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CN-121990196-A - Frame structure for air-ground amphibious robot and stability control method

CN121990196ACN 121990196 ACN121990196 ACN 121990196ACN-121990196-A

Abstract

The invention provides a frame structure and a stable control method for a land-air amphibious robot, and relates to the technical field of robots; the frame structure comprises a holder assembly and at least two connecting assemblies, wherein the holder assembly is configured to be annular and is configured on the periphery of the unmanned aerial vehicle assembly, the holder assembly is connected with two sides of a main body of the unmanned aerial vehicle assembly through at least two connectors, one end of each connecting assembly is connected with the periphery of the holder assembly, and the other end of each connecting assembly is connected with a passive omnidirectional wheel. The invention not only maintains the advantages of light weight and simple structure of the driven wheel type robot, but also realizes the real omnidirectional movement capability under the ground mode, and greatly improves the flexibility and task adaptability of the robot in complex terrains.

Inventors

  • SU YAO
  • LIU HAO

Assignees

  • 北京通用人工智能研究院

Dates

Publication Date
20260508
Application Date
20251231

Claims (10)

  1. 1. The frame structure for the land-air amphibious robot is characterized by comprising a holder assembly and at least two connecting assemblies; the cradle head assembly is configured to be annular and is configured on the periphery of the unmanned aerial vehicle assembly, and is connected with two sides of the main body of the unmanned aerial vehicle assembly through at least two connectors; One end of the connecting component is connected with the periphery of the holder component, and the other end of the connecting component is connected with the passive omnidirectional wheel.
  2. 2. A frame structure for an amphibious robot as claimed in claim 1, wherein the connector is provided with an elastic means, and the elastic means is engaged with an engagement means provided at a middle portion of the connection assembly of the corresponding side.
  3. 3. The frame structure for an amphibious robot of claim 1, wherein the passive omni wheel comprises a hub and a plurality of auxiliary wheels arranged on the periphery of the hub, wherein two rows of auxiliary wheel mounting grooves are staggered on the periphery of the hub, and the auxiliary wheels are rotatably arranged in the mounting grooves.
  4. 4. A frame structure for an amphibious robot as claimed in claim 3, wherein the auxiliary wheels are provided in a spindle shape.
  5. 5. The frame structure for an amphibious robot according to claim 1, wherein a rotating base is disposed at the outer circumference of the pan-tilt assembly, and a connection groove is disposed at an end of the rotating base remote from the pan-tilt assembly, the connection groove being for connecting one end of the assembly.
  6. 6. The frame structure for an amphibious robot as claimed in claim 2, wherein the connector comprises two parallel plates, one side of each plate is fixedly connected with the unmanned aerial vehicle unit, a rotator is arranged to penetrate through the two plates at the same time, and the distance between the two plates is matched with the thickness of the inner side of the holder assembly.
  7. 7. The frame structure for an amphibious robot according to claim 6, wherein the elastic means comprises a rubber belt, and both ends of the rubber belt are respectively fitted in receiving grooves provided at one ends of the two rolling bodies and disposed near the connection portion of the rolling bodies and the plate body.
  8. 8. A stability control method applied to the frame structure for an amphibious robot as claimed in any one of claims 1 to 7, comprising: Determining a current mode; when the first mode is adopted, the self-adaptive rate is adopted to update disturbance estimation; updating a disturbance estimation result based on the self-adaptive rate, and determining a roll angle required for stabilization; And performing stability control based on the determined roll angle.
  9. 9. The stability control method of claim 8, further comprising: determining a desired acceleration norm and yaw angle error when in the second mode; the unmanned thrust command is dynamically adjusted based on the desired acceleration norm and yaw angle error.
  10. 10. The stability control method of claim 9, wherein dynamically adjusting the unmanned thrust command based on the desired acceleration norm and the yaw angle error comprises: based on the expected acceleration norm and yaw angle error, a dynamic thrust scaling factor is determined, and the determination formula is as follows: ; ; in the formula, Is a pre-configured minimum value; is a pre-configured maximum; is the desired acceleration norm; is a yaw angle error; A monotonically increasing continuous function with a preconfigured definition field and value field of 0,1, wherein x is defined as: ; and determining the thrust by the product of the dynamic thrust scaling factor and the weight of the pre-configured amphibious robot.

Description

Frame structure for air-ground amphibious robot and stability control method Technical Field The invention relates to the technical field of robots, in particular to a frame structure for an amphibious robot and a stable control method. Background The current air-ground amphibious robots (TABV) are mainly divided into three types, namely foot robots, active wheel robots and passive wheel robots; The foot type robot has the advantages that the foot type design enables the ground end terrain adaptability of the robot to be strong, omnidirectional movement of the robot is supported on complex terrains, but the foot type robot is complex in structure, heavy in weight, high in control difficulty, high in maintenance difficulty and low in moving speed, and an additional motor is needed for driving the foot type robot. The high weight also makes both air and ground energy consumption extremely high. Active wheeled robot: The active wheeled robot generally has two designs, namely, a rotor wing is used as a driving wheel in a ground mode by means of a deformation mechanism, and an additional wheeled base is directly hung externally to realize movement on the ground. In ground mode, the driving wheel structure has higher energy efficiency, but the required deformation structure or the additional wheel base greatly increases the weight of the whole machine, so that the energy consumption in flying is high. Meanwhile, the deformation mechanism increases the control difficulty and has extremely high requirements on the mode switching design of take-off and landing. Driven wheel robots-driven wheel robots generally add only simple and lightweight wheel structures such as driven wheels, rolling cages or outer frames. This makes the overall structure very simple and no additional structural changes are required for flight and ground mode switching, and the overall weight is low so that the energy consumption when moving is very small. The problem with the passive wheel type is that most designs only support longitudinal movement, or differential rotation, which greatly limits mobility on the ground. In the current amphibious robot, the driven wheel type robot is the lightest and simple and has low energy consumption, but most of the design supports only longitudinal movement on the ground, and the ground mode is not flexible enough. Disclosure of Invention The invention aims to provide a frame structure and a stable control method for an amphibious robot, which not only keep the advantages of light weight and simple structure of a driven wheel type robot, but also realize the real omnidirectional movement capability under a ground mode and greatly improve the flexibility and task adaptability of the robot in complex terrains. The embodiment of the invention provides a frame structure for an amphibious robot, which comprises a holder assembly and at least two connecting assemblies; the cradle head assembly is configured to be annular and is configured on the periphery of the unmanned aerial vehicle assembly, and is connected with two sides of the main body of the unmanned aerial vehicle assembly through at least two connectors; One end of the connecting component is connected with the periphery of the holder component, and the other end of the connecting component is connected with the passive omnidirectional wheel. Preferably, the connector is provided with an elastic mechanism, and the elastic mechanism is engaged with an engagement mechanism provided in the middle of the connection assembly on the corresponding side. Preferably, the passive omni-wheel comprises a wheel hub and a plurality of auxiliary wheels arranged on the periphery of the wheel hub, wherein two rows of auxiliary wheel mounting grooves are alternately formed on the periphery of the wheel hub, and the auxiliary wheels are rotatably arranged in the mounting grooves. Preferably, the auxiliary wheel is arranged in a spindle shape. Preferably, a rotating seat body is arranged on the periphery of the holder assembly, and a connecting groove is arranged at one end of the rotating seat body, which is far away from the holder assembly, and is used for connecting one end of the assembly. The connector comprises two parallel plate bodies, a rotating body and a cloud platform assembly, wherein one side of each plate body is fixedly connected with the unmanned aerial vehicle assembly, the rotating body penetrates through the two plate bodies, and the distance between the two plate bodies is matched with the thickness of the inner side of the cloud platform assembly. Preferably, the elastic mechanism comprises a rubber belt, wherein two ends of the rubber belt are respectively sleeved at one ends of the two rotating bodies and are positioned at the connecting part of the rotating bodies and the plate body. The invention also provides a stable control method applied to any frame structure for the amphibious robot, comprising the following steps: Determining a current