Air-ground multi-mode cross-domain robot system with clutch structure and control method

Abstract

The invention discloses an air-ground multi-mode cross-domain robot system with a clutch structure and a control method. The air-ground multi-mode cross-domain robot system comprises a machine body, wings, clutch assemblies and rotor assemblies. The aircraft body drives the connecting rod mechanism through the steering engine to control the bilateral wings to move. Rotor driving motors, wheels and transmission gear sets are integrated on the wings, and motor power can be distributed to wheel driving shafts and propeller shafts. The clutch assembly is connected with a motor and a propeller shaft through a ratchet wheel meshing mechanism, and power on-off control is achieved, in the ground running process, a clutch is separated to stop rotation of a propeller, power is fully output to wheels to serve as driving wheels, and in the flight mode, the clutch is meshed to synchronously drive rotors and the wheels. According to the system, bimodal power distribution is achieved through a single motor, a driving wheel motor does not need to be additionally arranged, the structural complexity is effectively reduced, the moving speed and controllability are remarkably improved through the ground mode propeller static design, the advantage of cross-domain operation is achieved, and the system is suitable for complex task scenes.

Description

Technical Field

[0001] The present invention belongs to the technical field of amphibious robots, and in particular relates to a land-air multimodal cross-domain robot system with a clutch structure and a control method. Background Art

[0002] Space is the vehicle for human survival and development. With the continuous expansion of national interests and the scope of human activities, humanity's exploration of land, sea, air, and space continues unabated. In highly unstructured scenarios such as earthquake rescue, complex terrain surveys, and multi-environment, cross-media operations, robots are urgently needed that can both flexibly navigate the ground and freely fly in the air.

[0003] However, traditional robots are often fixed to a single medium space and possess only a single motion mode, making them unable to achieve complex cross-domain movement from water to land or airspace. Their capabilities in multi-domain situational awareness, multi-dimensional information fusion, and cross-domain penetration attacks are limited, making them unable to adapt to changing and complex environments and mission requirements. While cross-domain tasks can be accomplished through the collaboration of robots within different domains, before multi-platform, systematic, and comprehensive collaborative use is established, using a single cross-domain robot to replace a multi-robot system for collaborative operations can effectively reduce the complexity of collaborative operations among robots in different spaces, improve operational reliability, and significantly increase mission success rates. Cross-domain robots offer the technical advantages of multi-task switching, multi-environment adaptation, and cross-media penetration. Their development is considered a key to achieving multi-domain advantages.

[0004] Prior art has proposed a quadrotor-based wheeled robot, comprising two passive wheels and a tilting quadrotor. It autonomously switches between flight and wheeled modes through motion trajectory planning and control algorithms. The prior art also discloses a transformable amphibious robot, comprising a fuselage and foldable arms equipped with propellers, motors, and wheels. The left and right arms are symmetrical, with two motors equipped with propellers above and wheels below, including two variable-diameter front wheels.

[0005] The land-air cross-domain robots proposed above all have land-air amphibious capabilities, but they have disadvantages such as the driving wheels are driven wheels, multiple wheel drive motors are added, and the propeller shaft still rotates in ground mode.

[0006] To solve the above problems, the present invention designs a land-air multimodal cross-domain robot system and control method with a clutch structure. Summary of the Invention

[0007] In response to the above technical problems, the present invention provides a land-air multimodal cross-domain robot system and a control method with a clutch structure.

[0008] The technical solution adopted by the present invention to solve the technical problem is:

[0009] A land-air multimodal cross-domain robot system with a clutch structure, including a body, wings, a clutch assembly, and a rotor assembly;

[0010] The fuselage is provided with a steering gear and a connecting rod mechanism connecting the left and right wings;

[0011] The wing includes the rotor drive motor, wheels, wheel drive shafts, and power transmission assembly;

[0012] The clutch assembly is arranged at the output end of the rotor drive motor and includes a ratchet engagement mechanism and a propeller shaft;

[0013] The rotor assembly is installed at the end of the propeller shaft; the power transmission assembly includes a gear set that simultaneously transmits the power of the rotor drive motor to the wheel drive shaft and the propeller shaft; in ground mode, the ratchet engagement mechanism disconnects the rotor drive motor from the propeller shaft, and the power only drives the wheel as the active wheel; in flight mode, a power connection is established, and the wheels and rotor assembly are synchronously driven to generate lift.

[0014] Preferably, the machine body adopts a vertical layered structure, comprising:

[0015] The upper layer houses the flight control module, binocular camera, and servos;

[0016] The middle layer houses an onboard computer containing pattern recognition algorithms;

[0017] A single power supply battery is set up in the lower layer; among them, the onboard computer obtains the environmental image through the binocular camera and generates the motion mode instruction; the flight control module controls the wing folding action driven by the servo based on the instruction to realize the clutch state switching.

[0018] Preferably, the wing also includes a transmission shaft, and the gear set includes a first gear installed on the wheel drive shaft, a second gear and a third gear installed on the transmission shaft, the first gear is engaged with the second gear, and the third gear is engaged with the fourth gear in the clutch assembly on the output shaft of the rotor drive motor; the output shaft of the rotor drive motor transmits power to the gear set through the fourth gear, driving the wheels and propellers to move synchronously.

[0019] Preferably, each wing is connected to two clutch assemblies, and each clutch assembly includes a fourth gear, a motor-end ratchet, a rotor-end ratchet, a clutch bevel, a clutch pedal, a propeller shaft and a compression spring; the fourth gear and the motor-end ratchet are coaxially installed on the rotor drive motor shaft, and the rotor-end ratchet is fixed to the lower end of the propeller shaft; the clutch bevel is coaxial with the propeller shaft and is connected to the wing through a compression spring; the clutch pedal is connected to the fuselage through a second connecting rod mechanism; in ground mode, the clutch pedal converts the rotational motion of the servo into axial linear motion of the clutch bevel through a second rigid connecting rod mechanism, and the clutch bevel is driven downward by the servo, so that the motor-end ratchet and the rotor-end ratchet are disengaged, and the propeller shaft stops rotating; in flight mode, the clutch bevel is reset under the action of the compression spring, the motor-end ratchet and the rotor-end ratchet are engaged, and power is transmitted to the rotor assembly through the propeller shaft.

[0020] Preferably, the rotor assembly includes a propeller mounted at the upper end of the propeller shaft; in ground mode, the clutch assembly disconnects the rotor drive motor from the propeller shaft, and the propeller stops rotating; in flight mode, the clutch assembly closes, the rotor drive motor drives the propeller to rotate to provide lift, and at the same time drives the wheels synchronously through the gear set.

[0021] Preferably, it also includes a bracket and a limit bracket provided on the wing. The bracket on the wing is connected to the fuselage through a connecting rod mechanism 1 and is used to adjust the relative angle between the wing and the fuselage; the limit bracket constrains the rotation angle of the wing around the connecting rod mechanism 1, ensuring that the engagement / disengagement action of the motor end ratchet and the rotor end ratchet is accurately completed when the clutch assembly is switched.

[0022] A control method for a land-air multimodal cross-domain robot system with a clutch structure comprises the following steps:

[0023] S100: Start the land-air multimodal cross-domain robot, which includes flight mode and ground mode;

[0024] S200: Before the mission begins, the entire mission path is planned based on the mission requirements, the starting and ending locations, and the mission completion time, with minimizing energy consumption as the optimization goal. The planned path is divided into air segments and ground segments, and corresponding operation mode instructions are executed.

[0025] S300: When the robot is executing an operating mode instruction, the binocular camera in front of the robot captures images of the surrounding environment and transmits them in real time to the onboard computer. The onboard computer then senses the environment and builds a map based on the images. Based on the perceived results, it performs the following operations:

[0026] When the robot is in flight mode and the environmental perception results show that the road conditions or buildings ahead are not suitable for flying through or entering, the robot is controlled to switch from flight mode to ground mode; otherwise, the current operation mode is maintained;

[0027] When the robot is in ground mode and the environmental perception results show that there is an obstacle in front that cannot be directly crossed or bypassed, the robot is controlled to switch from ground mode to flight mode; otherwise, the current operation mode is maintained;

[0028] S400: When it is determined that the operation mode instruction needs to be converted, the robot is controlled to convert the operation mode instruction under the drive of the servo, and returns to S300 until the determination is stopped when the destination is reached.

[0029] Preferably, switching from the flight mode to the ground mode in S300 includes:

[0030] When the onboard computer issues a ground mode switch command, the servo drives the linkage mechanism 1 and the wing bracket to work together to fold the wings to the sides of the body, completing the robot's transition from flight mode to ground mode.

[0031] After the robot switches to ground mode, the flight control module drives the rotor drive motor as the wheel drive unit, which drives the wheels forward along the planned path through the gear set. During the forward movement, the robot's posture data is continuously collected and transmitted to the onboard computer. The onboard computer calculates the roll coefficient, pitch coefficient, and yaw coefficient based on the posture data and adjusts the robot's forward posture according to the coefficients to ensure stable movement of the robot in ground mode.

[0032] Switching from ground mode to flight mode in S300 includes:

[0033] When the onboard computer issues a flight mode switching command, the servo drives the linkage mechanism 1 and the wing bracket to move in coordination, so that the wings are unfolded to the horizontal position, completing the robot's transition from ground mode to flight mode;

[0034] After the robot switches to flight mode, the flight control module drives the rotor drive motor as a rotor drive unit. During the flight, the robot's attitude data is continuously collected and transmitted to the onboard computer. The onboard computer calculates the roll coefficient, pitch coefficient and yaw coefficient based on the attitude data, and adjusts the robot's flight attitude according to the coefficients to ensure the robot's stable flight in flight mode.

[0035] Preferably, during the mode switching process of wing unfolding / folding, the force balance of the mechanism should be ensured. When the robot lowers its wings and lifts the body to switch to the flight mode, the normal force F acting on the wings is Normal Satisfy the following formula:

[0036]

[0037] Where m is the total mass of the robot, ρ is the folding angle of the wings relative to the body, and F Thrust is the force generated by a single rotating propeller, F Robot represents the net normal force acting on the robot. At the same time, considering the lateral stability when contacting the ground, the lateral force F Side Expressed as:

[0038]

[0039] Where μ is the friction coefficient between the wheel and the ground;

[0040] For the key load-bearing components of the wing's rotation axis, the torque T acting on the wing's rotation axis is Sprawl F Normal 、F Side 、F Thrust and wing weight W Arm The function is expressed as:

[0041]

[0042] Where L1 is the wing length, L2 is the height from the wheel to the wing, L3 is the radius of the propeller, and L4 is the distance from the wing's rotation axis to the wing's center of mass.

[0043] Preferably, the torque calculation is dynamically corrected based on the connection state of the clutch assembly. When the robot is in flight mode, the clutch assembly is engaged, and the rotor power system and the wing transmission mechanism form a linkage. The torque on the wing rotation axis is:

[0044]

[0045] The parameter L is defined as:

[0046] L=L1·cos ρ-L2·sin ρ+μ(L1·sin ρ+L2·cos ρ) (5)

[0047] When the robot's folding angle increases to 48 degrees, that is, in ground mode, the clutch assembly is completely disengaged, and the propeller is disconnected from the rotor drive motor. At this time, the power transmission path changes, resulting in the torque on the wing rotation axis being simplified to:

[0048]

[0049] The aforementioned land-to-air multimodal cross-domain robot system and control method with a clutch structure enables the robot to operate in both aerial and ground modes without the need for additional drive wheel motors. In ground mode, the wheels drive the robot while the rotor assembly is inoperative, resulting in low energy consumption, low noise, and smooth operation. In aerial mode, the rotor assembly provides lift, enabling flexible flight. This invention boasts a compact structure, simple control, and the ability to combine both wheeled travel and rotor flight modes, making it suitable for a variety of applications, including express package delivery, environmental surveys, and disaster rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 Schematic diagram of the structure of the present invention in the air flight mode;

[0051] Figure 2 It is a schematic diagram of the structure of the present invention under the ground mode;

[0052] Figure 3 It is a structural schematic diagram of the body of the present invention;

[0053] Figure 4 It is a structural schematic diagram of the wing of the present invention;

[0054] Figure 5 A schematic structural diagram of the clutch assembly of the present invention in engagement;

[0055] Figure 6 It is a schematic structural diagram of the clutch assembly separation of the present invention;

[0056] Figure 7 Schematic diagram of the structure of the rotor assembly of the present invention;

[0057] Figure 8 is a flow chart of the control method of the present invention;

[0058] Figure 9 Schematic diagram of forces and parameters of the present invention under ground mode;

[0059] In the figure: 1. Airframe; 11. Servo; 12. Linkage 1; 13. Linkage 2; 14. Flight control module; 15. Onboard computer; 16. Binocular camera; 17. Battery; 2. Wing; 21. Rotor drive motor; 22. Wheel; 23. Gear set; 231. First gear; 232. Second gear; 233. Third gear; 24. Wheel drive shaft; 25. Transmission shaft; 26. Bracket; 27. Limit bracket; 3. Clutch assembly; 31. Fourth gear; 32. Motor end ratchet; 33. Rotor end ratchet; 34. Clutch ramp; 35. Clutch pedal; 36. Propeller shaft; 37. Compression spring; 4. Rotor assembly; 41. Propeller. DETAILED DESCRIPTION

[0060] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below with reference to the accompanying drawings.

[0061] In one embodiment, Figure 1 and Figure 2 As shown, the land-air multimodal cross-domain robot system with a clutch structure includes a body 1, a wing 2, a clutch assembly 3 and a rotor assembly 4;

[0062] The body 1 is provided with a steering gear 11 and a connecting rod mechanism 12 connecting the left and right wings 2;

[0063] The wing 2 includes a rotor drive motor 21, wheels 22, wheel drive shafts 24 and a power transmission assembly;

[0064] The clutch assembly 3 is provided at the output end of the rotor drive motor 21 and includes a ratchet engagement mechanism and a propeller shaft 36;

[0065] The rotor assembly 4 is installed at the end of the propeller shaft 36; wherein, the power transmission assembly includes a gear set 23 that simultaneously transmits the power of the rotor drive motor to the wheel drive shaft and the propeller shaft; in ground mode, the ratchet engagement mechanism disconnects the rotor drive motor 21 from the propeller shaft 36, and the power only drives the wheel 22 as the active wheel; in flight mode, a power connection is established, and the wheel 22 and the rotor assembly 4 are synchronously driven to generate lift.

[0066] Specifically, the land-air multimodal cross-domain robot of this embodiment includes a body 1, left and right symmetrical wings 2, a clutch assembly 3, a rotor assembly 4 and corresponding execution and perception units. The system supports two motion modes: "flight mode" and "ground mode". The structural diagram of the air flight mode is as follows: Figure 1 As shown in the figure, the structural diagram under the ground mode is as follows Figure 2 shown.

[0067] In one embodiment, Figure 3 As shown, the body 1 adopts a vertical layered structure, including:

[0068] The flight control module 14, binocular camera 16 and steering gear 11 are arranged on the upper layer;

[0069] The middle layer contains an onboard computer 15 that includes pattern recognition and navigation control algorithms;

[0070] A single power supply battery 17 is set at the lower layer; among them, the onboard computer 15 obtains the environmental image through the binocular camera 16 and generates the motion mode instruction; the flight control module 14 controls the wing folding action driven by the servo 11 based on the instruction to realize the clutch state switching.

[0071] Specifically, the fuselage 1 is a rectangular parallelepiped structure, which is divided into an upper layer, a middle layer and a lower layer in the vertical direction. A flight control module 14 is installed in the center of the upper layer, and a binocular camera 16 is installed in the front of the upper layer; an onboard computer 15 is installed in the center of the middle layer; and a battery 17 is provided in the lower layer to supply power to the servo 11 and the rotor drive motor 21. The servo 11 is installed at the rear of the upper layer of the fuselage 1, and its output shaft is hinged to the brackets 26 of the left and right wings 2 through a connecting rod mechanism 12 on the left and right sides respectively. After the flight control module 14 issues a folding or unfolding command, the servo 11 drives the connecting rod mechanism 12 to complete the folding or unfolding action of the wing 2 relative to the fuselage 1 along the hinge direction, refer to Figure 2 When folded, the wings are stored on both sides of the fuselage. Figure 1 The wings are extended horizontally when unfolded. The connecting rod mechanism 13 is evenly distributed around the periphery of the body 1, one end of which is fixed to the body side wall bracket and the other end is connected to the clutch pedal 35.

[0072] In one embodiment, the wing 2 also includes a transmission shaft 25, and the gear set 23 includes a first gear 231 mounted on the wheel drive shaft 24, a second gear 232 and a third gear 233 mounted on the transmission shaft 25, the first gear 231 is engaged with the second gear 232, and the third gear 233 is engaged with the fourth gear 31 in the clutch assembly on the output shaft of the rotor drive motor 21; the output shaft of the rotor drive motor 21 transmits power to the gear set through the fourth gear 31, driving the wheel 22 and the propeller 41 to move synchronously.

[0073] Specifically, if Figure 4 Each wing 2 is equipped with a rotor drive motor 21 and a wheel 22 at the front and rear ends; the wheel 22 is coaxially connected to the first gear 231 through the wheel drive shaft 24, the first gear 231 is engaged with the second gear 232 on the transmission shaft 25, and the third gear 233 on the transmission shaft 25 is engaged with the fourth gear 31 on the output shaft of the rotor drive motor 221 to form a gear set 23, thereby realizing the transmission drive of the wheel 22 by the rotor drive motor 21.

[0074] In one embodiment, each wing 2 is connected to two clutch assemblies 3, each clutch assembly 3 includes a fourth gear 31, a motor end ratchet 32, a rotor end ratchet 33, a clutch swash plate 34, a clutch pedal 35, a propeller shaft 36 and a compression spring 37; the fourth gear 31 and the motor end ratchet 32 ​​are coaxially mounted on the shaft of the rotor drive motor 21, and the rotor end ratchet 33 is fixed to the lower end of the propeller shaft 36; the clutch swash plate 34 is coaxial with the propeller shaft 36 and is connected to the wing 2 through a compression spring 37; the clutch pedal 35 is connected to the propeller shaft 36 ... It is connected to the body 1 through the second connecting rod mechanism 13; in the ground mode, the clutch pedal 35 converts the rotational motion of the servo 11 into the axial linear motion of the clutch inclined plate 34 through the rigid connecting rod mechanism 13, and the clutch inclined plate 34 is driven downward by the servo 11 to disengage the motor end ratchet 32 ​​and the rotor end ratchet 33, and the propeller shaft 36 stops rotating; in the flight mode, the clutch inclined plate 34 is reset under the action of the compression spring 37, the motor end ratchet 32 ​​and the rotor end ratchet 33 are engaged, and the power is transmitted to the rotor assembly 4 through the propeller shaft 36.

[0075] Specifically, refer to Figure 5 and Figure 6 , two clutch assemblies 3 are assembled on each wing 2, and the assembly sequence and structure are as follows:

[0076] The output shaft of the rotor drive motor 21 is coaxially mounted with a fourth gear 31 and a motor end ratchet 32;

[0077] The propeller shaft 36 passes through the clutch swash plate 34, with the rotor end ratchet 33 mounted on the lower end and the propeller 41 mounted on the upper end;

[0078] The clutch ramp plate 34 is concentrically mounted on the propeller shaft 36 and is pressed downwardly against the wing 2 by a compression spring 37;

[0079] The clutch pedal 35 is connected to the body 1 through the connecting rod mechanism 2 13. Pushing the clutch pedal 35 upward can drive the clutch inclined plate 34 to lift up, so that the motor end ratchet 32 ​​and the rotor end ratchet 33 are separated; resetting the clutch pedal 35 restores the ratchet engagement.

[0080] In one embodiment, referring to Figure 7 The rotor assembly 4 includes a propeller 41 installed at the upper end of the propeller shaft 36; in ground mode, the clutch assembly 3 disconnects the rotor drive motor 21 from the propeller shaft 36, and the propeller 41 stops rotating; in flight mode, the clutch assembly 3 is closed, and the rotor drive motor 21 drives the propeller 41 to rotate to provide lift, while synchronously driving the wheel 22 through the gear set 23.

[0081] In one embodiment, it also includes a bracket 26 and a limit bracket 27 provided on the wing 2. The bracket on the wing 2 is connected to the body 1 through a connecting rod mechanism 12, and is used to adjust the relative angle between the wing 2 and the body 1; the limit bracket 27 constrains the rotation angle of the wing 2 around the connecting rod mechanism 12, ensuring that the engagement / disengagement action of the motor end ratchet 32 ​​and the rotor end ratchet 33 is accurately completed when the clutch assembly 3 is switched.

[0082] Specifically, refer to Figure 2 The flight control module 14 instructs the servo 11 to fold the wings 2 through the connecting rod mechanism 1 12, and the connecting rod mechanism 2 13 drives the clutch pedal 35 to move upward, so that the clutch assembly 3 is disengaged, the propeller 41 is disengaged from the rotor drive motor 21, and the rotor drive motor 21 then drives the wheel 22, and the robot is driven on the ground through the gear set 23, with low energy consumption, low noise and high stability.

[0083] like Figure 1 As shown, the flight control module 14 instructs the servo to unfold the wings 2 through the connecting rod mechanism 12, and the connecting rod mechanism 13 resets the clutch pedal 35 to engage the clutch assembly 3. The rotor drive motor 21 drives the propeller 41 to generate lift, and the robot takes off and lands vertically and flies in the air with flexibility.

[0084] The flight control module 14 is connected to the servo 11 and the rotor drive motor 21 via DuPont cables, receives ground station instructions via a wireless link, and exchanges data with the onboard computer 15 via a serial port. The onboard computer 15 is responsible for processing image information collected by the binocular camera 16 to achieve environmental perception, path planning, and autonomous decision-making. All execution units and sensors are powered by a battery 17.

[0085] In one embodiment, a control method for a land-air multimodal cross-domain robot system with a clutch structure is also provided, the method comprising the following steps:

[0086] S100: After the land-air multimodal cross-domain robot is powered on, the flight control module and the onboard computer complete self-tests, and the binocular camera and inertial measurement unit (IMU) enter standby mode. The land-air multimodal cross-domain robot includes flight mode and ground mode.

[0087] S200: Before the mission begins, the onboard computer plans the entire mission path based on the mission requirements, the starting and ending locations, and the mission completion time, with minimizing energy consumption as the optimization goal. The planned path is divided into air segments and ground segments, and corresponding operation mode instructions are executed. Furthermore, if the current path segment is an air segment, the flight control module responds to the flight instruction, and the robot enters the flight mode. If the current path segment is a ground segment, the flight control module responds to the ground motion instruction, and the robot enters the ground mode.

[0088] S300: When the robot is executing an operating mode instruction, the binocular camera in front of the robot captures images of the surrounding environment and transmits them in real time to the onboard computer. The onboard computer then senses the environment and builds a map based on the images. Based on the perceived results, it performs the following operations:

[0089] When the robot is in flight mode and the environmental perception results show that the road conditions or buildings ahead are not suitable for flying through or entering, the robot is controlled to switch from flight mode to ground mode; otherwise, the current operation mode is maintained;

[0090] When the robot is in ground mode and the environmental perception results show that there is an obstacle in front that cannot be directly crossed or bypassed, the robot is controlled to switch from ground mode to flight mode; otherwise, the current operation mode is maintained;

[0091] S400: When it is determined that the operation mode instruction needs to be converted, the robot is controlled to convert the operation mode instruction under the drive of the servo, and returns to S300 until the determination is stopped when the destination is reached.

[0092] In one embodiment, referring to Figure 8 , switching from flight mode to ground mode in S300 includes:

[0093] When the onboard computer issues a ground mode switch command, the servo drives the linkage mechanism 1 and the wing bracket to work together to fold the wings to the sides of the body, completing the robot's transition from flight mode to ground mode.

[0094] After the robot switches to ground mode, the flight control module drives the rotor drive motor as the wheel drive unit, which drives the wheels forward along the planned path through the gear set. During the forward movement, the robot's posture data is continuously collected and transmitted to the onboard computer. The onboard computer calculates the roll coefficient, pitch coefficient, and yaw coefficient based on the posture data and adjusts the robot's forward posture according to the coefficients to ensure stable movement of the robot in ground mode.

[0095] Switching from ground mode to flight mode in S300 includes:

[0096] When the onboard computer issues a flight mode switching command, the servo drives the linkage mechanism 1 and the wing bracket to move in coordination, so that the wings are unfolded to the horizontal position, completing the robot's transition from ground mode to flight mode;

[0097] After the robot switches to flight mode, the flight control module drives the rotor drive motor as a rotor drive unit. During the flight, the robot's attitude data is continuously collected and transmitted to the onboard computer. The onboard computer calculates the roll coefficient, pitch coefficient and yaw coefficient based on the attitude data, and adjusts the robot's flight attitude according to the coefficients to ensure the robot's stable flight in flight mode.

[0098] Specifically, the current state information is obtained through the inertial measurement unit IMU, and the corresponding wheel control parameters or rotor control parameters are calculated according to the target position, speed, and heading. The flight control module distributes and sends corresponding control instructions to the rotor drive motor.

[0099] In one embodiment, referring to Figure 9 During the wing expansion / folding mode switching process, it is necessary to ensure that the force balance of the mechanism is maintained. When the robot lowers its wings and lifts the body to switch to the flight mode, the normal force F acting on the wings is Normal Satisfy the following formula:

[0100]

[0101] Where m is the total mass of the robot, ρ is the folding angle of the wings relative to the body, and F Thrust is the force generated by a single rotating propeller, F Robot represents the net normal force acting on the robot. At the same time, considering the lateral stability when contacting the ground, the lateral force F Side Expressed as:

[0102]

[0103] Where μ is the friction coefficient between the wheel 22 and the ground;

[0104] For the key load-bearing components of the wing's rotation axis, the torque T acting on the wing's rotation axis is Sprawl F Normal 、F Side 、F Thrust and wing weight W Arm The function is expressed as:

[0105]

[0106] Wherein L1 is the length of the wing 2, L2 is the height from the wheel 22 to the wing 2, L3 is the radius of the propeller 41, and L4 is the distance from the rotation axis of the wing 2 to the center of mass of the wing 2.

[0107] In one embodiment, the torque calculation is dynamically corrected based on the connection state of the clutch assembly. When the robot is in flight mode, the clutch assembly is engaged. At this time, the rotor power system and the wing transmission mechanism form a linkage. The torque on the wing rotation axis is:

[0108]

[0109] The parameter L is defined as:

[0110] L=L1·cos ρ-L2·sin ρ+μ(L1·sin ρ+L2·cos ρ) (5)

[0111] When the robot's folding angle increases to 48 degrees, that is, in ground mode, the clutch assembly is completely disengaged, and the propeller is disconnected from the rotor drive motor. At this time, the power transmission path changes, resulting in the torque on the wing rotation axis being simplified to:

[0112]

[0113] This embodiment achieves rapid switching and smooth operation of the robot in both ground and air modes through the coordinated work of the servo, clutch assembly, IMU, binocular camera and flight control module, significantly improving the efficiency and reliability of cross-domain operations.

[0114] To adapt to different operational needs, parameters such as the rotor drive motor speed, gear set ratio, propeller diameter and compression spring stiffness can be adjusted according to load and endurance requirements; the fuselage and wings can be made of lightweight materials such as carbon fiber to reduce weight; the control system software can integrate multi-sensor fusion, path planning and obstacle avoidance algorithms to achieve higher autonomy.

[0115] The above is a detailed introduction to the land-air multimodal cross-domain robot system and control method with a clutch structure provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A land-air multimodal cross-domain robot system with a clutch structure, characterized in that: It comprises a body (1), wings (2), a clutch assembly (3) and a rotor assembly (4); The body (1) is provided with a steering gear (11) and a connecting rod mechanism (12) connecting the left and right wings (2); The wing (2) includes a rotor drive motor (21), a wheel (22), a wheel drive shaft (24) and a power transmission assembly; The clutch assembly (3) is arranged at the output end of the rotor drive motor (21), and includes a ratchet engagement mechanism and a propeller shaft (36); The rotor assembly (4) is mounted on the end of the propeller shaft (36); wherein the power transmission assembly includes a gear set (23) for simultaneously transmitting the power of the rotor drive motor to the wheel drive shaft and the propeller shaft; in ground mode, the ratchet engagement mechanism disconnects the connection between the rotor drive motor (21) and the propeller shaft (36), and the power only drives the wheel (22) as the active wheel; in flight mode, a power connection is established, and the wheel (22) and the rotor assembly (4) are synchronously driven to generate lift.

2. The system according to claim 1, wherein: The machine body (1) adopts a vertical layered structure, comprising: The flight control module (14), binocular camera (16) and steering gear (11) are arranged on the upper layer; The middle layer includes an onboard computer (15) containing pattern recognition and navigation control algorithms; A single power supply battery (17) is provided at the lower layer; wherein, the onboard computer (15) obtains an environmental image through a binocular camera (16) and generates a motion mode instruction; and the flight control module (14) controls the wing folding action driven by the servo (11) based on the instruction to realize the clutch state switching.

3. The system according to claim 1, wherein: The wing (2) further comprises a transmission shaft (25); the gear set (23) comprises a first gear (231) mounted on a wheel drive shaft (24), a second gear (232) and a third gear (233) mounted on the transmission shaft (25); the first gear (231) is meshed with the second gear (232); the third gear (233) is meshed with a fourth gear (31) in a clutch assembly on an output shaft of a rotor drive motor (21); the output shaft of the rotor drive motor (21) transmits power to the gear set through the fourth gear (31), thereby driving the wheel (22) and the propeller (41) to move synchronously.

4. The system according to claim 3, characterized in that Each wing (2) is connected to two clutch assemblies (3), and each clutch assembly (3) includes a fourth gear (31), a motor end ratchet (32), a rotor end ratchet (33), a clutch swash plate (34), a clutch pedal (35), a propeller shaft (36) and a compression spring (37); the fourth gear (31) and the motor end ratchet (32) are coaxially mounted on the shaft of the rotor drive motor (21), and the rotor end ratchet (33) is fixed to the lower end of the propeller shaft (36); the clutch swash plate (34) is coaxial with the propeller shaft (36) and is connected to the wing (2) through the compression spring (37); the clutch pedal (35) ... The second connecting rod mechanism (13) is connected to the body (1); in the ground mode, the clutch pedal (35) converts the rotational motion of the steering gear (11) into the axial linear motion of the clutch inclined plate (34) through the second rigid connecting rod mechanism (13), and the clutch inclined plate (34) is driven downward by the steering gear (11), so that the motor end ratchet (32) and the rotor end ratchet (33) are disengaged, and the propeller shaft (36) stops rotating; in the flight mode, the clutch inclined plate (34) is reset under the action of the compression spring (37), the motor end ratchet (32) and the rotor end ratchet (33) are engaged, and the power is transmitted to the rotor assembly (4) through the propeller shaft (36).

5. The system according to claim 4, characterized in that The rotor assembly (4) includes a propeller (41) mounted on the upper end of a propeller shaft (36); in ground mode, the clutch assembly (3) disconnects the rotor drive motor (21) from the propeller shaft (36), and the propeller (41) stops rotating; in flight mode, the clutch assembly (3) closes, and the rotor drive motor (21) drives the propeller (41) to rotate to provide lift, while simultaneously driving the wheels (22) synchronously through the gear set (23).

6. The system according to claim 5, characterized in that The invention also includes a bracket (26) and a limiting bracket (27) provided on the wing (2). The bracket on the wing (2) is connected to the body (1) through a connecting rod mechanism (12) and is used to adjust the relative angle between the wing (2) and the body (1); the limiting bracket (27) constrains the rotation angle of the wing (2) around the connecting rod mechanism (12), ensuring that the engagement / disengagement action of the motor end ratchet (32) and the rotor end ratchet (33) is accurately completed when the clutch assembly (3) is switched.

7. A control method for a land-air multimodal cross-domain robot system with a clutch structure, characterized in that: The method comprises the following steps: S100: Start the land-air multimodal cross-domain robot, which includes flight mode and ground mode; S200: Before the mission begins, the entire mission path is planned based on the mission requirements, the starting and ending locations, and the mission completion time, with minimizing energy consumption as the optimization goal. The planned path is divided into air segments and ground segments, and corresponding operation mode instructions are executed. S300: When the robot is executing an operating mode instruction, the binocular camera in front of the robot captures images of the surrounding environment and transmits them in real time to the onboard computer. The onboard computer then senses the environment and builds a map based on the images. Based on the perceived results, it performs the following operations: When the robot is in flight mode and the environmental perception results show that the road conditions or buildings ahead are not suitable for flying through or entering, the robot is controlled to switch from flight mode to ground mode; otherwise, the current operation mode is maintained; When the robot is in ground mode and the environmental perception results show that there is an obstacle in front that cannot be directly crossed or bypassed, the robot is controlled to switch from ground mode to flight mode; otherwise, the current operation mode is maintained; S400: When it is determined that the operation mode instruction needs to be converted, the robot is controlled to convert the operation mode instruction under the drive of the servo, and returns to S300 until the determination is stopped when the destination is reached.

8. The method according to claim 7, characterized in that Switching from flight mode to ground mode in S300 includes: When the onboard computer issues a ground mode switch command, the servo drives the linkage mechanism 1 and the wing bracket to work together to fold the wings to the sides of the body, completing the robot's transition from flight mode to ground mode. After the robot switches to ground mode, the flight control module drives the rotor drive motor as the wheel drive unit, which drives the wheels forward along the planned path through the gear set. During the forward movement, the robot's posture data is continuously collected and transmitted to the onboard computer. The onboard computer calculates the roll coefficient, pitch coefficient, and yaw coefficient based on the posture data and adjusts the robot's forward posture according to the coefficients to ensure stable movement of the robot in ground mode. Switching from ground mode to flight mode in S300 includes: When the onboard computer issues a flight mode switching command, the servo drives the linkage mechanism 1 and the wing bracket to move in coordination, so that the wings are unfolded to the horizontal position, completing the robot's transition from ground mode to flight mode; After the robot switches to flight mode, the flight control module drives the rotor drive motor as a rotor drive unit. During the flight, the robot's attitude data is continuously collected and transmitted to the onboard computer. The onboard computer calculates the roll coefficient, pitch coefficient and yaw coefficient based on the attitude data, and adjusts the robot's flight attitude according to the coefficients to ensure the robot's stable flight in flight mode.

9. The method according to claim 8, characterized in that During the wing expansion / folding mode switching process, it is necessary to ensure that the force balance of the mechanism is maintained. When the robot lowers its wings and lifts the body to switch to the flight mode, the normal force F acting on the wings is Normal Satisfy the following formula: Where m is the total mass of the robot, ρ is the folding angle of the wings relative to the body, and F Thrust is the force generated by a single rotating propeller, F Robot represents the net normal force acting on the robot. At the same time, considering the lateral stability when contacting the ground, the lateral force F Side Expressed as: Where μ is the friction coefficient between the wheel (22) and the ground; For the key load-bearing components of the wing's rotation axis, the torque T acting on the wing's rotation axis is Sprawl F Normal 、F Side 、F Thrust and wing weight W Arm The function is expressed as: Wherein L1 is the length of the wing (2), L2 is the height from the wheel (22) to the wing (2), L3 is the radius of the propeller (41), and L4 is the distance from the rotation axis of the wing (2) to the center of mass of the wing (2).

10. The method according to claim 9, characterized in that The torque calculation is dynamically corrected based on the connection status of the clutch assembly. When the robot is in flight mode, the clutch assembly is engaged. At this time, the rotor power system and the wing transmission mechanism form a linkage. The torque on the wing rotation axis is: The parameter L is defined as: L=L1·cos ρ-L2·sin ρ+μ(L1·sin ρ+L2·cos ρ) (5) When the robot's folding angle increases to 48 degrees, that is, in ground mode, the clutch assembly is completely disengaged, and the propeller is disconnected from the rotor drive motor. At this time, the power transmission path changes, resulting in the torque on the wing rotation axis being simplified to:

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