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Multi-variable amphibious quadrotor robot

A robot and quadrotor technology, applied in the field of robotics, can solve the problems of inability to successfully complete the specified task, limited vision, difficulty in movement, etc., and achieve the effect of strong ability to adapt to the environment, reliable positioning information, and rich environmental information.

Active Publication Date: 2021-02-19
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a multi-variant amphibious four-rotor robot, the purpose of which is to solve the problem that the existing amphibious robots have difficulty in moving when the ground is uneven, or there are large granular obstacles, or the space is narrow. Restricted, unable to successfully complete the specified task

Method used

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  • Multi-variable amphibious quadrotor robot
  • Multi-variable amphibious quadrotor robot
  • Multi-variable amphibious quadrotor robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0054] like Figure 5 As shown, the robot is in a common flight mode, and the four sets of caster wheel structures are recovered to the body 1, so that the robot is subjected to as little resistance as possible during flight; the four arms 2 are unfolded to appropriate positions, so that the four brushless motors 4 bottom The center is exactly on the vertices of a square. Start brushless motor 4 now, can realize the common flight pattern of robot quadrotor.

Embodiment 2

[0056] like Figure 6 As shown, the robot is in a common ground translation mode. When the robot walks on a flat ground without granular obstacles, the robot retracts the arm 2 so that it takes up less space and can pass through smaller passages; the four groups The caster structure is slightly curved to lower the center of gravity; at this time, the land servo motor 7 driving the roller 8 enables the robot to translate smoothly on the ground. In addition, the steering function is achieved by controlling the land servo motor 7 connecting the foot 6 to the body 1 to rotate at a certain angle or controlling the rotation direction of the four rollers 8 .

Embodiment 3

[0058] The robot moves quickly on flat ground, such as Figure 7 As shown, when the robot needs to quickly pass through the low-altitude flat ground that is inconvenient to take off, the robot can bend the front two sets of caster structures and straighten the rear two sets of caster structures, so that the body 1 leans forward; or as Figure 8 As shown, the front and rear caster structures are all straightened, while the front two sets of caster structures are stretched forward, so that the body 1 is tilted forward. Then each machine arm 2 is launched, and the brushless motor 4 on the machine arm 2 and the land travel servo motor 7 of each roller 8 are started simultaneously, so that the robot can be passed through the flat ground quickly. At this time, the lift force generated by the propeller 5 can also adjust the attitude of the robot to prevent it from tipping over and overturning. In addition, the steering method described in Embodiment 2 can also be used to realize stee...

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Abstract

The invention provides a multi-variable amphibious four-rotor robot, which relates to the technical field of robots and includes: a body; a rotor structure, and each group of the rotor structures includes a machine arm, a flight servo motor, a brushless motor and a propeller; The foot wheel structure, each set of the foot wheel structure is provided with a multi-section foot limb, a land travel servo motor is arranged between two adjacent foot limbs, and a land travel servo motor is arranged at the bottom of the last foot limb. line servo motor and a roller; the collection module is arranged on the outer surface of the body, including a laser radar, multiple sets of binocular cameras and multiple sets of ultrasonic modules; the control module is arranged inside the body, including a board Onboard computer, a servo controller and a flight controller. The invention has the motion modes of flight, translation, crawling and the cooperation between the three, can pass through complex air conditions or land conditions, has strong ability to adapt to the environment, and has high operating efficiency and reliability.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a multi-variable amphibious quadrotor robot. Background technique [0002] Quadrotor drones have the characteristics of fast speed and flexible movement, but quadrotor drones with ordinary structures can only fly in a wide environment, and it is difficult or even impossible to fly in a small space. Mobile robots can walk in small spaces, but when the walking surface is uneven or has large granular obstacles, they cannot fly over obstacles like quadrotor drones, so they can only pass slowly. Limited by the way of movement, single-dwelling robots can only be used in a single working environment. In many working environments, there is not a single wide or narrow working space, they will exist interlaced. In such an environment, land and air amphibious robots can better adapt to the environment and work more efficiently than single-living robots. For example, at an earthquake site, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60F5/02
Inventor 李繁飙游维德周灿阳春华鲁建权朱昱鑫
Owner CENT SOUTH UNIV
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