Land and air amphibious bionic robot and control method

Abstract

The invention discloses an amphibious bionic robot which can travel both land and air. The robot is provided with a depth camera swing mechanism, a rotor flight motion mechanism and a foot-like land motion mechanism. The depth camera swing mechanism is provided with a rotating hinge seat, a swing servo is provided on the inner side of the rotating hinge seat, the swing servo is connected to a swing arm, and a depth camera sensor is provided on the swing arm. The rotor flight motion mechanism is provided with a rotor frame, six groups of machine arm shafts are provided in the rotor frame, brushless DC motors are provided on the machine arm shafts, and rotor units are provided on the brushless DC motors. The foot-like land motion mechanism is provided with a chassis, a coordination controller and a land motion controller are installed in the chassis, and a flight controller is provided above the chassis. The robot of the invention has the functions of land crawling motion, flight motion and visual reconnaissance, and has the functional characteristics of visual reconnaissance and integrated land and air operation, thereby improving the robot's adaptability to various complex terrains and ensuring the robot's stability.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to an amphibious bionic robot and a control method thereof. Background Art

[0002] With the development of science and technology and society, people have accelerated their exploration of previously inaccessible areas, such as caves, deserts, polar regions, the seabed, and even outer space environments. However, these unknown areas are full of dangers. If explorers fail to make adequate preparations or are a little careless, they will pay a huge price. Despite this, these places may often contain a large amount of resources, driving people to explore. With the rapid development of science and technology today, many explorers use robots to explore, so that robots can replace human activities and reduce personal dangers. At present, there are two main types of relatively mature robot designs: wheeled robots and tracked robots. Wheeled robots, such as JD.com's unmanned express delivery carts, have been used on a small scale and have good market prospects, but in comparison, there is a lot of room for improvement in adapting to terrain; tracked robots, such as bomb disposal robots, have been used in some special environments (such as bomb disposal robots).

[0003] Although many legged, wheeled, and rotor-type robots are being developed and applied in land and air operations, these robots still have shortcomings such as poor environmental adaptability for multi-field operations. In response to this shortcoming, domestic and foreign experts and scholars mostly adopt a solution that combines wheeled or tracked robots with rotor-type robots to design land and air amphibious robots, so that the robots have the ability to operate in multiple fields and adapt to multi-field environmental operations. Although wheeled robots have the characteristics of simple structure, fast speed, and stability when traveling on relatively flat terrain, the energy consumption of the wheels will be greatly increased on soft ground or severely rugged terrain, and their function will be seriously lost, which greatly reduces the mobility efficiency. Although tracked robots have a certain improvement in terrain adaptability compared to wheeled robots, they also have low efficiency, fast track wear, poor mobility on uneven ground, and serious body shaking when traveling. Summary of the invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an amphibious bionic robot and a control method.

[0005] Technical solution: To achieve the above-mentioned purpose, the present invention provides a land-air amphibious bionic robot, which is provided with a depth camera swing mechanism, a rotor flight motion mechanism, and a foot-like land motion mechanism from top to bottom;

[0006] The depth camera swing mechanism is provided with a swing servo, the swing servo is connected to a swing arm, and the swing arm is provided with a depth camera sensor; the swing servo drives the swing arm to rotate to realize the swing control of the depth camera sensor;

[0007] The rotor flight motion mechanism is provided with six groups of arm shafts, and the left and right sides of the imitation foot land motion mechanism are respectively provided with three groups of legs.

[0008] As a further improvement, the depth camera swing mechanism is provided with two left and right swing servos, which are respectively connected to the lower ends of two swing arms, and the upper ends of the two swing arms are connected to the depth camera sensor; the swing servos are fixed directly above the rotor flight motion mechanism.

[0009] As a further improvement, the swing arm is provided with a bending part and a vertical part, the bending part is provided with a rotating hole, a cross-shaped fastening hole is provided on the inner side of the rotating hole, and the swing servo rotation shaft is fixedly connected to the cross-shaped fastening hole of the bending part; a rotating hinge seat is provided on the outer side of the swing arm, and the rotating hinge seat is movably connected to the rotating hole of the bending part; the upper end of the vertical part is connected to the depth camera sensor.

[0010] As a further improvement, the imitation foot land motion mechanism is provided with a base frame, and an ultrasonic sensor is provided at the front end of the base frame; the left and right sides of the base frame are respectively connected to three groups of legs;

[0011] A flight controller is arranged above the chassis; a coordination controller and a land motion controller are installed inside the chassis.

[0012] As a further improvement, the rotor flight motion mechanism is provided with a rotor frame, six sets of arm shafts are provided in the rotor frame, brushless DC motors are provided on the arm shafts, and rotor units are provided on the brushless DC motors;

[0013] The legs are each provided with three rotating servos, and each leg has three degrees of freedom; the six groups of legs, the front and rear legs on the left and the middle legs on the right constitute a triangular gait group I, and the front and rear legs on the right and the middle legs on the left constitute a triangular gait group II.

[0014] As a further improvement, the six groups of arm axes in the rotor flight motion mechanism are arranged in an equidistant circular array, separated by 60 degrees, and staggered with the legs of the imitation foot land motion mechanism to prevent the legs from colliding with the arm axes during movement;

[0015] A clamp is provided at the end of the arm shaft to fix the arm shaft; and a cotter pin structural member is used to fix the brushless DC motor at the end of the arm shaft.

[0016] As a further improvement, the centers of the depth camera swing mechanism, the rotor flight motion mechanism, and the imitation foot land motion mechanism are located on the same vertical line.

[0017] A control method for implementing the above-mentioned land-air amphibious bionic robot, wherein the coordination controller, the land motion controller, and the flight controller perform hierarchical coordinated control on the robot, specifically comprises the following steps:

[0018] (1) Land motion: The land motion controller is connected to the servos on all legs, and the servos drive the six groups of legs combined with the triangular gait control algorithm to control the gait motion;

[0019] (2) Computational control: When the depth camera sensor is working, it can obtain the RGB image, depth image and point cloud map of the environment under the current perspective of the robot. The coordination controller calculates the position and posture of the robot by combining the point cloud map data collected by the depth camera sensor with the iterative closest point algorithm, thereby realizing the real-time map construction of the robot. Combined with the A-Star algorithm, it solves the shortest path in the static road network, thereby realizing the path optimization and autonomous navigation function of the robot;

[0020] (3) Flight motion: The flight controller controls the rotation of the brushless DC motor and uses the PID control principle combined with the deviation between the posture obtained by the sensor and the expected value to correct and adjust the response of the body system, so that the robot can hover, rotate, fly sideways, and fly inverted in real time;

[0021] (4) Coordination control: The coordination controller centrally controls the flight and land motion function switching commands of the land motion controller and the flight controller;

[0022] The above steps are in no particular order.

[0023] As a further improvement, the ultrasonic sensor and the depth camera sensor process the ultrasonic and depth image information through sensor information fusion, and obtain values ​​close to the two as measurement values.

[0024] As a further improvement, the depth camera sensor recognition function can not only sense the distance of obstacles, but also identify obstacles.

[0025] The beneficial effects of the present invention are:

[0026] 1. The present invention sets a land motion mechanism, a rotor flight motion mechanism, and a depth camera swing mechanism. These three mechanisms operate in coordination to respectively realize the functions of land crawling motion, flight motion, visual reconnaissance, and land-air integrated operation of the land-air amphibious bionic robot.

[0027] 2. The present invention supports the ground with six legs that imitate the land motion mechanism of the foot, and performs a swinging gait movement. The external structure imitates the arthropods in the biological world, and can maintain multiple points of contact with the ground during movement, so it can reduce the impact of terrain undulations on the overall stability of the robot, while maintaining the stability of the robot body, ensuring the stability of the robot, and also greatly improving the robot's ability to adapt to various complex terrains.

[0028] 3. The present invention adopts a depth camera sensor and a flight controller combined with the PID control principle to detect the changes in the attitude angle of the aircraft during flight, and realizes real-time hovering, rotation, side flight and inverted flight. It has good stability, responsiveness and robustness, and can easily cope with various flight reconnaissance operations.

[0029] 4. The present invention combines ultrasonic sensors and depth camera sensors with the controller's A-Star and other path-finding algorithms and sensor information fusion technology, so that the robot can overcome the limitation that underground space cannot receive signals, and at the same time realize the robot's autonomous navigation, real-time map construction and obstacle avoidance functions.

[0030] 5. The present invention adopts WIFI module and Bluetooth module in the control mode, so that the user can operate the robot to perform a series of activities in a place far away from danger through a variety of control methods. At the same time, the real-time situation of the robot can also be transmitted back to the computer host, so that the user can grasp the situation of the robot and the specific situation of its environment in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Attached Figure 1 The overall structure of the land-air amphibious bionic robot of the present embodiment 1 is shown in FIG1;

[0032] Attached Figure 2 This is a second schematic diagram of the overall structure of the land-air amphibious bionic robot of this embodiment 1;

[0033] Attached Figure 3 This is one of the partial structural diagrams of the land-air amphibious bionic robot of this embodiment 1;

[0034] Attached Figure 4 for Figure 3 The enlarged structural diagram of part A in the middle;

[0035] Attached Figure 5 This is a partial structural explosion diagram of the land-air amphibious bionic robot of this embodiment 1;

[0036] Attached Figure 6 This is the second partial structural diagram of the land-air amphibious bionic robot of the present embodiment 1;

[0037] Attached Figure 7 This is the fourth partial structural diagram of the land-air amphibious bionic robot of the present embodiment 1;

[0038] Attached Figure 8 This is the fifth partial structural diagram of the land-air amphibious bionic robot of the present embodiment 1;

[0039] Attached Fig. 9 The overall structure of the land-air amphibious bionic robot of the present embodiment 1 is shown in Figure 6;

[0040] Attached Fig.10 This is a circuit schematic diagram of the land-air amphibious bionic robot of this embodiment 1;

[0041] Attached Fig.11 The local structure of the land-air amphibious bionic robot of this embodiment 5 Figure 1 .

[0042] In the figure: 1 depth camera swing mechanism, 11 depth camera sensor, 12 swing servo, 13 rotating hinge, 14 swing arm, 141 bending part, 142 rotating hole, 143 vertical part, 144 cross-shaped fastening hole, 145 cross-shaped fastener, 146 latch, 2 rotor flight motion mechanism, 21 rotor frame, 22 arm shaft, 23 brushless DC motor / 24 rotor unit, 3 imitation foot land motion mechanism, 31 chassis, 32 leg, 33 coordination controller, 34 land motion controller, 35 flight controller, 36 ultrasonic sensor, 37 rotating servo, 4 horizontal rotation mechanism. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings.

[0044] Embodiment 1, as attached Figure 1 To Attachment Fig. 9 The land-air amphibious bionic robot shown is provided with a depth camera swing mechanism 1, a rotor flight motion mechanism 2, and a simulated foot land motion mechanism 3; the functions of land crawling motion, flight motion, and visual reconnaissance of the land-air amphibious bionic robot are realized respectively, and the robot has the functions of visual reconnaissance and land-air integrated operation.

[0045] The depth camera swing mechanism 1 is provided with a swing servo 12, and the swing servo 12 is connected to a swing arm 14, and the swing arm 14 is provided with a depth camera sensor 11; the swing servo 12 drives the swing arm 14 to rotate, thereby realizing the swing control of the depth camera sensor 11;

[0046] The rotor flight motion mechanism 2 is provided with six sets of arm shafts 22, and the imitation foot land motion mechanism 3 is provided with three sets of legs 32 on the left and right sides respectively.

[0047] The depth camera swing mechanism 1 is provided with two left and right swing servos 12, which are respectively connected to the lower ends of two swing arms 14, and the upper ends of the two swing arms 14 are connected to the depth camera sensor 11; the swing servos 12 are fixed directly above the rotor flight motion mechanism 2, and the depth camera sensor 11 can be a Kinect depth camera.

[0048] The swing arm 14 is provided with a bending portion 141 and a vertical portion 143. The bending portion 141 is provided with a rotation hole 142. A cross-shaped fastening hole 144 is provided inside the rotation hole. The rotation axis of the swing servo 12 is connected to the cross-shaped fastening hole 144 of the bending portion through a cross-shaped locking piece 145. The cross-shaped locking piece 145 is connected to the rotation axis of the swing servo 12 through a latch 146. The cross-shaped fastening hole 144 ensures that the swing servo 12 and the swing arm 14 rotate synchronously without offset or misalignment. A rotating hinge 13 is provided on the outside of the swing arm 14. The rotating hinge 13 is movably connected to the rotating hole of the bending portion. The upper end of the vertical portion is connected to the depth camera sensor 11. The rotation control is carried out through the fixed servo, which drives the rotation of the swing arm 14, realizes the swing control of the depth camera sensor 11, and provides the robot with a wider, flexible and controllable robot viewing angle.

[0049] The imitation foot land motion mechanism 3 is provided with a base frame 31, and an ultrasonic sensor 36 is provided at the front end of the base frame 31; the left and right sides of the base frame 31 are respectively connected to three groups of legs 32;

[0050] A flight controller 35 is disposed above the base frame 31 ; a coordination controller 33 and a land motion controller 34 are installed inside the base frame 31 .

[0051] The rotor flight motion mechanism 2 is provided with a rotor frame 21, and six sets of arm shafts 22 are provided in the rotor frame 21. Each of the arm shafts 22 is provided with a brushless DC motor 23, and each of the brushless DC motors 23 is provided with a rotor unit 24;

[0052] The legs 32 are each provided with three rotating servos 37, and each leg 32 has three degrees of freedom; the six groups of legs 32, the front and rear legs 32 on the left and the middle legs on the right constitute a triangular gait group I, and the front and rear legs 32 on the right and the middle legs 32 on the left constitute a triangular gait group II.

[0053] The six groups of arm shafts 22 in the rotor flight motion mechanism 2 are arranged in an equidistant circular array at intervals of 60°, and are staggered with the legs 32 of the imitation foot land motion mechanism 3 to prevent the legs 32 from colliding with the arm shafts 22 during movement;

[0054] A clamp 25 is provided at the end of the arm shaft 21 to fix the arm shaft 22; a cotter pin structure is used to fix the brushless DC motor 23 at the end of the arm shaft 22 to prevent the motor from falling off due to vibration during flight.

[0055] The centers of the depth camera swing mechanism 1, the rotor flight motion mechanism 2, and the imitation foot land motion mechanism 3 are located on the same vertical line.

[0056] This embodiment also provides a control method for the land-air amphibious bionic robot, wherein the coordination controller 33, the land motion controller 34, and the flight controller 35 perform hierarchical coordination control on the robot, specifically including the following steps:

[0057] (1) Land movement: The land movement controller 34 is connected to the servos 37 on all the legs 32, and the servos 37 drive the six groups of legs 32 in combination with the triangular gait control algorithm to control the gait movement; when performing land movement, the three legs 32 of the triangular gait group I are in the support phase, and the three legs 32 of the triangular gait group II are in the swing phase. The three legs 32 of the triangular gait group I in the support phase form a triangular force support. When the triangular gait group II in the swing phase moves forward, the triangular gait group I in the support phase also moves forward half a step length s / 2 under the action of the servo 37; when the triangular gait group II in the swing phase moves to the right, it is immediately put down and contacts the The ground is converted into the support phase. At the same time, the triangular gait group I, which was previously in the support phase, is converted into the swing phase. When the triangular gait group I also completes the swing motion, the triangular gait group II will also move forward half a step length s / 2, and one cycle of movement will move forward one step length s; the conversion between the support phase and the swing phase is repeated in this way, and the robot moves forward continuously; the gait movement of supporting and swinging the ground with six legs can adapt to various unstructured grounds, and has multiple gaits, flexible obstacle crossing and free movement; each leg has three degrees of freedom, and the whole body has a total of 18 degrees of freedom; the land motion controller 34 can be a microcontroller of STM32F4;

[0058] (2) Operation and control: When the depth camera sensor 11 is working, it can obtain the RGB image, depth image and point cloud map of the environment under the current viewing angle of the robot. The coordination controller 33 can calculate the position and posture of the robot of this design by combining the point cloud map data collected by the depth camera sensor 11 with the iterative closest point algorithm, thereby realizing the robot's real-time map building function. It can also combine the A-Star algorithm to solve the shortest path in the static road network, thereby realizing the robot's path optimization and autonomous navigation function;

[0059] (3) Flight motion: The flight controller 35 controls the rotation of the brushless DC motor 23 and uses the PID control principle combined with the deviation between the attitude obtained by the sensor and the expected value to correct and adjust the response of the body system, so as to achieve real-time hovering, rotation, sideways flight and inverted flight of the robot, thereby improving the stability, responsiveness and robustness of the bionic robot flight; the flight controller 35 may be the flight controller of Pixhawk 4;

[0060] (4) Coordination control: The coordination controller 33 centrally coordinates and controls the flight and land motion function switching instructions of the land motion controller 34 and the flight controller 35;

[0061] The coordination controller 33 is provided with a wifi or bluetooth module to realize multiple connection modes for control, and the robot can be remotely operated through multiple control modes. At the same time, the image data of the Kinect depth camera can be sent to the receiving device, which is convenient for the research of the host computer and the opening of other applications. The coordination controller 33 can be a Raspberry Pi 3 controller.

[0062] The ultrasonic sensor 36 and the depth camera sensor 11 process the ultrasonic and depth image information through sensor information fusion technology, obtain similar values ​​of the two as measurement values, and then combine them with the recognition function of the depth camera sensor 11 to perceive the distance of obstacles while also identifying obstacles.

[0063] like Fig.10 The sensor of the present invention includes a depth camera sensor and an ultrasonic sensor, the controller includes a flight controller, a land motion controller, and a coordination controller, the actuator includes a rotor flight motion mechanism and a land motion mechanism, and also includes a PC host computer and a power supply; the sensor sends depth image information, RGB image, and point cloud image to the PC host computer, and the PC host computer sends a command signal to the controller after combining algorithm calculations, and the controller controls the rotation of the actuator through the servo.

[0064] The present invention mainly designs a new robot structure, which can greatly improve the robot's adaptability to terrain and keep the user away from danger. Wheeled and tracked robots, these two common robots on the market, have high requirements for the terrain they are used in due to their structure. However, for some places that are less explored by humans and are more dangerous, the terrain conditions are often very complex. The robots of the above two structures are powerless in the face of these complex terrains, but the risk of human exploration is too high.

[0065] The external structure of the land motion mechanism of the present invention is modeled after arthropods in the biological world, and it can maintain multi-point contact with the ground during movement, thereby reducing the impact of terrain undulations on the overall stability of the robot, while maintaining the stability of the robot body, thereby ensuring the stability of the robot and greatly improving the robot's ability to adapt to various complex terrains.

[0066] In addition, the present invention adopts WIFI module and Bluetooth module in the control method, allowing the user to operate the robot to perform a series of activities in a place far away from danger through various control methods. At the same time, the real-time situation of the robot can also be transmitted back to the computer, so that the user can grasp the situation of the robot and the specific situation of its environment in real time.

[0067] It uses a depth camera sensor and a flight controller combined with the PID control principle to detect changes in the aircraft's attitude angle during flight, achieving real-time hovering, rotation, side flight and inverted flight. It has excellent stability, responsiveness and robustness, and can easily cope with various flight reconnaissance operations.

[0068] Embodiment 2: This embodiment is basically the same as Embodiment 1, except that:

[0069] Step (3) further includes the following steps: (31) the amphibious bionic robot drives the brushless DC motor 23 to rotate under the control of the flight controller 35. When the amphibious bionic robot is in a suspended state, the land motion controller 34 controls the servos 37 on the six legs 32 to move, so that the legs 32 droop and move toward the mid-vertical line of the amphibious bionic robot. After the lower ends of the legs 32 move together, a plumb bob state is formed. The center of gravity of the simulated foot land motion mechanism 3 is concentrated directly below the rotor flight motion mechanism 2, which is beneficial to the center of gravity control of the amphibious bionic robot in the air, and realizes more stable hovering, rotation, side flight and inverted flight through the change of physical form, and is not easily affected by wind, airflow, etc.

[0070] Embodiment 3: This embodiment is basically the same as Embodiment 1, except that:

[0071] The two swing servos 12 are independently controlled, and the connection between the depth camera sensor 11 and the swing arm 14 is a ball head connection.

[0072] When the two swing servos 12 rotate in the same direction, the depth camera sensor 11 rotates forward or backward around the axis of the swing servos 12 under the action of the two swing arms 14;

[0073] When the two swing servos 12 rotate in opposite directions, the depth camera sensor 11 twists leftward or rightward under the action of the two swing arms 14 .

[0074] Embodiment 4: This embodiment is basically the same as Embodiment 1, except that:

[0075] A circular rotating track is provided in the middle of the imitation foot land motion mechanism 3 , and the ultrasonic sensor 36 is arranged on the circular rotating track and can rotate 360 ​​degrees around the central axis of the imitation foot land motion mechanism 3 .

[0076] When the amphibious bionic robot is moving on land and an obstacle appears on the side of the amphibious bionic robot, the ultrasonic sensor 36 can be driven by the circular rotating track to rotate to a certain angle to detect the obstacle. The side obstacle detection can be achieved without adjusting the orientation of the amphibious bionic robot.

[0077] Example 5, see Fig.11 This embodiment is basically the same as Embodiment 1, except that:

[0078] A horizontal rotation mechanism 4 is provided between the rotor flight motion mechanism 2 and the depth camera swing mechanism 1 . The depth camera swing mechanism 1 is arranged on the horizontal rotation mechanism 4 and can rotate 360 ​​degrees following the rotation of the horizontal rotation mechanism 4 .

[0079] When the amphibious bionic robot is moving on land or flying, the horizontal rotation mechanism can drive the depth camera swing mechanism 1 to rotate horizontally, and 360-degree detection can be achieved without adjusting the orientation of the amphibious bionic robot, thereby improving maneuverability.

[0080] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A land and air amphibious bionic robot, characterized by: From top to bottom, a depth camera swing mechanism (1), a rotor flight movement mechanism (2), and a foot-like land movement mechanism (3) are sequentially provided; The depth camera swing mechanism (1) is provided with a swing servo (12), the swing servo (12) is connected to a swing arm (14), and the swing arm (14) is provided with a depth camera sensor (11); the swing servo (12) drives the swing arm (14) to rotate, thereby realizing swing control of the depth camera sensor (11); The rotor flight motion mechanism (2) is provided with six sets of arm shafts (22), and the imitation foot land motion mechanism (3) is provided with three sets of legs (32) on the left and right sides respectively; The depth camera swing mechanism (1) is provided with two left and right swing servos (12), the two swing servos (12) are respectively connected to the lower ends of two swing arms (14), and the upper ends of the two swing arms (14) are connected to the depth camera sensor (11); the swing servos (12) are fixed directly above the rotor flight motion mechanism (2); The swing arm is provided with a bending part and a vertical part, the bending part is provided with a rotation hole, the inner side of the rotation hole is provided with a cross-shaped fastening hole, the rotation axis of the swing steering gear (12) is fixedly connected to the cross-shaped fastening hole of the bending part; the outer side of the swing arm is provided with a rotating hinge seat, the rotating hinge seat is movably connected to the rotating hole of the bending part; the upper end of the vertical part is connected to the depth camera sensor (11); The imitating foot land motion mechanism (3) is provided with a base frame (31), and an ultrasonic sensor (36) is provided at the front end of the base frame (31); the left and right sides of the base frame (31) are respectively connected to three groups of legs (32); A flight controller (35) is provided above the base frame (31); a coordination controller (33) and a land motion controller (34) are installed inside the base frame (31); The rotor flight motion mechanism (2) is provided with a rotor frame (21), six sets of arm shafts (22) are provided in the rotor frame (21), brushless DC motors (23) are provided on the arm shafts (22), and rotor units (24) are provided on the brushless DC motors (23); The legs (32) are each provided with three rotation steering gears (37), and each leg (32) has three degrees of freedom; the six groups of legs (32), the front and rear legs (32) on the left and the middle legs on the right form a triangular gait group I, and the front and rear legs (32) on the right and the middle legs (32) on the left form a triangular gait group II; The six groups of arm shafts (22) in the rotor flight motion mechanism (2) are arranged in an equidistant circular array at intervals of 60 degrees, and are staggered with the legs (32) of the foot-like land motion mechanism (3) to prevent the legs (32) from colliding with the arm shafts (22) during movement; The end of the arm shaft (22) is provided with a clamp (25) for fixing the arm shaft (22); the end of the arm shaft (22) is fixed with a cotter pin structure for fixing the brushless DC motor (23); The centers of the depth camera swing mechanism (1), the rotor flight motion mechanism (2), and the imitation foot land motion mechanism (3) are located on the same vertical line; The coordination controller (33), the land motion controller (34) and the flight controller (35) perform hierarchical coordination control on the robot, specifically including the following steps: (1) Land movement: The land movement controller (34) is connected to the servos (37) on all the legs (32), and the servos (37) drive the six groups of legs (32) in combination with the triangular gait control algorithm to control the gait movement; (2) Operational control: When the depth camera sensor (11) is working, it can obtain the RGB image, depth image and point cloud map of the environment under the current viewing angle of the robot. The coordination controller (33) calculates the position and posture of the robot by combining the point cloud map data collected by the depth camera sensor (11) with the iterative closest point algorithm, thereby realizing the real-time map construction of the robot. In combination with the A-Star algorithm, the shortest path is solved in the static road network, thereby realizing the path optimization and autonomous navigation function of the robot; (3) Flight motion: The flight controller (35) controls the rotation of the brushless DC motor (23) and uses the PID control principle combined with the deviation between the posture obtained by the sensor and the expected value to correct and adjust the response of the body system to achieve real-time hovering, rotation, sideways flight and inverted flight of the robot; (4) Coordination control: The coordination controller (33) centrally controls the land motion controller (34) and the flight controller (35) to perform command control for switching between flight and land motion functions; The above steps are in no particular order; The ultrasonic sensor (36) and the depth camera sensor (11) process the ultrasonic and depth image information by sensor information fusion, and obtain values ​​close to the two as measurement values; The depth camera sensor (11) has a recognition function that can sense the distance of obstacles and recognize obstacles at the same time.

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