Control method of air-ground dual-purpose rotorcraft

Abstract

The invention discloses a control method of an air-ground dual-purpose rotorcraft. An aerial reconnaissance unmanned aerial vehicle cannot be used for knowing conditions of the ground in details, and the maneuverability and the obstacle avoidance ability of a ground reconnaissance robot are poor. The air-ground dual-purpose rotorcraft comprises two carrier plates and four rotor deformation arms. Each rotor deformation arm comprises a first deformation block, a second deformation block, a third deformation block, a fourth deformation block, a motor base, a dual-purpose wheel wing, a first driving piece, a second driving piece, a third driving piece, a fourth driving piece, a wheel wing motor, a controller, a camera and a gyroscope. The two carrier plates are parallel to each other vertically, and are rectangular. The top surfaces of the first deformation blocks of the four rotor deformation arms and four corners of the bottom surface of the carrier plate positioned on the upper part are fixed separately. The air-ground dual-purpose rotorcraft can be controlled to run stably in a flying mode and a walking mode.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a control method for a ground-air dual-purpose rotorcraft. Background technique [0002] A series of large-scale natural or man-made disasters in China will more or less encounter the problem of lack of effective detection means. Although aerial reconnaissance drones were also used in the subsequent disaster relief, they all had to confirm the location of suspected survivors, and then they needed to send ground reconnaissance robots to enter the disaster site again for detailed search. This has just caused great loss in time, is unfavorable for the rescue of trapped personnel. Even if the ground reconnaissance robot can enter the disaster area through the hoisting of the aerial reconnaissance drone, it will cause a great waste of power and reduce the rescue efficiency. At the same time, due to the poor mobility and obstacle avoidance ability of the ...

AI Technical Summary

Problems solved by technology

Although aerial reconnaissance drones were also used in the subsequent disaster relief, they all existed. After confirming the location of suspected survivors, it was necessary to send ground reconnaissance robots to enter the disaster site again for detailed search.

This has just caused the great loss on the time, is not conducive to the rescue of the trapped people

Even if the ground reconnaissance robot can enter the disaster area through the hoisting of the aerial reconnaissance drone, it will cause a huge waste of power and reduce the rescue efficiency

At the same time, due to the poor mobility and obstacle avoidance ability of the ground reconnaissance robot, if secondary disasters occur in the disaster area, it may cause the loss of the ground reconnaissance robot

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