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A flying robot and its flying method

A flying robot and body technology, applied in the field of flying robots, can solve problems such as inability to realize multi-modal conversion, single flight attitude, and single motion mode, and achieve the effects of compact structure, reduced closed body, and simple structure

Active Publication Date: 2022-07-08
BEIHANG UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of the above analysis, the embodiment of the present invention aims to provide a flying robot and its flying method to solve the problems of the existing flying robots with single flying attitude, single motion mode and inability to realize multi-modal conversion

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  • A flying robot and its flying method

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Embodiment 1

[0061] A specific embodiment of the present invention, such as Figure 1-Figure 9 As shown, a flying robot is disclosed, including a closed body 1, a first vector rotor 2, a second vector rotor 3 and wheels 4, and the first vector rotor 2 and the second vector rotor 3 are respectively provided at both ends of the closed body 1 , the wheels 4 are arranged at both ends of the first vector rotor 2 and the second vector rotor 3;

[0062] The flying robot 100 can hover in the air at any pitch angle, the first vector rotor 2 can rotate 360° around the central axis of the first arm 21 , and the second vector rotor 3 can rotate 360° around the central axis of the second arm 31 . °Rotate.

[0063] Compared with the prior art, the flying robot provided in this embodiment has wheels at the four corners of the closed body, so that the robot can not only fly, but also crawl on land, walls or other objects. Both the two vector rotors can achieve 360° rotation, which enables the flying rob...

Embodiment 2

[0089] Another specific embodiment of the present invention, such as Figure 10-Figure 23 As shown, a flying method of a flying robot is disclosed, using the flying robot 100 of Embodiment 1, including the hovering mode of changing attitude in the air, the crawling mode of 200 on the ground and the crawling mode of 300 on the wall, and can change the attitude in the air Hover mode, ground 200 crawling mode and wall 300 crawling mode conversion.

[0090] Compared with the prior art, the variable mode method of the flying robot 100 provided in this embodiment can realize the hovering in the air at any pitch angle of the closed body 1 of the flying robot 100, and can realize the control of the variable attitude hovering mode, the ground The arbitrary conversion between the 200 crawling mode and the 300 crawling mode on the wall expands the application scope and application prospect of the flying robot 100 .

[0091] In this embodiment, the hovering with changing attitude means t...

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Abstract

The invention relates to a flying robot and a flying method thereof, belongs to the technical field of flying robots, and solves the problems in the prior art that the flying robot has a single flight posture, a single motion mode and cannot realize multi-modal conversion. The invention includes a closed body, a first vector rotor and a second vector rotor, and the first vector rotor and the second vector rotor are respectively arranged at two ends of the closed body; the flying robot can hover in the air at any pitch angle, and the first vector rotor The first vector rotor can rotate 360° around the central axis of the first arm of the first vector rotor, and the second vector rotor can rotate 360° around the central axis of the second arm. The flying robot of the present invention can switch among flight mode, ground crawling mode and wall climbing mode, and realizes that the aircraft can keep its position unchanged when hovering in the air at any pitch angle.

Description

technical field [0001] The invention relates to the technical field of flying robots, in particular to a flying robot and a flying method thereof. Background technique [0002] With the rapid development of robot technology in the world today, various robots have emerged in the military, civil and industrial fields, including ground crawling robots, flying robots, and wall-climbing robots. It is difficult for the current robot to realize the conversion between modes such as flight, ground crawling, and wall climbing. The fundamental reason is that the current robot mechanical structure and control algorithm have great limitations, resulting in insufficient controllable degrees of freedom, resulting in a single flight attitude and single motion mode, so multi-modal conversion cannot be achieved. SUMMARY OF THE INVENTION [0003] In view of the above analysis, the embodiments of the present invention aim to provide a flying robot and a flying method thereof, so as to solve ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 张军曹先彬潘佳义孟有为徐艺辉徐亮
Owner BEIHANG UNIV
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