2_SDA respectively with the two directions' inputing/output terminal I2C2_SCL of singlechip chip STM32F103C8T6, I2C2_SDA correspondence connects, the pin 3 of GPS and power supply digitally GND are connected, and the two directions' inputing of GPS/output terminal UART1_TX, UART1_RX is connected with the two directions' inputing of singlechip chip STM32F103C8T6/output terminal UART1_TX, UART1_RX respectively.

Further, as illustrated in fig. 1 and 2, airborne camera C can also be set in frame.

The above; be only embodiment of the present utility model; but protection domain of the present utility model is not limited thereto; for those of ordinary skills; can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to the utility model claims.

Claims (10)

1. an air-ground integrated amphibious crusing robot, it is characterized in that: robot body is many giros rack-like, frame arranges one-chip computer module, one-chip computer module respectively with airflight module, ground moving module, remote control module, boat appearance reference information model calling, and to be connected with the telecommunication of ground remote control machine sending module by remote control module; Airflight module comprises multiple giro oar that circumferential uniform intervals is arranged above frame, and each giro oar is connected with respective rotor motor, and each rotor motor is connected with electron speed regulator and by speed regulating control to provide power to flight; The bottom of frame arranges ground moving module, and comprise the vacant lot connection frame be connected to bottom frame and the ground handling wheel arranged bottom the connection frame of vacant lot, each ground handling wheel is connected with ground moving turbin generator; Described remote control module realizes the connection with single-chip microcomputer by Long-distance Control bus; Described boat appearance reference information module is made up of gyroscope accelerometer, barometer, magnetometer and GPS, and gyroscope accelerometer, barometer, magnetometer and GPS are connected with single-chip microcomputer respectively.
2. air-ground integrated amphibious crusing robot according to claim 1, it is characterized in that: in airflight module, arrange six giro oars, correspondence arranges six electron speed regulators and six brush DC rotor motors, and each electron speed regulator connects a brush DC rotor motor separately; In ground moving module, two motor drive modules and four brush DC ground moving turbin generators are set, each motor drive module is electrically connected with two ground moving turbin generators, simultaneously, the bottom symmetrical of frame arranges four vacant lot connection frames, connect a differential directional wheel separately bottom the link of each vacant lot, each differential directional wheel drives by the ground moving turbin generator connected separately.
3. air-ground integrated amphibious crusing robot according to claim 1 and 2, is characterized in that: described one-chip computer module comprises a singlechip chip, the pin 9 of singlechip chip, pin 24, pin 36, pin 48 and pin 1 are all connected with stabilized voltage supply end VCC, the pin 8 of singlechip chip, pin 23, pin 35 and pin 47 respectively with power supply digitally GND be connected, the pin 1 of the pin 5 of singlechip chip and pin 6 and crystal oscillator Y1 and pin 2 is corresponding is connected, the pin 7 of singlechip chip is connected with one end of resistance R10 and electric capacity C4, the other end of resistance R10 and electric capacity C4 and power supply digitally GND are connected, the pin 44 of singlechip chip is connected with one end of resistance R7, the other end of resistance R7 and power supply digitally GND are connected, electric capacity C5 is connected with the pin 1 of crystal oscillator Y1 and one end of resistance R8, the other end of electric capacity C5 and power supply digitally GND are connected, electric capacity C6 is connected with the pin 2 of crystal oscillator Y1 and the other end of resistance R8, the other end of electric capacity C6 and power supply digitally GND are connected.
4. air-ground integrated amphibious crusing robot according to claim 2, it is characterized in that: in described airflight module, six output terminals PWM1, PWM2, PWM3, PWM4, PWM5, PWM6 involved by electron speed regulator are corresponding with input end TIM4_CH1, TIM4_CH2, TIM4_CH3, TIM4_CH4, TIM1_CH4, TIM1_CH1 of singlechip chip respectively to be connected.
5. air-ground integrated amphibious crusing robot according to claim 1, it is characterized in that: in described ground moving module, the pin 1 of motor drive module, pin 15 and pin 8 all with power supply digitally GND be connected, the pin 9 of motor drive module is connected with stabilized voltage supply VCC, and the pin 4 of motor drive module is connected with single-stage power supply VDD; In four brshless DC motors, the positive pole of two the first ground moving turbin generators is connected with pin 2, each first ground handling wheel electrode negative is connected with pin 3, and two the second ground moving turbin generator positive poles are connected with pin 13, and each second ground handling wheel electrode negative is connected with pin 14; The pin 6 of a motor drive module, pin 11, pin 5, pin 7, pin 10 and pin 12 are connected with TIM3_CH1, TIM3_CH2, PA1, PA2, PA3, PA5 of singlechip chip respectively, and the pin 6 of another motor drive module, pin 11, pin 5, pin 7, pin 10 and pin 12 are connected with TIM3_CH3, TIM3_CH4, PB12, PB13, PB14, PB15 of singlechip chip respectively.
6. air-ground integrated amphibious crusing robot according to claim 1, it is characterized in that: in described remote control module, the pin 1 of remote control module is connected with stabilized voltage supply VCC, the pin 2 of remote control module and power supply digitally GND are connected, and the output terminal S.BUS of remote control module is connected with the input end ADC12_IN0 of singlechip chip.
7. air-ground integrated amphibious crusing robot according to claim 1, is characterized in that: described boat appearance reference information module is made up of gyroscope accelerometer, barometer, magnetometer and GPS, the pin 1 of gyroscope accelerometer, pin 18, pin 17, pin 15 all with power supply digitally GND be connected, the pin 9 of gyroscope accelerometer, pin 8, pin 3, pin 13 is all connected with stabilized voltage supply VCC, the pin 8 of gyroscope accelerometer is connected with pin 9 one end with electric capacity C7, the pin 20 of gyroscope accelerometer is connected with one end of electric capacity C9, the pin 10 of gyroscope accelerometer is connected with one end of electric capacity C11, the pin 3 of gyroscope accelerometer is connected with pin 13 one end with electric capacity 14, electric capacity C7, electric capacity C9, electric capacity C11 and electric capacity C14 all with power supply digitally GND be connected, two directions' inputing/output terminal the I2C2_SCL of gyroscope accelerometer, I2C2_SDA, INT6050 respectively with the two directions' inputing/output terminal I2C2_SCL of singlechip chip, I2C2_SDA, INT6050 correspondence connects,
Barometrical pin 3, pin 4 and pin 5 all with power supply digitally GND be connected, barometrical pin 1 is connected with pin 2 one end with stabilized voltage supply VCC and electric capacity C13, the other end of electric capacity C13 and power supply digitally GND are connected, barometrical two directions' inputing/output terminal I2C2_SCL, I2C2_SDA respectively with singlechip chip two directions' inputing/output terminal I2C2_SCL, I2C2_SDA are corresponding connects;
The pin 2 of magnetometer is all connected with stabilized voltage supply VCC with pin 13, the pin 9 of magnetometer and pin 11 all with power supply digitally GND be connected, the pin 6 of magnetometer is connected with one end of stabilized voltage supply VCC and electric capacity C8, the other end of electric capacity C8 is connected with stabilized voltage supply VCC, the pin 10 of magnetometer is connected with one end of electric capacity C10, the pin 4 of magnetometer is connected with one end of electric capacity C12, the other end of electric capacity C10 and electric capacity C12 all with power supply digitally GND be connected, one end of electric capacity C15 is connected with pin 8, the other end of electric capacity C15 is connected with the pin 12 of magnetometer, two directions' inputing/output terminal the I2C2_SCL of magnetometer, I2C2_SDA respectively with the two directions' inputing/output terminal I2C2_SCL of singlechip chip, I2C2_SDA correspondence connects, the pin 3 of GPS and power supply digitally GND are connected, and the two directions' inputing of GPS/output terminal UART1_TX, UART1_RX is connected with the two directions' inputing of singlechip chip/output terminal UART1_TX, UART1_RX respectively.
8. air-ground integrated amphibious crusing robot according to claim 3, is characterized in that: described singlechip chip is STM32F103C8T6 singlechip chip.
9. air-ground integrated amphibious crusing robot according to claim 3, is characterized in that: described motor drive module chip is L298N motor drive module chip.
10. air-ground integrated amphibious crusing robot according to claim 1 and 2, is characterized in that: in frame, arrange airborne camera.
CN201520736871.XU 2015-09-22 2015-09-22 Vacant lot amphibious robot that patrols and examines of integration CN204965186U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105655920A (en) * 2016-03-25 2016-06-08 国网山东省电力公司东明县供电公司 Multifunctional air-ground dual-purpose electric unmanned aerial vehicle
CN106444827A (en) * 2016-09-13 2017-02-22 武汉科技大学 Rotor type air-ground integrated amphibious active olfaction robot and odor detection method thereof
CN107161329A (en) * 2017-05-10 2017-09-15 武汉科技大学 A kind of restructural amphibious robot
CN107196410A (en) * 2016-05-13 2017-09-22 深圳市朗驰欣创科技股份有限公司 A kind of air-ground integral substation inspection system and method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105655920A (en) * 2016-03-25 2016-06-08 国网山东省电力公司东明县供电公司 Multifunctional air-ground dual-purpose electric unmanned aerial vehicle
CN107196410A (en) * 2016-05-13 2017-09-22 深圳市朗驰欣创科技股份有限公司 A kind of air-ground integral substation inspection system and method
CN106444827A (en) * 2016-09-13 2017-02-22 武汉科技大学 Rotor type air-ground integrated amphibious active olfaction robot and odor detection method thereof
CN106444827B (en) * 2016-09-13 2019-11-26 武汉科技大学 The air-ground integrated amphibious active olfaction robot of rotary wind type and its odor detection method
CN107161329A (en) * 2017-05-10 2017-09-15 武汉科技大学 A kind of restructural amphibious robot

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