CN109927498B - Multi-variant amphibious quadrotor robot - Google Patents

Abstract

Translated fromChinese

本发明提供了一种多变体两栖四旋翼机器人，涉及机器人技术领域，包括：机体；旋翼结构，每组所述旋翼结构包括一机臂，一飞行伺服电机，一无刷电机和一螺旋桨；足轮结构，每组所述足轮结构设置有多节足肢，相邻两节所述足肢之间设置有一陆行伺服电机，最后一节所述足肢的底端设置有一所述陆行伺服电机和一滚轮；收集模块，设置在所述机体的外表面上，包括一激光雷达、多组双目摄像头和多组超声波模块；控制模块，设置在所述机体的内部，包括一板载电脑、一伺服控制器和一飞行控制器。本发明具有飞行、平移、爬行以及三者之间配合的运动方式，能在复杂的空况或陆况下通过，适应环境的能力强，运行的效率和可靠性高。

The invention provides a multi-variant amphibious quadrotor robot, which relates to the field of robot technology and includes: a body; The foot wheel structure, each group of the foot wheel structure is provided with a plurality of legs, a land travel servo motor is arranged between the two adjacent legs, and the bottom end of the last leg is provided with a land A servo motor and a roller; a collection module, arranged on the outer surface of the body, including a lidar, multiple sets of binocular cameras and multiple sets of ultrasonic modules; a control module, arranged inside the body, including a board On-board computer, a servo controller and a flight controller. The present invention has the motion modes of flight, translation, crawling and coordination among the three, can pass under complex air conditions or land conditions, has strong ability to adapt to the environment, and has high operation efficiency and reliability.

Description

Multi-variant amphibious four-rotor robot

Technical Field

The invention relates to the technical field of robots, in particular to a multi-variable amphibious four-rotor robot.

Background

Quad-rotor unmanned aerial vehicle has fast, the nimble characteristics of motion, but quad-rotor unmanned aerial vehicle of ordinary structure can only fly in broad environment, and flight difficulty even can't fly in narrow and small space. The mobile robots can walk in a narrow space, but when the walking plane is uneven or large granular obstacles exist, the mobile robots cannot cross the obstacles in a flying mode like a four-rotor unmanned plane and therefore can only slowly pass through. Due to the limitation of the movement mode, the monogamic robot can only be suitable for a single working environment. In many working environments, the single wide or narrow working space is not formed, the single wide or narrow working space can exist in a staggered mode, and in the environments, the air-ground amphibious robot is better adaptive to the environments than a single-habitat robot, and the working efficiency is higher. For example, in an earthquake field, an ordinary four-rotor unmanned aerial vehicle can only patrol in high altitude and cannot perform careful search and rescue on the ground, a ground mobile robot must be carried by a person to search and rescue on the field, certain potential safety hazards exist for search and rescue personnel under the condition of aftershock, the search and rescue range of the ground mobile robot is small, and the search and rescue work is difficult due to the defect of low search and rescue speed. And the air-ground amphibious robot can well adapt to the working environment. The existing amphibious robot has various motion forms, and the common motion forms include flight combined wheel type translation, flight combined rolling and the like.

Patent CN204368417U discloses a novel four-rotor amphibious robot, which can achieve the functions of translation and steering on the ground in addition to flying, but it is difficult for the robot to pass through in the manner of translation or flying when there is a large granular obstacle on the ground and the space is narrow. Patent CN104786768A discloses a spherical mechanism of a quadrotor amphibious robot, which can fly or walk on the ground in a rolling manner, but the shape of the structure is fixed, and the quadrotor body in the spherical mechanism cannot pass through a place with a slightly smaller space than the shape of the quadrotor body, and when the quadrotor body passes through a steep slope, the quadrotor body in the spherical mechanism can be greatly inclined to provide forward power, so that the camera mounted on the body cannot observe things right in front of the mechanism, and in addition, the rolling spherical net strips can interfere with image information captured by the camera.

Disclosure of Invention

The invention provides a multi-variant amphibious four-rotor robot, and aims to solve the problems that an existing amphibious robot is difficult to move when working on places with uneven ground, large granular obstacles or narrow space, the visual field is limited, and designated tasks cannot be completed smoothly.

In order to achieve the above object, the present invention provides a multi-rotor amphibious four-rotor robot, comprising:

the device comprises a machine body, a control device and a control device, wherein the machine body is provided with a flat hexahedron;

the rotor wing structure comprises four groups which are respectively arranged on four opposite corners of the top end of the machine body, each group of rotor wing structure comprises a horn, a flight servo motor, a brushless motor and a propeller, a first end of the horn is rotatably arranged on the flight servo motor at the top end of the machine body, the brushless motor is fixedly arranged at a second end of the horn, and the propeller is arranged on a rotating shaft of the brushless motor;

the foot wheel structure comprises four groups of foot wheel structures which are respectively arranged on four opposite angles at the bottom end of the machine body, each group of foot wheel structure is provided with a plurality of sections of foot limbs, a land servo motor is arranged between every two adjacent sections of foot limbs, the first end of the first section of foot limb is rotatably arranged on the land servo motor at the bottom end of the machine body, the second end of the last section of foot limb is provided with the land servo motor and a roller wheel, and the roller wheel is arranged on a rotating shaft of the land servo motor;

the collecting module is arranged on the outer surface of the machine body and comprises a laser radar, a plurality of groups of binocular cameras and a plurality of groups of ultrasonic modules, the laser radar is arranged on the upper surface of the machine body, and each group of binocular cameras and each group of ultrasonic modules are respectively arranged on one outer surface of the machine body;

the control module, control module sets up the inside of organism, including an on-board computer, a servo controller and a flight controller, lidar the binocular camera the ultrasonic module the servo controller with flight controller all with on-board computer electricity is connected.

The top of the machine body is provided with a plurality of recovery grooves, and the recovery grooves correspond to the machine arms one to one.

Wherein, the blades of the propeller can be folded to the same side of the propeller shaft.

Wherein, the number of the foot-limb joints of each group of the foot wheel structure is three.

Wherein the first section of the foot limb can be rotated in a horizontal plane by the land-based servo motor, and the second and third sections of the foot limb can be rotated in a vertical plane by the land-based servo motor.

The collection module further comprises an inertia measurement unit module, the inertia measurement unit module is arranged in the machine body, and the inertia measurement unit module is electrically connected with the flight controller.

And the positions of each flight servo motor and each land servo motor are respectively provided with a corner sensor and a rotating speed sensor, and the corner sensors and the rotating speed sensors are electrically connected with the servo controller.

Each brushless motor is independently and electrically connected with the flight controller, and each flight servo motor and the land servo motor are independently and electrically connected with the servo controller.

Wherein, still be provided with power module in the organism.

The scheme of the invention has the following beneficial effects:

the multi-variant amphibious four-rotor robot is provided with a rotor structure and a foot wheel structure, can fly in the air, has translation and steering functions on flat ground, can pass through the ground with more large particle obstacles in a crawling manner, and can pass through a passage with a smaller space than the normal shape of the robot in a deformation manner, and the robot is fundamentally different from the existing amphibious robot in the aspects of motion mode and body structure and has stronger environment adaptation capability;

the multi-variant amphibious four-rotor robot is provided with the multiple types of collecting modules, more accurate and reliable positioning information and more abundant environment information can be provided for the robot, a control system of the robot can accurately judge the surrounding environment condition, and sends out instructions to adjust and control the motion posture of the robot, so that the robot can pass through more complicated road conditions or air conditions, and the running reliability of the robot is guaranteed.

Drawings

FIG. 1 is a perspective view of the present invention when deployed;

FIG. 2 is a top plan view of the present invention as deployed;

FIG. 3 is a perspective view of the present invention when retracted;

FIG. 4 is a block diagram of the control system of the present invention;

FIG. 5 is a schematic view of the present invention in normal flight in the air;

FIG. 6 is a schematic view of the present invention during normal translation on flat ground;

FIG. 7 is a schematic view of the present invention in acceleration translation on flat ground (forefoot bending);

FIG. 8 is a schematic view of the present invention in accelerated translation on flat ground (forefoot straightened);

FIG. 9 is a schematic view of the propeller of the present invention as it is actuated in coordination with translation of a single foot;

FIG. 10 is a schematic view of the propeller of the present invention in starting engagement with bipedal translation;

FIG. 11 is a schematic view of the present invention during normal crawling;

FIG. 12 is a schematic view of the propeller of the present invention when starting assisted crawling;

FIG. 13 is a schematic view of the present invention translating on a slope (forefoot bending);

fig. 14 is a schematic view of the present invention translated on a slope (forefoot straight);

fig. 15 is a schematic view of the present invention while crawling through a narrow passageway.

[ description of reference ]

1-body; 2-a machine arm; 3-a flying servo motor; 4-a brushless motor; 5, a propeller; 6-foot limb; 7-a land-line servo motor; 8-a roller; 9-laser radar; 10-binocular camera; 11-an ultrasonic module; 12-a recovery tank; 13-power supply module.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.

The invention provides a multi-variant amphibious four-rotor robot, aiming at the problems that the existing amphibious robot is difficult to move when working on places with uneven ground, larger granular obstacles or narrow space, the visual field is limited, and the designated task cannot be smoothly completed.

As shown in fig. 1, fig. 2, and fig. 3, an embodiment of the present invention provides a multi-rotor amphibious four-rotor robot, including: the device comprises amachine body 1, wherein themachine body 1 is provided with a flat hexahedron; the rotor wing structure comprises four groups which are respectively arranged on four opposite corners of the top end of themachine body 1, each group of rotor wing structure comprises amachine arm 2, aflight servo motor 3, abrushless motor 4 and apropeller 5, the first end of themachine arm 2 is rotatably arranged on theflight servo motor 3 at the top end of themachine body 1, thebrushless motor 4 is fixedly arranged at the second end of themachine arm 2, and thepropeller 5 is arranged on a rotating shaft of thebrushless motor 4; the foot wheel structure comprises four groups of foot wheel structures which are respectively arranged on four opposite angles at the bottom end of themachine body 1, each group of foot wheel structure is provided with a plurality of sections offoot limbs 6, aland servo motor 7 is arranged between every two adjacent sections of thefoot limbs 6, wherein the first end of the first section of thefoot limb 6 is rotatably arranged on theland servo motor 7 at the bottom end of themachine body 1, the second end of the last section of thefoot limb 6 is provided with theland servo motor 7 and aroller 8, and theroller 8 is arranged on a rotating shaft of theland servo motor 7; the collecting module is arranged on the outer surface of themachine body 1 and comprises alaser radar 9, a plurality of groups ofbinocular cameras 10 and a plurality of groups ofultrasonic modules 11, thelaser radar 9 is arranged on the upper surface of themachine body 1, and each group ofbinocular cameras 10 and each group ofultrasonic modules 11 are respectively arranged on one outer surface of themachine body 1; control module, control module sets uporganism 1's inside includes an on-board computer, a servo controller and a flight controller,lidar 9binocular camera 10ultrasonic wave module 11 servo controller with flight controller all with on-board computer electricity is connected.

The multi-variable amphibious four-rotor robot provided by the embodiment of the invention is provided with the flathexahedral machine body 1, the top of the machine body is provided with the rotor wing structure, and the bottom of the machine body is provided with the foot wheel structure, so that the requirement of amphibious operation of the robot is met. Through the cooperation mode of rotor structure and truckle structure, can adapt to through the space or the road surface that have complicated barrier. Wherein, four rotor structures of group set up respectively on four diagonal angles atorganism 1 top, and every rotor structure of group includes anhorn 2, aflight servo motor 3, and abrushless motor 4 and ascrew 5.Flight servo motor 3 sets up the diagonal position department atorganism 1, and the first end ofhorn 2 is connected withflight servo motor 3 forhorn 2 can be at its drive down the planar rotation inorganism 1's upper surface place, accomplishes the gesture switching that expandes and withdraw of rotor structure, in order to adapt to the different environment of passing through.Brushless motor 4 andscrew 5 that set up are held at the second ofhorn 2, andbrushless motor 4 is used for drivingscrew 5 and rotates, provides the power that the robot flies, andwhole organism 1 has adopted common four rotor structural design, ensures robot flight state's stability and reliability.

The foot wheel structure of the invention is divided into four groups which are respectively arranged on four opposite angles at the bottom of themachine body 1, each group of foot wheel structure comprises a plurality of sections offoot limbs 6 and aroller 8 at the bottom end, wherein the first end of the first section offoot limb 6 is rotatablely arranged on aland servo motor 7 at the opposite angle at the bottom of themachine body 1, so that the first section offoot limb 6 can rotate in the plane of the lower surface of themachine body 1 under the driving of the first section offoot limb 6, and the posture switching of the unfolding and the retraction of the foot wheel structure is completed. Aland servo motor 7 is arranged between two adjacent sections of thefoot limbs 6, the rear section of thefoot limb 6 can rotate around the second end of the front section of thefoot limb 6 under the driving of theland servo motor 7, so that thewhole foot limb 6 can complete the actions similar to the limbs of a reptile, and under the driving of theland servo motor 7 corresponding to each section of thefoot limb 6, the robot can pass through a road surface with large granular obstacles in a crawling mode. Thegyro wheel 8 that sets up atlast section podium 6 second end is connected with the pivot of theland servo motor 7 of second end for the robot can roll and move ahead, and when the road surface is flat and does not have great graininess barrier, can pass throughgyro wheel 8, makes the robot translation pass through the road surface fast. In the actual passing process, the passing mode of the robot on the road surfaces with different conditions can be formed by adjusting the postures of thefoot limbs 6 and matching the rotation of theroller 8.

The collection module that sets up on each surface oforganism 1, includinglaser radar 9, twomesh cameras 10 andultrasonic module 11, can collect the information around theorganism 1 all-roundly, ensure that the robot has an accurate judgement to complicated environment, ensure its gesture of passing through. Thebinocular cameras 10 are divided into six groups, are respectively arranged on six outer surfaces of therobot body 1, can capture surrounding environment information in an all-around mode, convert the surrounding environment information into image information and transmit the image information to an onboard computer of the control module, and the onboard computer processes the image information to obtain position information and obstacle information of the robot. In addition, thebinocular camera 10 can also be used for target identification, and can play an important role in tasks such as disaster area search and rescue. Meanwhile, theultrasonic modules 11 are arranged on the six outer surfaces of the machine body respectively, the distance of surrounding obstacles can be detected in an all-around mode by utilizing ultrasonic waves, and data obtained by ranging is transmitted to the onboard computer, so that the onboard computer can adjust the motion mode or track of the robot through the distance information of the obstacles, and the defect that thebinocular camera 10 cannot see transparent glass can be overcome because the ultrasonic waves cannot penetrate through the glass. Further, still set up alaser radar 9 at the upper surface oforganism 1,laser radar 9 can scan the barrier information on the plane to in carrying the computer on board, becauselaser radar 9 also can fix a position under no light environment, consequently can compensate the shortcoming thatbinocular camera 10 can only work under bright environment. According to the multi-variant amphibious four-rotor robot, thebinocular camera 10, theultrasonic module 11 and thelaser radar 9 are matched, surrounding environment information is collected and transmitted to the onboard computer after being converted, the onboard computer analyzes obstacles and the like of the surrounding environment through the information, sends a control command to the servo driver and/or the flight controller, and adjusts the motion mode of the robot through the servo driver and/or the flight controller so as to achieve the functions of fixed point, track tracking, obstacle avoidance and the like of the robot. The flight controller is mainly responsible for controlling the flight attitude of the robot so as to realize hovering, forward, backward, leftward, rightward and in-situ rotating flight, and the servo controller is mainly responsible for the work of all servo motors so as to realize the functions of unfolding or recycling themachine arm 2, stretching and retracting thefoot limbs 6 and translating and crawling themachine body 1. The robot has the movement modes of flying, translating, crawling and matching among the three, so that the robot can pass through more complicated air conditions or road conditions.

Wherein, the top of themachine body 1 is provided with a plurality ofrecovery grooves 12, and therecovery grooves 12 correspond to themachine arms 2 one to one. The blades of thepropeller 5 can be folded to the same side of the propeller shaft. When the robot flies or walks on the ground through a narrow passage, the four groups ofarms 2 can be recovered into therecovery tank 12 on the machine body, and the blades of thepropeller 5 are folded inwards to pass through the narrow passage.

The number of the joints of thefoot limbs 6 of each group of the foot wheel structure of the robot is three, the first joint of thefoot limbs 6 can rotate on a horizontal plane through aland servo motor 7, and the second joint and the third joint of thefoot limbs 6 can rotate on a vertical plane through theland servo motor 7. The invention is provided with a foot wheel structure with three sections offoot limbs 6, wherein the first section offoot limb 6 can rotate on a horizontal plane, the unfolding and folding postures of the whole foot wheel structure can be switched, and the second section offoot limb 6 and the third section offoot limb 6 can rotate on a vertical plane, can crawl like the limbs of reptiles or can be adjusted in postures, so as to adapt to different road surface requirements.

The collection module further comprises an inertia measurement unit module, the inertia measurement unit module is arranged in themachine body 1, and the inertia measurement unit module is electrically connected with the flight controller. When the unmanned aerial vehicle flies, the flight controller reads the information of the inertia measurement unit module and transmits instructions to the fourbrushless motors 4 to control the rotating speed of the four brushless motors.

And a corner sensor and a rotating speed sensor are arranged at the positions of each of theflight servo motor 3 and theland servo motor 7, and are electrically connected with the servo controller. The servo controller reads the information of the rotation angles and the rotation speeds of all the servo motors through all the sensors, and transmits instructions to the servo motors to regulate the rotation speeds and the rotation angles of all the servo motors so as to control the flying, translating or crawling process of the robot.

Wherein, eachbrushless motor 4 is independently electrically connected with the flight controller, and eachflight servo motor 3 and theland servo motor 7 are independently electrically connected with the servo controller. The robot can independently control eachbrushless motor 4, theflight servo motor 3 and theland servo motor 7 according to the width and the flatness of the environment so as to select the motion modes of flying, translating, crawling or the combination of flying and translating and the combination of flying and crawling to pass through airspaces or pavements in different conditions.

Wherein, still be provided withpower module 13 in theorganism 1, provide the power supply of removal and control for whole robot.

The specific control system and the control mode of the multi-variant amphibious four-rotor robot are shown in fig. 4, an onboard computer reads image information of abinocular camera 10 group through a Universal Serial Bus (USB), and the image information is processed to obtain position information and obstacle information of the robot; reading the ranging data of theultrasonic module 11 group through a Universal Serial Bus (USB) to obtain the distance information of six surfaces of themachine body 1 from the obstacle; reading data of thelaser radar 9 through a Universal Serial Bus (USB) to obtain obstacle information on a plane scanned by thelaser radar 9; and a control command is sent to a flight controller and a servo controller through a Universal Serial Bus (USB) so as to achieve the aim of regulating and controlling the flight or servo of the robot. The method comprises the following steps that a flight controller reads information of an Inertial Measurement Unit (IMU) module through a Serial Peripheral Interface (SPI); pulse Width Modulation (PWM) waves are sent to the fourbrushless motors 4 to control the rotation speeds thereof. The servo controller reads the information of the rotation angle and the rotation speed of each servo motor through a serial port, and sends Pulse Width Modulation (PWM) waves to each servo motor to control the rotation speed and the rotation angle of each servo motor so as to achieve the aim of regulating and controlling the robot to fly, translate or crawl.

The technical solution of the present invention will be described more clearly and completely with reference to the specific embodiments of the present invention. The following embodiments are implemented depending on precise positioning and precise acquisition of information about road conditions or air conditions, such as position information of the robot relative to the environment, flatness of the road surface, presence of particulate obstacles on the road surface, and flight space. The information can be acquired by the collecting modules arranged on the six surfaces of themachine body 1, and the integrity of the information can meet various motion requirements of the robot. Two explanations are made before the explanation of the embodiment: the translation mentioned in the following embodiments refers to fixing other servo motors on thefoot limbs 6 except for theland servo motor 7 of theroller 8 according to certain requirements, and enabling the land servo motor of theroller 8 to rotate 7 to realize the movement of the robot; the mentioned crawling means that theland servo motor 7 of the fixedroller 8 and the flyingservo motor 3 of thehorn 2 control otherland servo motors 7 on thefoot limbs 6 according to a certain rule to realize the crawling function similar to a foot type reptile, and in the crawling process, twofoot limbs 6 at opposite angles generally land or leave the ground simultaneously.

Example 1:

as shown in fig. 5, the robot is in a common flight mode, and four groups of foot wheel structures are recovered to themachine body 1, so that the resistance suffered by the robot during flight is as small as possible; the fourarms 2 are unfolded in position so that the centers of the bottom surfaces of the fourbrushless motors 4 are exactly at the vertices of a square. Startingbrushless motor 4 this moment, can realizing the ordinary flight mode of four rotors of robot.

Example 2:

as shown in fig. 6, the robot is in a normal ground translation mode, when the robot walks on a flat ground without granular obstacles, the robot retracts thehorn 2 to occupy a smaller space and can pass through a smaller passage; slightly bending the four groups of foot wheel structures to lower the gravity center; the ground-basedservo motor 7 driving theroller 8 at this time makes the robot translate smoothly on the ground. In addition, aland servo motor 7 connected with thefoot limbs 6 and themachine body 1 is controlled to rotate for a certain angle or the rotating directions of the fourrollers 8 are controlled to realize a steering function.

Example 3:

the robot is in a flat ground fast moving mode, as shown in fig. 7, when the robot needs to fast pass through a low-altitude flat ground which is inconvenient to take off, the robot can bend the front two groups of foot wheel structures and straighten the rear two groups of foot wheel structures, so that themachine body 1 inclines forwards; alternatively, as shown in fig. 8, the front and rear foot wheel structures are straightened, and the front two foot wheel structures extend forwards, so that themachine body 1 inclines forwards. Then, the robot can rapidly pass through the flat ground by unfolding eachmachine arm 2 and starting thebrushless motor 4 on themachine arm 2 and theland servo motor 7 of eachroller 8. The lift force generated by thepropeller 5 can also adjust the posture of the robot to prevent the robot from tipping over, and in addition, the steering can be realized through the steering mode described inembodiment 2.

Example 4:

as shown in fig. 9 or 10, the robot is a flying type of motion matched with a single-foot wheel structure or a double-foot wheel structure. When the robot walks on the ground with a small amount of granular obstacles, the four groups of foot wheel structures simultaneously touch the ground and translate with certain difficulty, and at the moment, only one group of foot wheel structures or two groups of foot wheel structures can touch the ground and translate. Meanwhile, thearm 2 of the robot is unfolded, thepropeller 5 is rotated to generate lift force to reduce the load of thelanding roller 8, and a certain posture is adjusted to provide forward power. In addition, aland servo motor 7 connected with themachine body 1 can control the foot wheel structure on the ground to realize the steering function, so that thelanding roller 8 can bypass the granular obstacles.

Example 5:

as shown in fig. 11 and 12, the robot is a crawling walking mode. When the road surface that passes through has more graininess barrier and makesgyro wheel 8 difficult to pass through, can start the mode of crawling of robot, crawl graininess barrier with the mode of four groups of foot wheel structures walking. The crawling mode is as follows: the motion laws of two groups of foot wheel structures at one diagonal are consistent, similar to the crawling of common quadruped animals, and the crawling is carried out forwards or backwards in a mode that twodiagonal foot limbs 6 alternately land. In addition, thepropeller 5 can be started by unfolding themachine arm 8, so that the load of each group of foot wheel structures can be reduced, and the balance of the robot can be adjusted.

Example 6:

the robot is a way to walk on a slope. As shown in fig. 13, when the robot passes through a relatively steep incline, the two sets of foot wheel structures on the upper side of the incline can be bent, and the two sets of foot wheel structures on the lower side can be straightened; alternatively, as shown in figure 14, the entire castor configuration is straightened so that the upper side extends upwardly. In such a way that the robot body remains substantially horizontal. In addition, themechanical arm 2 is unfolded to start thepropeller 5 to generate lift force, so that the load of a foot wheel structure can be reduced, and the power for the robot to climb upwards can be provided or the robot can slide downwards at a reduced speed.

Example 7:

as shown in fig. 15, the robot is in an automatic deformation walking mode. When the road conditions are not good, the robot will generally unfold thehorn 2 and start thepropeller 5 to ensure the balance of the robot. However, when the robot passes through a narrow passage, therobot arm 2 cannot pass through when being unfolded, at the moment, the robot can retract therobot arm 2 and bend the two groups of foot wheel structures, so that the overall dimension of the robot is reduced, and the robot can smoothly pass through the narrow passage.

Except forembodiment 1, the different operation modes of the embodiment of the invention are performed in the environment that the robot is difficult to take off or fly, so that the operation modes of the multi-variant amphibious four-rotor robot are various and flexible, and the multi-variant amphibious four-rotor robot can adapt to various complex air and land environments.

While the foregoing is directed to the preferred embodiment and examples of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the principles of the invention, and it is intended that such changes and modifications be considered as within the scope of the invention.

Claims (7)

1. A multi-rotor amphibious quadrotor robot is characterized by comprising:

the device comprises a machine body, a control device and a control device, wherein the machine body is provided with a flat hexahedron;

the rotor wing structure comprises four groups which are respectively arranged on four opposite corners of the top end of the machine body, each group of rotor wing structure comprises a horn, a flight servo motor, a brushless motor and a propeller, a first end of the horn is rotatably arranged on the flight servo motor at the top end of the machine body, the brushless motor is fixedly arranged at a second end of the horn, and the propeller is arranged on a rotating shaft of the brushless motor;

the foot wheel structure comprises four groups of foot wheel structures which are respectively arranged on four opposite angles at the bottom end of the machine body, each group of foot wheel structure is provided with a plurality of sections of foot limbs, a land servo motor is arranged between every two adjacent sections of foot limbs, the first end of the first section of foot limb is rotatably arranged on the land servo motor at the bottom end of the machine body, the second end of the last section of foot limb is provided with the land servo motor and a roller wheel, and the roller wheel is arranged on a rotating shaft of the land servo motor;

the collecting module is arranged on the outer surface of the machine body and comprises a laser radar, a plurality of groups of binocular cameras and a plurality of groups of ultrasonic modules, the laser radar is arranged on the upper surface of the machine body, and each group of binocular cameras and each group of ultrasonic modules are respectively arranged on one outer surface of the machine body;

the control module is arranged inside the machine body and comprises an onboard computer, a servo controller and a flight controller, and the laser radar, the binocular camera, the ultrasonic module, the servo controller and the flight controller are all electrically connected with the onboard computer;

the number of the foot-limb joints of each group of the foot wheel structure is three; a first section of the foot limb can rotate on a horizontal plane through the land servo motor, and a second section and a third section of the foot limb can rotate on a vertical plane through the land servo motor;

when the robot passes through a steep slope, two groups of foot wheel structures on the upper side of the slope are bent, two groups of foot wheel structures on the lower side are straightened, or all the foot wheel structures are straightened, so that the foot wheel structures on the upper side extend upwards, the machine body is kept horizontal, the machine arm is unfolded and starts the propeller to generate lift force, the load of the foot wheel structures is reduced, and upward climbing power of the robot is provided or the robot is decelerated and slid downwards.

2. The multi-rotor amphibious four-rotor robot according to claim 1, wherein a plurality of recovery grooves are formed in the top of the robot body, and the recovery grooves correspond to the arms one to one.

3. A multi-rotor amphibious four-rotor robot according to claim 1, wherein the blades of the propellers are foldable to the same side of the propeller shaft.

4. A multi-rotor amphibious four-rotor robot according to claim 1, wherein said collection module further comprises an inertial measurement unit module disposed within said body, said inertial measurement unit module being electrically connected to said flight controller.

5. A multi-rotor amphibious four-rotor robot according to claim 4, wherein each of the flight servo motors and the land servo motors is provided with a rotation angle sensor and a rotation speed sensor at positions thereof, and the rotation angle sensor and the rotation speed sensor are electrically connected to the servo controller.

6. A multi-rotor amphibious four-rotor robot according to claim 5, wherein each of said brushless motors is independently electrically connected to said flight controller, and each of said flight servomotors and said land servomotors are independently electrically connected to said servo controller.

7. A multi-rotor amphibious four-rotor robot according to claim 1, wherein a power module is further provided in the body.

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