Wheel-legged air-ground integrated reconnaissance robot based on super-spiral sliding mode

Abstract

The application discloses a wheel-leg type air-ground integrated reconnaissance robot based on super-spiral sliding mode. The multi-draught type flight frame adopts a four-rotor structure, and the wheel-leg type chassis is fixed below the multi-draught type flight frame and adopts a wheel-leg type structure connected through connecting rods. The multi-draught type flight frame is used for realizing the flight function of the robot, transmitting high-definition image information in real time, and assisting the robot in obstacle crossing; the wheel-leg type chassis realizes the change of the height of the robot through the control of the steering engine on the connecting rods, so as to provide multi-level visual angles for ground reconnaissance; the wheel-leg type air-ground integrated reconnaissance robot can freely switch between the flight mode and the ground mode, the ground mode is the main action mode of the robot, and the flight mode is used for assisting in obstacle crossing and flight entering, so that the endurance of the robot is greatly improved; the self-balancing control of the wheel-leg type chassis adopts a method based on super-spiral sliding mode control, has strong robustness, can be used for various reconnaissance tasks, and makes up for the shortage of the existing robot system.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of reconnaissance robots, and particularly relates to a wheel-leg type air-ground integrated reconnaissance robot based on super-helical sliding mode. BACKGROUND

[0002] In modern society, the urban environment is complex, and after natural disasters attack, the collapsed buildings and damaged roads in the city all cause great difficulty for personnel search and rescue, and currently, the robots used for search and rescue are mainly air reconnaissance robots and ground reconnaissance robots. However, the air robots are short in endurance time, large in size, and poor in weather adaptability, and these shortcomings limit the reconnaissance tasks that can be performed by the air robots; the ground reconnaissance robots are difficult to cross when encountering complex obstacles such as gullies, high walls and low-lying places, and the reconnaissance range is limited, so the air-ground integrated reconnaissance robot combining the advantages of the two has great research significance.

[0003] The existing air-ground integrated reconnaissance robot can realize the combination of air and ground modes, and improve the terrain adaptability and reconnaissance range of the robot, but due to the design limitation of the ground traveling mechanism, the ground reconnaissance level of the robot is low, and only the view angle equivalent to the height of the robot body can be obtained. In the ground reconnaissance process, if a higher shelter is encountered, the view angle behind the shelter cannot be obtained, which greatly limits the ground reconnaissance range of the air-ground integrated reconnaissance robot. SUMMARY

[0004] The application aims to solve the problem of low ground reconnaissance level of the air-ground integrated reconnaissance robot, and provides a wheel-leg type air-ground integrated reconnaissance robot based on super-helical sliding mode, which can flexibly switch between air and ground modes, and the ground mode can flexibly adjust the height of the body, has the characteristics of air-ground all-around environment reconnaissance, ground multi-level view angle, long endurance, adaptation to various complex environments, etc., and can be widely applied to city patrol, forest patrol, personnel search and rescue and other tasks.

[0005] In order to achieve the purpose of the application, the application discloses a wheel-leg type air-ground integrated reconnaissance robot based on super-helical sliding mode, which comprises a multi-duct type flight frame and a wheel-leg type chassis.

[0006] Further, the multi-ducted flight frame includes a multi-ducted flight frame keel; four duct protection covers are symmetrically distributed on both sides of the multi-ducted flight frame keel, the flight motor is arranged on the central shaft of the duct protection cover and is directly connected with the propeller; the propeller adopts a three-blade propeller, the diameter of the duct protection cover is larger than the rotating diameter of the propeller; in the flight mode, the duct protection cover is used for protecting the robot propeller and avoiding damage in collision and affecting normal flight; in the ground mode, the duct protection cover can play a buffering role in collision and avoid damage to the core components of the robot body.

[0007] Further, the multi-ducted flight frame keel is internally provided with a flight control cavity, the flight control cavity is internally provided with a flight controller, an electronic speed regulator and a GPS; the flight controller is electrically connected to the electronic speed regulator, and the electronic speed regulator is electrically connected to the flight motor; the multi-ducted flight frame keel is provided with a camera device at the front end, the camera device includes adjusting screws and a video transmission lens, the video transmission lens is fixed on the flight frame keel through the adjusting screws on both sides, and the camera device transmits image information in real time through the video transmission lens.

[0008] Further, the wheel-leg chassis includes a trunk control cavity, a wheel-leg mechanism and a motor cavity; two groups of wheel-leg mechanisms are arranged below the trunk control cavity, and the bottom of each group of wheel-leg mechanisms is provided with a motor cavity; the motor cavity includes a chassis motor, a hub and a tire; the chassis motor is arranged in the hub, and the tire is wrapped outside the hub; the trunk control cavity is internally provided with four servos, a main controller, a battery and a chassis motor driving board; the main controller is electrically connected to the four servos, the chassis motor driving board and the flight controller, and the main controller is used for controlling the movement of the robot in the ground mode and issuing the core instructions in the flight mode.

[0009] Further, the wheel-leg mechanism comprises a front thigh support rod, a front shank support rod, a rear thigh support rod and a rear shank support rod; the front thigh support rod, the front shank support rod, the rear thigh support rod, the rear shank support rod and the trunk control cavity form a five-link structure; upper ends of the front thigh support rod and the rear thigh support rod are directly connected with the steering engine on one side of the trunk control cavity; upper ends of the front shank support rod and the rear shank support rod are connected with lower ends of the front thigh support rod and the rear thigh support rod through bearings; lower ends of the front shank support rod and the rear shank support rod are connected with the motor cavity through bearings; when the robot needs to be lifted in the ground mode, the steering engine is controlled to twist the front thigh support rod and the rear thigh support rod, the torsion is transmitted to the front shank support rod and the rear shank support rod, and the front shank support rod and the rear shank support rod rotate around the bearings at the connecting positions; since the lower ends of the front shank support rod and the rear shank support rod are fixed on the bearings at two ends of the motor cavity, the wheel-leg lifting can be controlled by rotating the bearings at the two ends, and the height of the robot is changed; when the robot needs to switch between the ground mode and the flight mode, the steering engine is controlled to twist the front thigh support rod and the rear thigh support rod outward, so as to drive the front shank support rod, the rear shank support rod and the motor cavity, the wheel-leg of the robot is retracted, and the flight volume of the robot is reduced; when the robot switches to the ground mode, the robot is lowered by the reverse process, and the wheel-leg is unfolded.

[0010] Further, when the main controller performs self-balancing control on the wheel-leg mechanism, a control method based on super-spiral sliding mode is adopted, comprising the following steps:

[0011] Step 1, a dynamic model of the wheel-leg type air-ground integrated reconnaissance robot in the ground mode based on super-spiral sliding mode is established, and a system dynamic equation containing three degrees of freedom and two driving torques [C l C r ] T is obtained;

[0012] Step 2, since the balance of the robot only involves position and inclination, the system equation is rearranged to obtain a matrix equation containing a state vector q=[x φ] T and a control vector u=[C l C r ] T ;

[0013] Step 3, a new state vector is selected, and the dynamic model of the robot is written as a differential equation group in the standard Cauchy form;

[0014] Step 4, the control amount is calculated according to the super-spiral sliding mode algorithm.

[0015] Further, the dynamic equation in step 1 has three degrees of freedom and [C l C r ] TTwo driving torques, the dynamic model is a typical second-order under-actuated system, whose dynamic model is as follows:

[0016]

[0017]

[0018]

[0019] In the formula, x is the displacement of the robot, φ is the inclination angle of the robot centroid, is the angular velocity of the inclination angle, δ is the angle between the robot and the X axis, that is, the rotation angle around the Y axis, m is the mass of the left and right wheels, R is the radius of the left and right wheels, D w is the distance between the left and right wheels, M is the total mass of the upper body of the robot, J ω is the moment of inertia of the left and right wheel pairs around the rotation axis, J δ is the moment of inertia of the vehicle body around the Y axis, J p is the moment of inertia of the vehicle body around the Z axis, L is the distance from the centroid of the robot to the Z axis of the base coordinate system, C l and C r are the torques output by the left and right chassis motors to the wheels.

[0020] Further, in step 2, since the balance of the robot only involves the control of position and inclination angle, the equation containing x, φ, C l and C r is selected and rearranged into the following form:

[0021]

[0022]

[0023] Taking the state vector q = [x φ] T , the control vector u = [C l C r ] T , the dynamic model of the reconnaissance robot in the ground travel mode can be written as follows:

[0024]

[0025] wherein,

[0026] Further, in step 3, taking to form a new state vector x, the dynamic model of the robot is written as a standard Cauchy form of differential equation set, which is as follows:

[0027]

[0028] wherein, For convenience, f(x) and g(x) are abbreviated as f and g, respectively.

[0029] Further, in step 4, for a second-order nonlinear system, if the sliding surface s satisfies the following equation:

[0030]

[0031] then the system is stable; wherein λ and α are both design parameters, and are set as

[0032]

[0033]

[0034] wherein λ, α, ω1, γ1, ε, β are all greater than zero;

[0035] Let the expected value of the state variable x1 be x 1d then the expression of each tracking error is:

[0036]

[0037] Define the sliding surface as:

[0038] s = ce1+e2

[0039] Take the derivative, and get:

[0040]

[0041] Obviously, when the sliding surface s can satisfy the condition, the control quantity is

[0042]

[0043] Compared with the prior art, the significant progress of the present application is that: 1) the super-helical sliding mode based wheel-leg air-ground integrated reconnaissance robot of the present application can freely convert between flight mode and ground mode, combining the advantages of reconnaissance drones and reconnaissance unmanned vehicles. The ground mode is the main mode of travel of the present application. When encountering obstacles such as stairs, high platforms, or needing to enter the reconnaissance area from a high place, the robot can continue the task by flying over the obstacles, making the robot have a longer endurance time while having a strong terrain adaptability; 2) the wheel-leg structure of the present application makes the robot have the passing ability of legged robots and the maneuverability of wheeled robots. At the same time, compared with legged robots, it is more energy-saving, faster, more efficient, and has lower motion noise. Compared with traditional wheeled robots, it has strong terrain adaptability, strong obstacle crossing ability, and high turning efficiency. While ensuring that the robot has high mobility and obstacle crossing ability, the noise of the robot during travel is greatly reduced, improving the concealment of the reconnaissance process; 3) the variable height structure allows the robot to adjust the height to achieve a certain degree of concealment and angle of view adjustment in the ground mode without starting the flight mode to obtain more levels of view; in the flight mode, the height can be adjusted to retract the two wheel legs to minimize the size of the robot; 4) the duct protection cover can prevent the propeller from being damaged by collision in the flight state. At the same time, when the robot collides with obstacles in the ground mode, it has a certain degree of buffering effect; 5) the self-balancing control of the robot in the ground mode uses a super-helical sliding mode based control method, which has strong robustness and anti-interference in the air-ground mode switching and ground travel process.

[0044] To more clearly illustrate the functional characteristics and structural parameters of the present application, the following further describes the present application in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0045] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0046] Fig. 1 is a whole structure diagram of the super-helical sliding mode based wheel-leg air-ground integrated reconnaissance robot of the present application;

[0047] Fig. 2 is a multi-ducted flight frame structure diagram of the super-helical sliding mode based wheel-leg air-ground integrated reconnaissance robot of the present application;

[0048] Fig. 3 is a wheeled chassis structure diagram of the super-helical sliding mode based wheel-leg air-ground integrated reconnaissance robot of the present application;

[0049] The figure mark is: multi-diffuser flight frame 1; wheel leg type chassis 2; multi-diffuser flight frame keel 3; torso control cavity 4; wheel leg mechanism 5; motor cavity 6; chassis motor 7; camera device 8; diffuser protective cover 11; flight motor 12; propeller 13; flight control cavity 14; adjusting screw 15; image transmission lens 16; front thigh support rod 22; rear thigh support rod 23; front calf support rod 24; rear calf support rod 25 tire 26; hub 27. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0051] As Figs. 1-3 shown, a wheel-leg type air-ground integrated reconnaissance robot based on super-coil sliding mode includes a multi-diffuser flight frame 1 and a wheel-leg type chassis 2. The multi-diffuser flight frame 1 includes a flight control cavity 14, a propeller 13, a flight motor 12, a diffuser protective cover 11, and a camera device 8. Four diffuser protective covers 11 are symmetrically distributed on both sides of the multi-diffuser flight frame 1 and are directly connected to the multi-diffuser flight frame 1; the flight motor 12 is arranged on the central shaft of the diffuser protective cover 11 and is directly connected to the propeller 13; the diffuser protective cover 11 can avoid damage to the propeller 13 when the robot is hit, affecting the flight function of the system, and at the same time, in the ground mode, it can also buffer the impact force when the robot collides with obstacles, avoiding damage to the robot.

[0052] Specifically, the flight control cavity 14 is internally provided with a flight control, an electronic governor, and a GPS for realizing stable flight of the robot. The upper and lower double-layer supports can provide good protection for the internal hardware. The camera device 8 is arranged at the front end of the multi-diffuser flight frame keel 3 and is fixed on the multi-diffuser flight frame through two side adjusting screws 15. The camera device can adjust the pitch of the camera 16 by adjusting the adjusting screw 15 to realize the change of the photography angle.

[0053] Specifically, the wheel-leg chassis 2 comprises a torso control cavity 4 and a wheel-leg mechanism 5 and a motor cavity 6. The wheel-leg mechanism 5 comprises a front thigh support rod 22, a front shank support rod 24, a rear thigh support rod 23 and a rear shank support rod 25. The front thigh support rod 22, the front shank support rod 24, the rear thigh support rod 23 and the rear shank support rod 25 form a five-bar linkage with the torso control cavity 4; the upper ends of the front thigh support rod 22 and the rear thigh support rod 23 are directly connected with a rudder on one side of the torso control cavity 4, the upper ends of the front shank support rod 24 and the rear shank support rod 25 are connected with the lower ends of the front thigh support rod 22 and the rear thigh support rod 23 through bearings, and the lower ends of the front shank support rod 24 and the rear shank support rod 25 are connected with the motor cavity 6 through bearings; the rudder transmits torsional force to the front shank support rod 24 and the rear shank support rod 25 by twisting the front thigh support rod 22 and the rear thigh support rod 23, and rotates around the bearings at the connection positions; since the lower ends of the front shank support rod 24 and the rear shank support rod 25 are fixed on the bearings at the two ends of the motor cavity 6, the robot wheel-leg can be controlled to rise and fall by rotating the bearings at the two ends, thereby adjusting the height of the robot.

[0054] Specifically, the motor cavity 6 comprises a chassis motor 7, a wheel hub 27 and a tire 26. The chassis motor 7 is arranged in the wheel hub 27, and the tire 26 is wrapped outside the wheel hub 27; the torso control cavity 4 mainly comprises four rudders, a main controller, a battery and various electrical components; the four rudders, the main controller, the battery and various electrical components are arranged inside the torso control cavity 4, so that the chassis-related hardware can be well protected; the main controller is directly connected with the rudders, a chassis motor control board and a flight control of the robot, controls the ground mode movement of the robot and the issuance of the core instructions in the flight mode; the rudders are used to control the rising and falling and locking of the wheel-leg, and the coordinated rotation of the rudders on both sides realizes the rotational movement of the knee bearings of the wheel-leg as the center, and then the wheel-leg is elongated and contracted. The main controller is powered by the battery, the battery is electrically connected with the power supply, and the battery supplies power to each device of the robot.

[0055] Specifically, when the robot moves in the ground mode, the height of the robot can be controlled by controlling the rudders of the wheel-leg chassis 2, so that more levels of perspective or the robot itself can be hidden; when the robot is in the flight mode, the wheel-leg mechanism 5 can be contracted by adjusting the wheel-leg chassis 2, so that the volume of the robot is minimized, the probability of collision is reduced, the center of gravity of the robot is raised, and the flight stability of the robot is improved.

[0056] Specifically, when the robot needs to switch between the ground mode and the flight mode, the front thigh support rod 22 and the rear thigh support rod 23 are twisted outward by controlling the rudders, so as to drive the front shank support rod 24, the rear shank support rod 25 and the motor cavity 6, realize the contraction of the robot wheel-leg, and reduce the flight volume of the robot; when the robot switches to the ground mode, the robot is landed by the reverse process, and the wheel-leg is unfolded.

[0057] The self-balancing of the robot ground mode adopts a super-spiral sliding mode control method, which comprises the following steps:

[0058] Step 1, a dynamics model of a wheel-legged air-ground integrated reconnaissance robot ground mode based on super-spiral sliding mode is established, and a matrix equation containing three degrees of freedom and two driving torques [C l C r ] T of the system dynamics equation is obtained;

[0059] Step 2, since the balance of the robot only involves position and inclination, the system equation is reorganized to obtain a matrix equation containing a state vector q=[x φ] T and a control vector u=[C l C r ] T ;

[0060] Step 3, a new state vector is selected, and the robot dynamics model is written as a differential equation set in the standard Cauchy form;

[0061] Step 4, the control amount is calculated according to the super-spiral sliding mode algorithm.

[0062] Specifically, the dynamics equation of step 1 is based on the kinematic analysis and modeling of the robot based on Newtonian mechanics; in the following formula, x is the displacement of the robot, φ is the inclination of the center of mass of the robot, δ is the angle between the robot and the X axis, i.e. the rotation angle around the Y axis, m is the mass of the left and right wheels, R is the radius of the left and right wheels, D w is the distance between the left and right wheels, M is the total mass of the upper body of the robot, J ω is the moment of inertia of the left and right wheel rotation shafts, J δ is the moment of inertia of the vehicle body around the Y axis, J p is the moment of inertia of the vehicle body around the Z axis, L is the distance from the center of mass of the robot to the Z axis of the base coordinate system, C l and C r are the torques of the left and right chassis motors output to the wheels, x l and x r are the displacements of the left and right wheels, f l and f r are the friction forces between the ground and the left and right wheels, H l and H r are the components of the interaction forces between the left and right wheels and the vehicle body in the X axis direction, V l and V r are the components of the interaction forces between the left and right wheels and the vehicle body in the Y axis direction, C l and C r are the torques of the left and right motor outputs to the wheels, x p and y pFor the displacement of the vehicle body's center of mass in the X-axis and Y-axis direction, θ l and θ r For the angle of rotation of the left and right wheels around the Z-axis.

[0063] Relationship between the displacement of the robot and the displacement of the left and right wheels:

[0064]

[0065] Relationship between the angle of rotation of the robot around the Y-axis and the displacement of the left and right wheels:

[0066]

[0067] Where:

[0068] x l = Rθ l

[0069] x r = Rθ r From the above four relationships:

[0070]

[0071]

[0072]

[0073]

[0074] Newtonian mechanics modeling is as follows:

[0075] ① Left wheel mechanical equation:

[0076] Left wheel along the X-axis direction:

[0077]

[0078] Left wheel rotation around the Z-axis:

[0079]

[0080] ② Right wheel mechanical equation:

[0081] Right wheel along the X-axis direction:

[0082]

[0083] Right wheel rotation around the Z-axis:

[0084]

[0085] ③ Robot vehicle body mechanical equation:

[0086] Vehicle body along the X-axis direction:

[0087]

[0088] The vehicle body rotates around the Z-axis parallel axis of the center of mass:

[0089]

[0090] The vehicle body moves along the Y-axis direction:

[0091]

[0092] The vehicle body rotates around the Y-axis:

[0093]

[0094] The above partial parameter calculations are as follows:

[0095] x p = x + L sin φ

[0096] y p = L cos φ

[0097] Eliminate the intermediate variable to obtain the nonlinear model of the two-wheel self-balancing robot as follows:

[0098]

[0099]

[0100]

[0101] From the dynamic model, it can be seen that the robot has three degrees of freedom and two driving torques [C l C r ] T when the robot is in the ground travel mode, so the dynamic model of the robot is a typical second-order underactuated system.

[0102] Specifically, in step 2, the balance of the robot only involves the control of the position and the inclination angle, so this paper selects the first two equations in the nonlinear model of step 1 to form a subsystem, and designs a super-spiral sliding mode controller for it. Rearrange the two equations to write them in the following form:

[0103]

[0104]

[0105] Take the state vector q = [x φ] T , and the control vector u = [C l C r ] TThe dynamics model of the reconnaissance robot in the ground travel mode can be written as follows:

[0106]

[0107] wherein,

[0108] Specifically, in step 3, take The robot dynamics model can be written as a standard Cauchy form of differential equations, as follows:

[0109]

[0110] wherein, For convenience of representation, f(x) and g(x) are abbreviated as f and g, respectively.

[0111] Specifically, in step 4, according to the super-spiral algorithm, for a second-order nonlinear system, if the sliding surface s satisfies the following equation:

[0112]

[0113] The system is stable. Wherein λ and α are design parameters, set to

[0114]

[0115]

[0116] Wherein λ, α, ω1, γ1, ε, β are greater than zero.

[0117] Let the expected value of the state variable x1 be x 1d The expression of each tracking error is as follows:

[0118]

[0119] The sliding surface is defined as:

[0120] s = ce1 + e2

[0121] Taking derivative, we can get:

[0122]

[0123] Obviously, the control amount when the sliding surface s satisfies the condition is

[0124]

[0125] The super-coil sliding mode based wheel-leg air-ground integrated reconnaissance robot of the application can realize free switching of flight mode and ground mode under different task requirements and environments; the robot flight mode can provide higher visual angle image information, and at the same time, the robot has stronger obstacle crossing ability and high building reconnaissance ability; the ground mode can make the robot quickly approach the target reconnaissance, and at the same time of ensuring that the robot has strong ground obstacle crossing ability of leg type robot, the robot has the moving ability of wheel type robot. The robot takes the ground mode as the main travel mode, flies into the reconnaissance site through the flight mode, and then switches to the ground mode for reconnaissance, when encountering obstacles such as high platforms, gullies, steps and the like which cannot be passed by the robot, the flight mode is switched to pass. This greatly expands the reconnaissance range of the robot, and greatly improves the overall endurance. The wheel-leg structure of the robot can change the camera visual angle by lifting the bottom disc of the robot in the ground mode, and obtain multi-level visual angle; in the flight mode, the robot can reduce the overall volume as much as possible by retracting the robot wheel legs, and reduce the collision probability.

[0126] It should be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0127] While embodiments of the application have been shown and described, it is to be understood that the application is not limited to the details of the embodiments described, since numerous changes can be made to the embodiments without departing from the spirit and scope of the application as defined by the appended claims and their equivalents.

Claims

1. A supercoiled sliding mode based wheeled-legged air-ground integrated reconnaissance robot, characterized in that, The utility model provides a kind of multi-ducted flying frame (1) and wheel leg chassis (2), the multi-ducted flying frame (1) adopts four-rotor structure, realizes the stable flight of robot;The wheel leg chassis (2) is fixed below multi-ducted flying frame (1), adopts wheel leg structure connected by connecting rod, realizes the ground travel and height adjustment of robot; The multi-ducted flying frame (1) includes multi-ducted flying frame keel (3);Four duct protection covers (11) are symmetrically distributed on the two sides of the multi-ducted flying frame keel (3), and the flight motor (12) is arranged on the central shaft of the duct protection cover (11) and directly connected with the propeller (13);The propeller (13) adopts three-blade propeller, and the diameter of the duct protection cover (11) is larger than the rotating diameter of the propeller (13);In flight mode, the duct protection cover (11) is used for protecting the robot propeller (13), avoiding damage in collision and affecting normal flight;In ground mode, it can play a buffering role in collision to avoid damage to the core components of the robot body; The multi-ducted flying frame keel (3) is provided with a flight control cavity (14) inside, and the flight control cavity (14) is provided with a flight controller, an electronic speed regulator and a GPS inside;The flight controller is electrically connected to the electronic speed regulator, and the electronic speed regulator is electrically connected to the flight motor (12);The front end of the multi-ducted flying frame keel (3) is provided with a camera device (8), the camera device (8) includes adjusting screws (15) and a video transmission lens (16), the video transmission lens (16) is fixed on the multi-ducted flying frame keel (3) by the adjusting screws (15) on both sides, and the camera device (8) transmits image information in real time through the video transmission lens (16); The wheel leg chassis (2) includes a torso control cavity (4), a wheel leg mechanism (5) and a motor cavity (6);Two groups of wheel leg mechanisms (5) are arranged below the torso control cavity (4), and each group of wheel leg mechanisms (5) is provided with a motor cavity (6) at the bottom;The motor cavity (6) includes a chassis motor (7), a hub (27) and a tire (26);The chassis motor (7) is arranged in the hub (27), and the tire (26) is wrapped outside the hub (27);The torso control cavity (4) is provided with four servos, a main controller, a battery and a chassis motor drive board inside;The main controller is electrically connected to the four servos, the drive board of the chassis motor (7) and the flight controller, and is used for controlling the travel of the robot in ground mode and issuing the core instructions of flight mode.

2. The supercoiled sliding mode based wheel-legged air-ground integrated reconnaissance robot according to claim 1, characterized in that, The wheel-leg mechanism (5) comprises a front thigh support rod (22), a front shank support rod (24), a rear thigh support rod (23) and a rear shank support rod (25); the front thigh support rod (22), the front shank support rod (24), the rear thigh support rod (23), the rear shank support rod (25) and the trunk control cavity (4) form a five-bar linkage; the upper ends of the front thigh support rod (22) and the rear thigh support rod (23) are directly connected with a rudder on one side of the trunk control cavity (4); the upper ends of the front shank support rod (24) and the rear shank support rod (25) are connected with the lower ends of the front thigh support rod (22) and the rear thigh support rod (23) through bearings respectively; the lower ends of the front shank support rod (24) and the rear shank support rod (25) are connected with the motor cavity (6) through bearings; when the robot needs to be lifted in the ground mode, the front thigh support rod (22) and the rear thigh support rod (23) are twisted by controlling the rudder, the torsion is transmitted to the front shank support rod (24) and the rear shank support rod (25), and the front shank support rod (24) and the rear shank support rod (25) rotate around the bearings at the connecting positions; since the lower ends of the front shank support rod (24) and the rear shank support rod (25) are fixed on the bearings at the two ends of the motor cavity (6), the wheel-leg lifting can be controlled by rotating the bearings at the two connecting positions, and the height of the robot is changed; when the robot needs to switch between the ground mode and the flight mode, the front thigh support rod (22) and the rear thigh support rod (23) are twisted outward by controlling the rudder, so as to drive the front shank support rod (24), the rear shank support rod (25) and the motor cavity (6), the wheel-leg of the robot is retracted, and the flight volume of the robot is reduced; when the robot is switched to the ground mode, the robot is landed by the reverse process, and the wheel-leg is unfolded.

3. The supercoiled sliding mode based wheel-legged air-ground integrated reconnaissance robot according to claim 2, characterized in that, When the main controller controls the wheel-leg mechanism (5) to be self-balanced, a control method based on a super-spiral sliding mode is adopted, comprising the following steps: Step 1, the dynamics of the super-spiral sliding mode based wheel-leg integrated air-ground reconnaissance robot in ground mode is modeled, and the system dynamics equation containing three degrees of freedom and two driving torques [C l C r ] T is obtained; Step 2, Since the robot's balance involves only position and tilt angle, reorganize the system equations to obtain a matrix equation containing the state vector q = [x φ] T and the control vector u = [C l C r ] T C l and C r are the torques on the wheels from the left and right chassis motors, respectively. Step 3, selecting a new state vector, and writing the dynamic model of the robot into a standard Cauchy form differential equation set; Step 4, calculating the control quantity according to the super-spiral sliding mode algorithm.

4. The supercoiled sliding mode based wheel-legged air-ground integrated reconnaissance robot according to claim 3, characterized in that, The dynamics equation in Step 1 has three degrees of freedom and [C l C r ] T two driving torques, the dynamics model is a typical second-order underactuated system, whose dynamics model is as follows: where x is the displacement of the robot, φ is the inclination angle of the robot's center of mass, is the angular velocity of the inclination angle of the robot's center of mass, δ is the angle between the robot and the X axis, i.e. the rotation angle around the Y axis, m is the mass of the left and right wheels, R is the radius of the left and right wheels, D w is the distance between the left and right wheels, M is the total mass of the upper body of the robot, J ω is the moment of inertia of the left and right wheel pairs, J δ is the moment of inertia of the vehicle body around the Y axis, J p is the moment of inertia of the vehicle body around the Z axis, L is the distance from the center of mass of the robot to the Z axis of the base coordinate system 5. The supercoiled sliding mode based wheel-legged air-ground integrated reconnaissance robot according to claim 4, characterized in that, In step 2, since the balancing of the robot involves only the control of the position and the tilt angle, the equations containing x, φ, C l and C r are selected and rearranged in the following form: Taking state vector q = [x φ] T , control vector u = [C l C r ] T The dynamics model of the reconnaissance robot in the ground travel mode is written as follows: wherein 6. The supercoiled sliding mode based wheel-legged air-ground integrated reconnaissance robot according to claim 5, characterized in that, In step 3, take The robot dynamics model is written as a system of differential equations in standard Cauchy form, constituting a new state vector x, as follows: wherein For convenience of representation, f(x) and g(x) are abbreviated as f and g, respectively.

7. The supercoiled sliding mode based wheel-legged air-ground integrated reconnaissance robot according to claim 6, characterized in that, In step 4, for a second-order nonlinear system, if the sliding surface s satisfies the following equation: The system is stable; wherein λ and α are both design parameters, and are set as Wherein λ, α, ω1, γ1, ε, β are all greater than zero; Let the expected value of the state variable x1 be x 1d The expression of each tracking error is: The sliding surface is defined as: s = ce1 + e2, and the derivative is: Obviously, when the sliding surface s can meet the condition, the control quantity is

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