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CN-117533067-B - Wheel leg type land-air amphibious robot with single driving joint and control method thereof

CN117533067BCN 117533067 BCN117533067 BCN 117533067BCN-117533067-B

Abstract

The invention provides a wheel leg type land-air amphibious robot with a single driving joint and a control method thereof, the robot comprises a main body module, a left tilting rotor power module, a right tilting rotor power module, a left telescopic wheel leg joint power module, a right telescopic wheel leg joint power module and electronic equipment. The control method comprises a flight mode, a ground mode and a transition mode, wherein the flight mode comprises forward and backward movement control, lifting movement control, rolling movement control and yaw movement control, the forward and backward movement control, steering movement control, lifting movement control and rolling movement control, and the transition mode comprises the transition from the ground movement mode to the air flight mode and the transition from the air flight mode to the ground movement mode. The invention prolongs the endurance time, can be applied to task scenes such as road traffic supervision, search and rescue in damaged houses after disaster, field unknown mine holes, geological exploration, hidden reconnaissance and the like, and has important significance and value in the future.

Inventors

  • XU HONGYU
  • ZHENG XIANGMING

Assignees

  • 南京航空航天大学

Dates

Publication Date
20260505
Application Date
20231106

Claims (9)

  1. 1. A wheel leg type land-air amphibious robot with a single driving joint is characterized by comprising a main body module, a left tilting rotor power module, a right tilting rotor power module, a left telescopic wheel leg joint power module, a right telescopic wheel leg joint power module and electronic equipment; the left tilting rotor power module and the right tilting rotor power module are distributed in mirror symmetry along two sides of the main body module, the left tilting rotor power module and the right tilting rotor power module comprise rotor assemblies, tilting assemblies and steering engine assemblies, wherein the tilting assemblies are fixedly connected with the main body module, the steering engine assemblies comprise steering engines and rudder arms which are connected through splines, the steering engines are arranged on the tilting assemblies, the rudder arms are connected with the rotor assemblies, and the steering engines drive the whole rotor assemblies to tilt around the tilting assemblies through the rudder arms; The left telescopic wheel leg joint power module and the right telescopic wheel leg joint power module are distributed in mirror symmetry along two sides of the main body module, the left telescopic wheel leg joint power module and the right telescopic wheel leg joint power module comprise wheels, a brushless motor, a first motor support sleeve, a second motor support sleeve, a rear calf, a front calf, a driving rocker, a driven rocker, a driving gear, a driven gear, a steering wheel and a leg steering engine, wherein the brushless motor is arranged on the front calf, the wheels are arranged on an output shaft of the brushless motor, the first motor support sleeve and the second motor support sleeve are coaxially arranged on the brushless motor, the rear calf is coaxially arranged on an outer ring bearing of the first motor support sleeve, one end of the driven rocker is connected with the rear calf through a bearing, the other end of the driven rocker is connected with the driven gear through a bearing, the driven gear is fixedly connected with the main body module and meshed with the driving gear, one end of the driving rocker is connected with the front calf through the bearing, the driving gear is coaxially arranged on the main body module, the leg steering wheel is fixedly arranged on the main body module, the leg steering wheel is driven by the driving gear through the steering wheel, and the driving gear drives the driving gear to rotate through the driving wheel, so that the driven gear drives the driven gear to integrally move up and down, and the telescopic wheel leg joint power is integrally.
  2. 2. The wheel leg type land-air amphibious robot with the single driving joint according to claim 1, wherein the main body module comprises a body frame, a front baffle plate arranged on the front side of the body frame, a rear baffle plate arranged on the rear side of the body frame, a reinforcing plate arranged on the top, an inner partition plate and a sensor bracket arranged on the bottom, and a mounting plate is fixed on the partition plate.
  3. 3. The wheel leg type land-air amphibious robot with the single driving joint according to claim 1, wherein the rotor assembly specifically comprises a motor base, a brushless motor and a propeller, the brushless motor is arranged on the motor base, the propeller is coaxially arranged on the brushless motor, and the motor base is connected with the tilting assembly through a carbon tube and rotates freely around a shaft.
  4. 4. The wheel leg type land-air amphibious robot with the single driving joint according to claim 3, wherein the tilting assembly comprises a tilting fixing frame, a tilting group fixing piece and a connecting plate, the steering assembly comprises a steering engine, a steering arm and a steering engine fixing frame, the steering engine is arranged in a steering engine groove of the tilting fixing frame, the steering arm is arranged in a steering arm installation hole of the motor base, the steering engine fixing frame is arranged outside the steering engine and connected with the tilting fixing frame, the connecting plate is connected with the tilting fixing frame, and the tilting group fixing piece is connected with the connecting plate.
  5. 5. The single-drive-joint wheel-leg type land-air amphibious robot according to claim 1, wherein the electronic equipment comprises a flight control, a development board, an electronic speed regulator, a battery, a receiver, a power module and a GPS positioning module, wherein the flight control is used for automatically controlling stable flight of the aircraft, the development board is used for receiving and sending information sent by the flight control to ground moving parts, the electronic speed regulator is used for supplying power to a brushless motor and adjusting rotating speed, the battery is used for supplying power to a power system and a control system of the whole aircraft, the receiver is used for receiving signals of a remote controller, the power module is used for measuring voltage and current of the battery and supplying power to the flight control and the development board, and the GPS positioning module is used for receiving GPS satellite information and positioning and navigating the aircraft.
  6. 6. The control method of the wheel-leg type land-air amphibious robot with the single driving joint is characterized in that the wheel-leg type land-air amphibious robot with the single driving joint is adopted and comprises a flight mode, a ground mode and a transition mode; The flight mode comprises forward and backward movement control, lifting movement control rolling movement control and yaw movement control; The ground mode comprises forward and backward movement control, steering movement control, lifting movement control and rolling movement control; the transition mode includes transitioning from a ground movement mode to an air flight mode and from an air flight mode to a ground movement mode.
  7. 7. The control method of the single-drive-joint wheel-leg type land-air amphibious robot is characterized in that in a flight mode, the control method of the robot in front-back movement means that a left pitching steering engine and a right pitching steering engine tilt back and forth synchronously, a left power module and a right power module are driven to generate longitudinal horizontal component force to enable the aircraft to move back and forth, the control method of lifting movement means that a left rotor motor and a right rotor motor increase and decrease power synchronously to enable the aircraft to generate acceleration in the vertical direction so as to achieve lifting movement, the control method of rolling movement means that a left rotor motor and a right rotor motor increase and decrease power differentially to generate rolling moment so as to enable a fuselage to tilt to one side gradually so as to achieve rolling movement, the rolling movement means that transverse horizontal component force is generated so as to enable the aircraft to achieve transverse movement, and the control method of yaw movement means that the left pitching steering engine and the right pitching steering engine deflect differentially in opposite directions, and the left power module and the right power module are driven to generate horizontal component force in opposite directions respectively so as to achieve yaw movement.
  8. 8. The method for controlling the single-drive-joint wheel-leg type land-air amphibious robot according to claim 6, wherein the method for controlling the forward and backward movement of the robot in the ground mode is characterized in that the forward and backward tilting of the robot body is enabled to be at a small angle, the foot motor is required to generate forward or backward acceleration for keeping the posture at zero degrees in the machine, so that the robot moves forward and backward, the steering movement is that the left foot motor and the right foot motor rotate in a differential mode to form a differential force so as to realize the steering movement, the method for controlling the lifting movement is that the left joint steering engine and the right joint steering engine rotate synchronously so that the robot generates acceleration in the vertical direction so as to realize the lifting movement, and the method for controlling the rolling movement is that the left joint steering engine and the right joint steering engine do not rotate synchronously so as to generate rolling moment so that the robot body tilts gradually to one side, so that the rolling movement is realized.
  9. 9. The method for controlling the wheel-leg type land-air amphibious robot with the single driving joint according to claim 6, wherein the control method for land-air conversion is characterized in that in a transition mode, a rotor motor is unlocked in a ground movement mode, a height detection mode is entered after a pull force is increased by pushing an accelerator to fly off the ground, the distance between the robot and the ground is detected through a laser ranging sensor arranged at the bottom of a machine frame, the four actuators in the ground movement mode are closed when the distance is detected to be more than 0.2m, a push rod is closed for height detection and enters a complete air flight mode, the throttle for controlling the rotor motor is reduced when the robot is in the air flight mode, the push rod is pushed to enter a landing detection mode when the distance from the ground is a certain small distance, the four actuators in the ground movement mode are opened when the height is detected to be less than 0.2m, the weight factors K of the four actuators are increasingly larger and are increasingly stronger when the height is reduced, the weight factors K of the actuators are increasingly strong until the ground is detected, and the push rod is closed for entering the complete air movement mode.

Description

Wheel leg type land-air amphibious robot with single driving joint and control method thereof Technical Field The invention relates to the fields of robots and aviation technologies, in particular to a wheel-leg type land-air amphibious robot with a single driving joint and a control method thereof. Background In recent years, students at home and abroad are enthusiastically researching an amphibious robot. The wheel leg type amphibious robot has both flight capacity and ground movement capacity, and compared with other types of amphibious robots, the amphibious robot has stronger multi-terrain adaptability, higher flexibility and simpler operation. With the development of the age, the requirement of people for executing various operations in a complex environment cannot be met due to the defects of high energy consumption and limited operation space of a pure unmanned aerial vehicle, so that a novel hybrid amphibious unmanned aerial vehicle needs to be developed. In the development of the amphibious robot, there are mainly passive wheels, active wheels, foot-type and the like. The passive wheel type amphibious unmanned aerial vehicle mostly uses the pulling force of a rotor wing as the driving force in a land movement mode, and a rolling hub is additionally arranged on the outer side of a machine body or the outer side of the rotor wing so as to realize ground movement. Such as HyTAQ bi-modal mobile robots that utilize a four-axis aircraft to achieve flying capability and ground movement capability through a cylindrical cage housing. Similar SytaB land-air bimodal unmanned aerial vehicle adopts a passive ball wheel structure at the periphery of a rotor wing, so that the anti-collision effect is achieved while the movement flexibility is improved. In addition, there is a GeminiII hybrid air-ground amphibious vehicle with a single driven wheel at the bottom, which can achieve ground movement with the help of rotor tension. The summary analysis of some existing passive land-air amphibious robots shows that the controllability of the land-air amphibious robots is not high in a ground movement mode, and because the rotors are required to provide power, the land-air amphibious robots can only do some simple ground actions, have low flexibility and are not complete in nature. The driving wheel type amphibious unmanned aerial vehicle does not need to rely on the pulling force generated by the rotor wings to serve as driving force due to the ground mode movement, so that more energy consumption can be reduced, and more complex environments can be met to meet more operation demands. For example, the multi-mode mobile robot Morphobot can realize various functions such as flight, rolling, crawling, squatting, balancing, and the like, and the changeable structure can adapt to various complex environments and cope with various tasks, but the whole size is larger, and the complicated and changeable structure brings certain difficulty to the operation, so that the flexibility of the robot in executing the tasks is reduced. There is also a hybrid land-air bimodal robot DoubleBee that uses a dual drive wheel and vector dual rotor configuration that is able to traverse unstructured environments, fly over and move under obstacles, and travel in rough terrain, but that is large in overall size, heavy in weight, and changes in pitch attitude require rotor tension balancing, the legs have no telescopic joints, and the attitude must be balanced by rotor tension only with the dual drive wheels failing to cope with rough roads. The reconfigurable hybrid four-rotor FLYING STAR is characterized in that a steering engine is arranged on the machine body to control an extension mechanism so as to realize the downward folding structural change of the rotor, the extension angle is 0-55 degrees, the front two motors are provided with rear output shafts and are connected with gears, the rear output shafts are output to a driving wheel after being decelerated, when the ground moves, the rotor can be folded to meet the requirements of the ground, when the ground moves across a narrow space, the rotor can be folded, and the extension length is reduced. Because of the special constitution of the driving wheel, the ground type rotary wing motor can not be overloaded, has low operability in the ground mode, can not meet the requirements of complex terrains, increases the load of the rotary wing motor when the ground moves, and has useless energy consumption. Even some land-air amphibious robots combining four-wheel drive vehicle chassis with multiple rotors can realize active movement in a ground mode, but the structure is clumsy and redundant. The foot-type amphibious robot is more similar to a humanoid robot, such as the foot-type amphibious robot LEONARDO, the flight function of the foot-type amphibious robot is realized by four rotors, the ground movement is realized by two telescopic multi-joint legs, and the foot-type amphibious robot can e