A split-type reconnaissance detection robot and method

Abstract

The present invention discloses a split-type reconnaissance and detection robot and method. The split-type reconnaissance and detection robot includes a quadruped robot and a drone module; the drone module includes a stacked-wing drone carrying platform and a stacked-wing drone; the stacked-wing drone is installed in a launch tube, and a gas ejection device for launching the stacked-wing drone is provided in the launch tube; a lifting device is provided at the bottom of the stacked-wing drone carrying platform, and the lifting device is installed on the robot body. The split-type reconnaissance and detection robot provided by the embodiment of the present invention enables the quadruped robot to carry out aerial reconnaissance and detection of the area to be detected through the stacked-wing drone, and the quadruped robot performs land detection, and has the ability to realize two detection modes, land and air, and can adapt to a variety of complex working environments.

Description

Technical Field

[0001] The invention belongs to the field of robotics and automation, and in particular relates to a split-type reconnaissance detection robot and a method. Background Art

[0002] As a major development direction of future science and technology, robotics technology has a strong application prospect. In the field of robotics, robots are generally divided into industrial robots and special robots. Among them, industrial robots are generally used in the field of industrial control, while special robots are more concerned because they can be continuously improved according to actual needs and have a wide range of applications.

[0003] With the rapid development of modern robotics technology, special robots are gradually replacing humans in modern warfare and disaster relief, and are used to perform a variety of difficult tasks such as reconnaissance and topographic surveying. Due to the limitations of the complex environment, unknown terrain, and many uncontrollable factors in which robots work, current robots have only a single means of reconnaissance and are unable to adapt to complex working environments. Summary of the invention

[0004] The purpose of the present invention is to provide a split-type reconnaissance and detection robot and method to solve the problem in the prior art that the robot has a single reconnaissance means and cannot adapt to complex working environments.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] A first aspect of an embodiment of the present invention provides a split-type reconnaissance and detection robot, comprising a quadruped robot and a drone module; the drone module comprises a stacked-wing drone carrying platform and a stacked-wing drone;

[0007] The stacked-wing UAV is installed in a launching tube, which is provided with a gas ejection device for launching the stacked-wing UAV; a lifting device is provided at the bottom of the stacked-wing UAV carrying platform, and the lifting device is installed on the robot body.

[0008] Furthermore, the quadruped robot includes a robot body and robot feet installed on the robot body; the robot body is connected to the robot feet through a DC motor, and the DC motor is used to drive the robot feet to walk.

[0009] Further, the robot body is equipped with a main control board, which includes a microprocessor, and a drive module, a wireless communication module, an obstacle avoidance detection sensor, a camera and a sensor electrically connected to the microprocessor;

[0010] The drive module is used to drive the DC motor according to the microprocessor instructions;

[0011] The microprocessor is connected to the Beidou navigation system and the host computer through the wireless communication module;

[0012] The sensor is used to measure the posture state information of the robot and send the posture state information to the microprocessor;

[0013] Obstacle avoidance detection sensors are used to stop or avoid obstacles when facing them;

[0014] The camera is used to obtain video information of the robot's travel section and send it to the remote control console.

[0015] Furthermore, the stacked-wing UAV carries a fuel tank and a fuel engine to provide power support for the stacked-wing UAV; during the flight, the fuel engine drives the generator to work, and the generator converts the chemical energy of the fuel into electrical energy. At the same time, the fuel engine outputs a speed signal to the energy conversion circuit to monitor the working conditions of the engine and the generator; the energy conversion circuit transmits the electrical energy to the onboard battery and the rotor battery for charging; when the stacked-wing UAV flies long distances and at high speed, it uses a thermal power supply energy mode, powered by the fuel engine, and when it flies at low speed and low speed, it uses an electric power supply energy mode, powered by the battery.

[0016] Furthermore, the stacked-wing UAV is equipped with a main control board, which includes a microprocessor, and a drive module electrically connected to the microprocessor, a wireless communication module, a gimbal camera module, an infrared / laser guidance module, and a sensor;

[0017] The drive module is used to drive the propeller motor according to the microprocessor instruction;

[0018] The microprocessor is connected to the Beidou navigation system and the host computer through the wireless communication module;

[0019] The gimbal camera module is used to obtain high-altitude detection information;

[0020] The infrared / laser guidance module is used to use infrared / laser for guidance and to identify and track the target;

[0021] The sensor is used to measure the posture state information of the stacked-wing UAV and send the posture state information to the microprocessor.

[0022] Furthermore, the launch tube is fixed to the folded-wing UAV carrying platform by an annular buckle.

[0023] Furthermore, an anti-recoil device is installed on the stacked-wing UAV carrying platform, and the anti-recoil device is located between the gas ejection device and the stacked-wing UAV carrying platform.

[0024] Furthermore, the folded-wing UAV is also equipped with a parachute and an airbag.

[0025] Furthermore, it also includes a remote control console for controlling the quadruped robot and the UAV module, the remote control console includes control buttons, a signal receiving antenna and a display screen, the control buttons are used to control the operating status of the quadruped robot and the UAV module, the signal receiving antenna is used to receive information interaction, the display screen is used to receive and display detection information and video / audio information, and at the same time display the position information and status information of the robot and the folded-wing UAV.

[0026] A second aspect of the present invention provides a working method of a split-type reconnaissance detection robot, comprising the following steps:

[0027] S1. Determine whether the quadruped robot has reached the position for launching the stacked-wing UAV; if not, the quadruped robot continues to detect; if it has reached the position, the quadruped robot launches the stacked-wing UAV, which unfolds its wings and flies autonomously after launch;

[0028] S2, the folded-wing UAV starts the gimbal camera module to detect the environment information and transmit it back to the host computer;

[0029] S3, judging whether the stacked-wing UAV detects the target; if the stacked-wing UAV detects the target, the stacked-wing UAV uses infrared / laser guidance to identify and track the target and strike the target; if the stacked-wing UAV does not detect the target, the stacked-wing UAV continues to detect environmental information and transmit it back;

[0030] S4. After the detection of the stacked-wing UAV is completed, the stacked-wing UAV is recovered by parachuting, and the location of the stacked-wing UAV is sent to the remote control console.

[0031] The beneficial effects of the present invention are as follows:

[0032] 1) The split reconnaissance and detection robot provided in the embodiment of the present invention enables the quadruped robot to carry a stacked-wing UAV to perform aerial reconnaissance and detection of the area to be detected through the stacked-wing UAV, and the quadruped robot to perform land detection. It is capable of realizing both land and air detection modes and can adapt to a variety of complex working environments.

[0033] 2) The split reconnaissance and detection robot provided in the embodiment of the present invention and the stacked-wing UAV carrying platform enable the quadruped robot to carry the stacked-wing UAV, the solar panels distributed on it can charge the quadruped robot, and the fuel tank carried by the stacked-wing UAV combined with the fuel engine provides power support for the stacked-wing UAV, thereby improving the robot's endurance and monitoring range.

[0034] 3) The split reconnaissance and detection robot provided in the embodiment of the present invention has a compact structure, convenient disassembly and assembly of the expansion module, a wide detection range and strong environmental adaptability, and can be widely used in military, complex terrain detection, disaster detection, dangerous environment detection, target monitoring and other tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0036] Figure 1 It is a schematic structural diagram of a split-type reconnaissance and detection robot according to an embodiment of the present invention.

[0037] Figure 2 It is the overall framework design diagram of the split-type reconnaissance and detection robot according to the embodiment of the present invention, wherein (a) is a simplified diagram of the walking power structure, and (b) is a circuit framework diagram of the main control board of the quadruped robot.

[0038] Figure 3 This is the overall framework design diagram of the stacked-wing UAV, including (a) the circuit framework diagram of the main control board of the stacked-wing UAV, (b) the structural diagram of the stacked-wing UAV in the folded state, and (c) the structural diagram of the stacked-wing UAV in the unfolded state.

[0039] Figure 4 This is a schematic diagram of the launch of a stacked-wing UAV.

[0040] Figure 5 This is a schematic diagram of the Beidou satellite navigation principle.

[0041] Figure 6 This is a mechanics analysis diagram of the launch of a stacked-wing UAV.

[0042] Figure 7 It is a schematic diagram of the structure of the gas ejection device.

[0043] Figure 8 This is a schematic diagram of the parachute recovery of a folded-wing UAV.

[0044] Fig. 9 This is a diagram of the remote console.

[0045] Fig.10 This is the workflow diagram of the split-type reconnaissance and detection robot.

[0046] Among them: 1 robot foot; 2 robot body; 3 camera; 4 solar panel; 5 stacked wing UAV carrying platform; 6 stacked wing UAV; 7 wireless communication; 8 Beidou satellite navigation; 9 ring buckle; 10 anti-recoil device; 11 propeller; 12 wing; 13 tail wing; 14 launch tube; 15 gas ejection device; 16 spring; 17 lifting device; 18 guide cone; 19 gas generator; 20 initial volume chamber; 21 tail cover; 22 parachute; 23 airbag; 24 control mode switching button; 25 start stacked wing UAV carrying platform lifting button; 26 launch stacked wing UAV button; 27 stacked wing UAV direction control joystick; 28 detection mode button; 29 tracking and strike mode button; 30 stacked wing UAV landing button; 31 quadruped robot direction control button; 32 signal receiving antenna; 33 display screen. DETAILED DESCRIPTION

[0047] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0048] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention.

[0049] The embodiment of the present invention provides a split-type reconnaissance detection robot and method. When the detection range is a land area that requires terrain detection, the operator uses a carrier or a helicopter to transport the robot to the detection location. After arriving, the operator operates the remote control console to remotely control the quadruped robot to the designated detection location of the Beidou satellite positioning, and completes the detection and data transmission of relevant parameters in the target area. When the detection range is a high-altitude area that needs to collect and transmit air data information or strike and track targets, the operator uses a helicopter or other types of aircraft to transport the robot to the working area. After arriving, the operator operates the remote control console to enable the quadruped robot to launch the stacked wing drone carried by the quadruped robot to the designated location, and then the stacked wing drone performs aerial reconnaissance and detection of the area to be detected. If the strike target is detected, it enters the tracking and strike mode, otherwise it continues to perform aerial reconnaissance and detection. If ground information detection is required, the operator uses an aircraft to transport the quadruped robot to the target area for land detection. After the detection or strike task is completed, the operator returns the Beidou satellite positioning information displayed by the remote control console to recover the robot. The stacked-wing UAV carrying platform enables the quadruped robot to carry the stacked-wing UAV. The solar panels on it can charge the quadruped robot and the stacked-wing UAV, improving the robot's endurance and monitoring range.

[0050] See also Figure 1 The split-type reconnaissance and detection robot of the present invention comprises: a robot foot 1, a robot body 2, a camera 3, a solar panel 4, a stacked-wing UAV carrying platform 5, a stacked-wing UAV 6, wireless communication 7, Beidou satellite navigation 8, a ring buckle 9, and an anti-recoil device 10. The robot foot 1 is connected to the robot body 2, and the robot body 2 is connected to the stacked-wing UAV carrying platform 5 and the solar panel 4. The solar panel 4 charges the quadruped robot and the stacked-wing UAV 6. The front end of the robot body 2 is equipped with a camera 3 for obtaining road condition information of the robot.

[0051] Specifically, two stacked-wing UAVs 6 are placed on the stacked-wing UAV carrying platform 5, and the stacked-wing UAVs 6 and the robot are respectively connected to the Beidou navigation system 8 via wireless communication 7. The stacked-wing UAV 6 is placed in a launching tube 14, and the launching tube 14 is fixed to the stacked-wing UAV carrying platform 5 using an annular buckle 9. The anti-recoil device 10 is constructed by adding a corresponding spring device to the bottom of the stacked-wing UAV carrying platform 5 to absorb the recoil when the stacked-wing UAV 6 is launched to ensure the robot's stable standing. The stacked-wing UAV 6 obtains high-altitude detection information through the gimbal camera module and transmits it back to the host computer. The stacked-wing UAV 6 and the quadruped robot send positioning application instructions to the Beidou navigation system 8 via wireless communication 7.

[0052] See also Figure 2, which are the overall framework design drawings of the robot, (a) schematic diagram of the structure of the quadruped robot, and (b) circuit framework diagram of the main control board of the quadruped robot.

[0053] Figure 2 (a) It mainly includes a main control board, four sets of DC motors M1, M2, M3, M4 and two cameras. The main control board is located inside the robot body. The DC motors and cameras are connected to the robot body. The DC motors mainly provide power for the quadruped robot and control its forward and backward speed.

[0054] Figure 2 (b) The main control board is loaded with a microprocessor (STM32), a wireless communication module, a driver module, an MPU6050 sensor, a power module, and an obstacle avoidance detection sensor. The main control board sends positioning information to the wireless communication module through the Beidou navigation system based on the road condition information obtained by the camera 3, and monitors the travel section of the quadruped robot to provide real-time information for the operator. The Beidou navigation system is installed on the quadruped robot and the stacked wing UAV respectively. The operator can view the positions of both in real time and formulate the corresponding travel route. After obtaining the position, the robot sends the stacked wing UAV to the designated launch position. The MPU6050 sensor adjusts the robot's posture to a stable state, and adjusts the position of the stacked wing UAV carrying platform through the lifting device 17 to make it at the optimal launch angle of 60° or other angles. The camera 3 monitors the travel section of the quadruped robot, provides real-time information to the operator, and supports the operator in selecting the travel section. The driver module is used to drive the robot's four legs, the MPU6050 sensor is used to measure the robot's posture state information, and the power module provides power to the DC motor and the motor main control board. The obstacle avoidance sensor can improve the safety of the quadruped robot, stop the quadruped robot in time or plan the optimal trajectory to avoid obstacles. The wireless communication module can realize the transmission of positioning information for the quadruped robot combined with Beidou navigation.

[0055] See also Figure 3 , which is the overall framework design diagram of the stacked wing UAV, Figure 3(a) is a circuit framework diagram of the main control board of the stacked wing UAV. The stacked wing UAV module includes two stacked wing UAVs, a gimbal camera module, and an infrared / laser guidance module. The foldable stacked wing UAV is characterized by its small size, easy carrying, and low price. When it is launched and cannot be recovered, it will not cause a large loss. The fuel tank carried by the stacked wing UAV 6 is combined with a fuel engine to provide power support for the stacked wing UAV. During the flight, the engine drives the generator to work, and the generator converts the chemical energy of the fuel into electrical energy. At the same time, the engine outputs a speed signal to the energy conversion circuit to monitor the working conditions of the engine and the generator. The energy conversion circuit charges the generator to the onboard battery and the rotor battery through the internal charging part. The gimbal camera module is an image acquisition device distributed on the stacked wing UAV, which realizes the detection of environmental information in the air, records and identifies landform features, and detects designated targets. At the same time, the stacked wing UAV has a thermal power and electric power supply energy mode. The thermal power can fly long distances at high speed, and the electric power can fly at low speed and low frequency. The infrared / laser guidance module is used when a target is detected. The infrared / laser module can be used for guidance, to identify and track the target, and to carry out a suicide attack on the target after locking it.

[0056] When the folded-wing UAV 6 is in the folded state, its structure is as shown in FIG. Figure 3 As shown in (b), the wings 12, tail 13 and propeller 11 are all folded and placed in the launch tube, which is convenient to carry and greatly reduces air resistance during the launch process.

[0057] When the folded-wing UAV 6 is in the unfolded state, its structure is as shown in FIG. Figure 3 As shown in (c), the wing 12 and tail 13 of the stacked-wing UAV are unfolded in the air to keep the stacked-wing UAV balanced, and the propeller 11 is turned on to provide power support for the stacked-wing UAV. When the UAV is unfolded in the air, the servo is started to control the wing 12 and tail 13 to unfold. After unfolding, the body balance of the stacked-wing UAV is maintained, and the motor provides power for the propeller. In this state, the stacked-wing UAV is in detection mode, and can realize separate detection with the quadruped robot in the air, expand the detection range, and improve the detection efficiency.

[0058] See also Figure 4, is a schematic diagram of the launch of a stacked-wing UAV, comprising two stacked-wing UAVs 6, an annular buckle 9, a lifting device 17 and an anti-recoil device 10. The main function of the annular buckle 9 is to fix the launch tube 14 and the stacked-wing UAV platform 5, so that the quadruped robot can transport the stacked-wing UAV platform 5 to the launch position of the stacked-wing UAV 6. The main function of the lifting device 17 is to adjust the position of the stacked-wing UAV platform 5 and control the launch angle. When in a horizontal state, the stacked-wing UAV platform 5 is horizontally placed on the quadruped robot to reduce the overall volume and facilitate the movement of the quadruped robot. When in a state of waiting to launch the stacked-wing UAV, it adjusts the launch direction and angle. The anti-recoil device 10 is distributed between the launch tube 14 and the stacked-wing UAV platform 5. The anti-recoil device 10 mainly uses a spring device with a certain elasticity. The device can absorb the impact force of the stacked-wing UAV platform and the quadruped robot when launching the stacked-wing UAV, avoid the robot from tipping over due to the impact force, and improve stability and safety.

[0059] See also Figure 5 , is the principle diagram of Beidou satellite navigation. Beidou satellite uses the instantaneous position of the high-speed Beidou satellite as the known starting data, and uses the spatial distance resection method to determine the position of the quadruped robot and the stacked-wing UAV 6 at the test point. The Beidou navigation system is installed on the quadruped robot and the stacked-wing UAV 6 respectively, and the operating user can view the positions of both in real time, so as to formulate the corresponding route. The function of the Beidou navigation system dually carried by the quadruped robot and the stacked-wing UAV 6 is: the quadruped robot transports the stacked-wing UAV 6 to the designated launch position in time according to the launch position sent by the Beidou navigation system. After the stacked-wing UAV 6 is launched and takes off and completes the detection mission, it can be accurately positioned according to the Beidou navigation system and manually recovered into a vehicle or aircraft by parachuting, which improves the recovery rate of the stacked-wing UAV and reduces the cost.

[0060] See also Figure 6 The launching process of the stacked-wing UAV 6 is actually the process in which the stacked-wing UAV 6 accelerates along the inclined surface of the launch tube 14 under the action of the power system. In this process, the stacked-wing UAV 6 is affected by the elastic force of the spring 16, the thrust of the gas ejection device 15, the friction force of the launch tube 14, the aerodynamic force and gravity. Figure 6 In the figure, x is the moving distance of the stacked-wing UAV on the launch tube, and F is s is the rolling friction between the stacked-wing UAV carrying platform and the launch tube 14, D is the aerodynamic drag on the UAV (ignoring the lift of the aircraft), and F p The elastic force provided by the spring, F Tis the thrust provided by the gas ejection device, G is the gravity of the UAV and the stacked wing UAV carrying platform, and θ is the angle between the guide rail and the horizontal plane (launch angle). Through the mechanical analysis of the launch process of the stacked wing UAV, the stacked wing UAV can have a certain initial speed and stable flight after the launch.

[0061] See also Figure 7 The gas ejection device 15 includes a guide cone 18, a gas generator 19, an initial volume chamber 20, and a tail cover 21. When launching the stacked-wing UAV, the gas launch device 15 is launched in combination with the spring 16 to enable it to have enough power to reach a certain initial speed. The gas generator 19 ignites the gas to provide energy, which is guided through the guide cone 18. The pressure in the initial volume chamber 20 changes to generate thrust, and the tail cover 21 is used to protect the tail of the stacked-wing UAV.

[0062] See also Figure 8 During the recovery process, the folded-wing UAV 6 turns off the propeller 11 and folds the wings 12 to perform free fall. After reaching a certain height, the parachute 22 is opened to perform steady-speed landing and land at a certain speed. At the same time, the airbag 23 used for recovery and shock absorption of the folded-wing UAV absorbs the impact energy of the recovery target through internal gas compression, and discharges the compressed gas at an appropriate time to release energy and prevent the recovery target from rebounding, thereby achieving the purpose of reducing impact overload and protecting the recovery target.

[0063] See also Fig. 9 , is a schematic diagram of the remote console. The remote console connects the wireless communication module to the serial port of the console computer server through the RS232 bus, and installs the communication module software in the computer to realize the information interaction between the robot and the remote console. The main function is to realize the real-time control of the detection robot and the real-time reception and display of the detection information, video / audio information. At the same time, the wireless communication module can receive the position information of the quadruped robot and the folded-wing UAV sent by the Beidou satellite.

[0064] The full-automatic / manual control mode switching button 24 can be used to switch the full-automatic / manual mode of the entire system. After the start-up button 25 for the stacked-wing UAV carrying platform is pressed, the UAV carrying platform automatically adjusts the launch angle to prepare for launching the stacked-wing UAV. After the launch button 26 for the stacked-wing UAV is pressed, the UAV passes Figure 6The device shown launches a stacked-wing UAV, and the stacked-wing UAV direction control rocker 27 and the quadruped robot direction control button 31 can realize manual direction control of the stacked-wing UAV and the quadruped robot. After the detection mode button 28 and the tracking and attack mode button 29 are pressed, the stacked-wing UAV working mode is switched. After the stacked-wing UAV landing button 30 is pressed, the stacked-wing UAV is parachuted and recovered. The signal receiving antenna 32 realizes the reception of information interaction, and the display screen 33 realizes the reception and display of detection information and video / audio information, and simultaneously displays the position information and status information of the quadruped robot and the stacked-wing UAV. The remote control console is easy to carry, and can be carried by people, vehicles, and aircraft, and realizes real-time control of the detection robot and real-time reception and display of detection information. All parts together realize the overall control of the split reconnaissance detection robot.

[0065] The split-type reconnaissance detection robot in the present invention has two working states:

[0066] One is a land detection mechanism, which mainly detects relevant parameters in the target area through the sensor group carried by the quadruped robot. The advantage of this mechanism is that the power capacity carried by the quadruped robot is large, which can achieve long-distance detection. At the same time, the quadruped robot is equipped with a corresponding information transmission module to transmit the collected detection results to the designated server in real time. At the same time, the Beidou navigation system carried by the quadruped robot provides the operator with real-time and accurate location, which is convenient for planning a suitable detection path.

[0067] The other is a combined land and air detection mechanism, which works as follows: first, use the sensor group carried by the quadruped robot to detect on relatively flat roads, and use the wireless communication module carried by the quadruped robot to transmit the data to the designated server over long distances; then, on rugged roads or in places that the quadruped robot cannot reach, launch a stacked-wing UAV to approach the target area from the air to complete the environmental detection task of the target area. When launching a stacked-wing UAV, the launch angle can be adjusted according to the actual environment, so that the stacked-wing UAV can be successfully lifted off to complete the detection mission, and then it can be manually recovered by parachuting combined with Beidou navigation system positioning.

[0068] At the same time, the split reconnaissance detection robot has two working modes:

[0069] One is the detection mode. In this mode, when no target is detected, the stacked-wing UAV is used to detect the high-altitude target environment, combined with the detection of the surface environment by the quadruped robot, and the land-air split detection method is used to detect the target area. In this mode, the stacked-wing UAV can be autonomously recovered into the vehicle or aircraft after the detection is completed, which reduces costs and increases the reuse rate of the stacked-wing UAV.

[0070] The other is the tracking and attack mode. In this mode, when the stacked-wing UAV detects the target or the Beidou navigation system detects the target, the stacked-wing UAV guidance system tracks and identifies the target position, flies along a predetermined route, and covers a target area. After the target is confirmed, the stacked-wing UAV folds its wings and starts a high-speed dive. When it approaches the target, it explodes or directly rushes to the target and perishes with it. It is suitable for fixed-point elimination tasks. For the front-line combat squad, it is equivalent to having an extra pair of eyes, which can expand the troops' field of vision and the ability to perceive the surrounding situation. It has the ability to "suicide" and can perform precision strike missions, which often have unexpected effects.

[0071] See also Fig.10 , is the workflow diagram of the split reconnaissance detection robot, the working steps are as follows:

[0072] Step 1: The system starts running;

[0073] Step 2: The main program is initialized and the detection robot starts to detect the environment;

[0074] Step 3: Determine whether the Beidou navigation system guides the quadruped robot to the position where the stacked-wing UAV is launched;

[0075] First, determine the location for launching the stacked-wing UAV and locate its position coordinates (u, v, w) based on the Beidou satellite.

[0076] like Figure 5 Based on the instantaneous position of the high-speed Beidou satellite as the known starting data, the spatial distance resection method is used to determine the position of the quadruped robot at the test point. A GPS receiver device is installed on the quadruped robot to be tested, and the time it takes for the GPS to reach the receiver is measured as Δt, then:

[0077]

[0078]

[0079]

[0080]

[0081] Among them, (x i ,y i ,z i ), (i=1,2,3,4) are the spatial rectangular coordinates of satellites 1, 2, 3, 4 at time t;

[0082] (x, y, z) are the rectangular coordinates of the quadruped robot in the space to be measured;

[0083] c is the propagation speed of GPS signals, i.e. the speed of light;

[0084] are the clock errors of satellite clocks of satellites 1, 2, 3, and 4 respectively;

[0085] is the receiver clock error;

[0086] d i (i=1,2,3,4) are the distances from satellites 1, 2, 3, 4 to the receiver quadruped robot respectively.

[0087] About d i The solution of d i =d is as follows:

[0088] d=c·Δt

[0089] d=c·(T R -T S )

[0090] Where, T R is the time when the signal reaches the receiver, T S is the moment when the signal leaves the satellite.

[0091] set up, but:

[0092]

[0093] in, is the receiver clock error, is the clock error of the satellite clock.

[0094] The above formula can be used to solve the coordinates (x, y, z) of the point to be measured, and compare it with the position coordinates (u, v, w) of the launch stacked-wing UAV to determine whether the quadruped robot has reached the launch position of the stacked-wing UAV.

[0095] Step 4: If the launch position of the stacked-wing UAV is not reached, the quadruped robot continues to detect;

[0096] Step 5: If the launch position of the stacked-wing UAV is reached, the quadruped robot adjusts the angle to launch the stacked-wing UAV, and the stacked-wing UAV unfolds its wings and flies autonomously when it has enough power to fly;

[0097] The launch process of the folded-wing UAV is actually the process in which the aircraft and the launch tube accelerate along the inclined surface of the launch tube under the action of the power system. In this process, the folded-wing UAV is affected by the spring force, the friction force of the launch tube, the aerodynamic force and gravity. Figure 6 shown.

[0098] Figure 6In the figure, x is the moving distance of the stacked-wing UAV on the launch tube, and F is s is the rolling friction between the stacked-wing UAV and the launch tube, D is the aerodynamic drag on the stacked-wing UAV (ignoring the lift of the aircraft), F p is the thrust provided by the launch tube spring, G is the weight of the stacked airfoil and the launch tube, and θ is the angle between the guide rail and the horizontal plane (launch angle).

[0099] Kinetic energy of launch tube and folded-wing UAV

[0100]

[0101] Gravitational potential energy of the ejection system

[0102] E p =Gxsinθ

[0103] Elastic potential energy of the ejection system

[0104]

[0105] The total potential energy of the ejection system

[0106]

[0107] Where k(x) is the elastic constant of the spring, which varies with the length of the spring.

[0108] Regarding the energy generated by the trajectory of the gas ejection power system, the energy conservation equation

[0109]

[0110] The equation of motion is

[0111] ma=P t S t -f z

[0112] Among them, Q is heat dissipation, m, v, l, a are the mass, speed, displacement and acceleration of the drone, and f z is the drag on the folded-wing UAV, P t is the pressure inside the launch tube, S t is the cross-sectional area of ​​the launch tube.

[0113] From the gas state equation

[0114]

[0115] Where p0 is the pressure coefficient, R g is the fuel gas constant, m g is the gas quality, R a is the air gas constant, ma is the mass of compressed air, t t is the temperature inside the launch tube.

[0116] The thrust generated by the gas ejection power system is F T , according to Lagrangian theory, the Lagrangian operator L of this system is

[0117]

[0118] On the inclined surface of the launch tube, the generalized force Q on the folded-wing UAV and the ejection system is:

[0119] Q=F T -F s -D

[0120] By Lagrange equation

[0121]

[0122] It can be obtained that the equation of the system is

[0123]

[0124] Integrating both sides with respect to the displacement x gives

[0125]

[0126] Where m is the total mass of the stacked-wing UAV and the launch tube, l is the displacement of the system at the ejection end point, and v is the velocity of the system at the ejection end point.

[0127] F s is the rolling friction between the folded-wing UAV and the launch tube. According to the rolling friction coefficient table of common materials, when steel and steel are lubricated, the friction coefficient is between 0.05 and 0.1. Taking the middle value μ=0.08, ignoring the influence of the aircraft lift, we have:

[0128] F s =μGcosθ

[0129] D is the aerodynamic drag of the stacked-wing UAV. During the ejection process, the drag of the stacked-wing UAV is set to a constant value, then:

[0130]

[0131] Where ρ is the air density; v is the flight speed of the stacked-wing UAV; S is the reference area of ​​the stacked-wing UAV, C D is the resistance coefficient.

[0132] Step 6: The folded-wing UAV starts the gimbal camera module to detect the environment information and transmit it back to the host computer;

[0133] Step 7: Determine whether the stacked-wing UAV detects the target;

[0134] Step 8: If the stacked-wing UAV detects the target, the stacked-wing UAV guidance system tracks and identifies the target and carries out a suicide strike;

[0135] Step 9: If the stacked-wing UAV does not detect the target, the stacked-wing UAV continues to detect environmental information and transmit it back.

[0136] Step 10: After the detection of the stacked-wing UAV is completed, the stacked-wing UAV is recovered by parachuting, and the Beidou navigation system sends the location of the stacked-wing UAV to the operating platform.

[0137] Schematic diagram of the parachute recovery landing of a folded-wing UAV Figure 8 According to the landing speed requirements of the folded-wing UAV, the total surface area S0 of all fabric surfaces that generate aerodynamic forces can be calculated.

[0138]

[0139] In the formula, G xt is the weight of the object and the parachute system, C s is the drag coefficient of the parachute, v z is the landing speed, C w is the drag coefficient of the falling object, S w is the area of ​​the object.

[0140] At the moment the parachute is filled, due to the influence of inertia, the system speed is still relatively high. At this time, the system resistance is greater than gravity. The system will continue to decelerate and descend until the system resistance is equal to gravity. At this time, the folded-wing UAV lands stably.

[0141] By

[0142]

[0143] At this time, the steady-state speed is

[0144]

[0145] Folding wing type UAV recovery shock absorbing airbag Figure 8 As shown in Figure 3, it absorbs the impact energy of the recovery target through internal gas compression, discharges the compressed gas at an appropriate time, releases the energy, and prevents the recovery target from rebounding, thereby achieving the purpose of reducing impact overload and protecting the recovery target.

[0146] Assuming that the gas inside the airbag is an ideal gas and the pressure inside the airbag is equal everywhere, the ideal gas state equation is as follows

[0147] P=ρRT

[0148] Where P is the gas pressure, ρ is the gas density, R is the gas constant, and T is the gas temperature.

[0149] The energy changes inside the airbag are as follows

[0150]

[0151] In the formula, E m is the specific energy per unit mass of gas, m is the gas mass flow, H is the specific enthalpy of gas, is the work of gas expansion, For the flow of energy through the air cell wall.

[0152] Gas expansion does work is the volume increment of the airbag. The specific energy and specific enthalpy of the gas are expressed by the following formulas:

[0153]

[0154]

[0155] Among them, E and H are the initial specific energy and initial specific enthalpy, T0 and T are the initial temperature and current temperature, C v , C p It is the specific volume at constant volume and the specific volume at constant pressure.

[0156] At this point, the parachute landing process of the stacked-wing UAV is completed. The Beidou satellite locates the stacked-wing UAV and sends the location information to the operating platform.

[0157] Step 11: The operator recovers the received folded-wing UAV and quadruped robot according to their locations.

[0158] Step 12: The system ends operation.

[0159] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A working method of a split-type reconnaissance detection robot, characterized in that: The steps include: S1. Determine whether the quadruped robot has reached the position for launching the stacked-wing UAV; if not, the quadruped robot continues to detect; if it has reached the position, the quadruped robot launches the stacked-wing UAV, which unfolds its wings and flies autonomously after launch; S2, the folded-wing UAV starts the gimbal camera module to detect the environment information and transmit it back to the host computer; S3, judging whether the stacked-wing UAV detects the target; if the stacked-wing UAV detects the target, the stacked-wing UAV uses infrared / laser for guidance, identifies and tracks the target and strikes the target; if the stacked-wing UAV does not detect the target, the stacked-wing UAV continues to detect environmental information and transmits it back; S4. After the detection of the stacked-wing UAV is completed, the stacked-wing UAV is recovered by parachuting, and the location of the stacked-wing UAV is sent to the remote control console; A split-type reconnaissance and detection robot comprises a quadruped robot and an unmanned aerial vehicle module; the unmanned aerial vehicle module comprises a stacked-wing type unmanned aerial vehicle carrying platform (5) and a stacked-wing type unmanned aerial vehicle (6); The quadruped robot comprises a robot body (2) and a robot foot (1) mounted on the robot body (2); a stacked-wing type unmanned aerial vehicle (6) is mounted in a launching tube (14), and a gas ejection device (15) for launching the stacked-wing type unmanned aerial vehicle (6) is arranged in the launching tube (14); a lifting device (17) is arranged at the bottom of the stacked-wing type unmanned aerial vehicle carrying platform (5), and the lifting device (17) is mounted on the robot body (2).

2. The working method according to claim 1, characterized in that: The robot body (2) is connected to the robot foot (1) via a DC motor, and the DC motor is used to drive the robot foot (1) to walk.

3. The working method according to claim 2, characterized in that: The robot body (2) is equipped with a main control board, which includes a microprocessor, a drive module electrically connected to the microprocessor, a wireless communication module, an obstacle avoidance detection sensor, a camera (3) and a posture sensor; The drive module is used to drive the DC motor according to the microprocessor instructions; The microprocessor is connected to the Beidou navigation system (8) and the host computer through a wireless communication module; the posture sensor is used to measure the posture state information of the quadruped robot and send the posture state information to the microprocessor; the obstacle avoidance detection sensor is used to stop or avoid obstacles when facing obstacles; the camera (3) is used to obtain video information of the moving section of the quadruped robot and send it to the remote control console.

4. The working method according to claim 1, characterized in that: The stacked-wing UAV (6) carries a fuel tank and a fuel engine for providing power support for the stacked-wing UAV; during flight, the fuel engine drives the generator to work, and the generator converts the chemical energy of the fuel into electrical energy. At the same time, the fuel engine outputs a speed signal to the energy conversion circuit to monitor the working conditions of the fuel engine and the generator; the energy conversion circuit transmits the electrical energy to the onboard battery and the rotor battery for charging; when the stacked-wing UAV (6) flies over long distances and at high speed, it uses a thermal power supply energy mode, and is powered by the fuel engine; when flying at low speed, it uses an electric power supply energy mode, and is powered by the battery.

5. The working method according to claim 1, characterized in that: The folded-wing UAV (6) is equipped with a main control board, which includes a microprocessor, a drive module electrically connected to the microprocessor, a wireless communication module, a gimbal camera module, an infrared / laser guidance module, and a posture sensor; The driving module is used to drive the propeller motor according to the microprocessor instruction; the microprocessor is connected to the Beidou navigation (8) and the host computer through the wireless communication module; the gimbal camera module is used to obtain high-altitude detection information; the infrared / laser guidance module is used to use infrared / laser for guidance and to identify and track the target; the posture sensor is used to measure the posture state information of the folded-wing type unmanned aerial vehicle (6) and send the posture state information to the microprocessor.

6. The working method according to claim 1, characterized in that: The launching tube (14) is fixed on the folded-wing type UAV carrying platform (5) via an annular buckle (9).

7. The working method according to claim 1, characterized in that: An anti-recoil device (10) is installed on the stacked-wing type UAV carrying platform (5), and the anti-recoil device (10) is located between the gas ejection device (15) and the stacked-wing type UAV carrying platform (5).

8. The working method according to claim 1, characterized in that: The folded-wing type UAV (6) is also provided with a parachute (22) and an air bag (23).

9. The working method according to claim 1, characterized in that: The remote control console is also included for controlling the quadruped robot and the UAV module. The remote control console includes a control button, a signal receiving antenna (32) and a display screen (33). The control button is used to control the operating state of the quadruped robot and the UAV module. The signal receiving antenna (32) is used to receive information interaction. The display screen (33) is used to receive and display detection information and video / audio information, and simultaneously displays the position information and status information of the quadruped robot and the folded-wing UAV.

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