A flying robot and a control method and control system thereof

Abstract

The embodiment of the application discloses a flying robot and a control method and system thereof, and belongs to the technical field of unmanned aerial vehicles. The flying robot comprises a body, and a plurality of movement devices arranged around the body. The movement device comprises a connecting assembly, a flight assembly and a claw assembly. The connecting assembly is arranged between the flight assembly and the body. The claw assembly can be displaced in a first direction to realize a preset operation. The first direction is the extension direction of the connecting assembly. The preset operation is configured to include an object grabbing operation, an adsorption operation and a walking operation. In this way, the flying robot has the capabilities of flight operation, object grabbing operation, adsorption operation and walking operation by setting the claw assembly, thereby improving the adaptability and application capability of the flying robot in a complex environment.

Description

Technical Field

[0001] The present application belongs to the field of UAV technology, and specifically relates to a flying robot and a control method and control system of the flying robot. Background Art

[0002] Due to its simple structure, strong functionality and easy implementation, the multi-rotor UAV platform is more suitable for hovering and vertical take-off and landing than the fixed-wing platform, which greatly expands its application range.

[0003] However, when faced with complex terrain, narrow spaces, or tasks that require precise grasping of objects, multi-rotor drones have certain limitations, which affect their adaptability and application capabilities in complex environments. Summary of the Invention

[0004] Purpose of the invention: An embodiment of the present application provides a flying robot, aiming to solve the problem in the prior art that multi-rotor drones have certain limitations when facing complex terrain, narrow spaces or tasks that require precise grasping of objects, which affects their adaptability and application capabilities in complex environments; another purpose of an embodiment of the present application is to provide a control method for a flying robot; another purpose of an embodiment of the present application is to provide a control system for a flying robot.

[0005] Technical solution: A flying robot according to an embodiment of the present application includes:

[0006] A body, and a plurality of motion devices arranged around the body;

[0007] The motion device includes a connecting component, a flying component and a claw component. The connecting component is arranged between the flying component and the main body. The claw component can be displaced along a first direction to achieve a preset operation; the first direction is the extension direction of the connecting component; the preset operation is configured to include a grabbing object operation, an adsorption operation and a walking operation.

[0008] In some embodiments, the foot assembly includes:

[0009] a driving module connected to the connecting assembly;

[0010] a plurality of first moving parts, which are connected in series and arranged on a side of the driving module away from the connecting component;

[0011] a second moving portion, the second moving portion being disposed on a side of the first moving portion away from the first moving portion;

[0012] The driving module is used to drive the first moving part to bend, so as to drive the second moving part to realize object grabbing operation, adsorption operation and walking operation.

[0013] In some embodiments, the driving module includes a shell and a plurality of servos connected to the inside of the shell, at least one of the servos is used to drive the foot assembly to move along the extension direction of the connecting assembly, and at least one of the servos is used to drive the first moving part.

[0014] In some embodiments, the first moving part includes:

[0015] a motion joint arranged along a second direction, wherein the second direction is a direction in which the driving module points to the second motion part;

[0016] A plurality of elastic members extending along the second direction and arranged in a radial direction around the motion joint; a through hole opened along the second direction is formed inside the elastic member;

[0017] A driving rope is passed through the through hole and connected between the driving module and the second moving part.

[0018] In some embodiments, the second moving part includes:

[0019] a first support plate, the first support plate being arranged on a side of the first moving part away from the first moving part;

[0020] a second support plate, the second support plate being arranged opposite to the first support plate along a second direction;

[0021] a plurality of first support rods, wherein the first support rods are connected between the first support plate and the second support plate;

[0022] a third support plate, the third support plate being sleeved on the first support rod;

[0023] A plurality of integrated gripping and suction devices, each comprising a mounting surface and an operating surface disposed opposite to each other; a first mounting portion and a second mounting portion are spaced apart on the mounting surface, the first mounting portion is connected to the third support plate via a second support rod, and the second mounting portion is connected to the second support plate; and a plurality of suction cups are arranged on the operating surface;

[0024] The third support plate reciprocates along the first support rod, and drives the grabbing and suctioning device to rotate around the second mounting portion through the second support rod to adjust the angle of the operating surface.

[0025] In some embodiments, the flight assembly includes:

[0026] a base, the base being arranged on the connecting assembly;

[0027] The rotor is arranged on a side of the base away from the connecting assembly.

[0028] In some embodiments, the connection assembly includes:

[0029] a fixing member, the fixing member being arranged between the flight assembly and the body;

[0030] A screw rod is provided on the fixing member, and the claw assembly can be displaced along the extension direction of the screw rod to achieve the preset operation.

[0031] In some embodiments, the foot assembly includes a motion joint, a drive rope, a flexible foot, a gripper and a suction cup connected in sequence.

[0032] In some embodiments, a plurality of the motion joints are connected in sequence, and each of the motion joints comprises an elastic material and a supporting universal joint, and drive ropes spaced at an angle of 120 or 90 degrees from each other.

[0033] Accordingly, an embodiment of the present application provides a method for controlling a flying robot, including:

[0034] Get current scene information;

[0035] generating an operation instruction based on the current scene information;

[0036] Based on the operation instruction, a preset operation is performed; the preset operation is configured to include an object grabbing operation, an adsorption operation, and a walking operation.

[0037] In some embodiments, when the preset operation is the object grabbing operation, the step of performing the preset operation based on the operation instruction includes:

[0038] Identify and lock the object to be grasped;

[0039] Adjusting the flight assembly so that the claw assembly is aligned with the object to be grasped;

[0040] The posture of the claw assembly is adjusted so that the claw assembly bends and wraps the object to be grasped, thereby completing the object grasping operation.

[0041] In some embodiments, when the preset operation is the adsorption operation, the step of performing the preset operation based on the operation instruction includes:

[0042] Identify the position to be adsorbed;

[0043] Adjusting the connecting assembly so that the claw assembly adapts to the position to be adsorbed;

[0044] The posture of the claw assembly is adjusted so that the suction cup fits the position to be adsorbed, thereby completing the adsorption operation.

[0045] In some embodiments, when the preset operation is the walking operation, the step of performing the preset operation based on the operation instruction includes:

[0046] Identify the location to be walked;

[0047] Adjusting the flight assembly so that the foot assembly adapts to the position to be walked;

[0048] adjusting the posture of the foot assembly so that the foot assembly bends;

[0049] Control the motion joints to complete the walking operation.

[0050] Accordingly, an embodiment of the present application provides a control system for a flying robot, including:

[0051] an acquisition module, wherein the acquisition module is configured to acquire current scene information;

[0052] a generating module, the generating module being configured to generate an operation instruction based on the current scene information;

[0053] An execution module is configured to execute a preset operation based on the operation instruction; the preset operation is configured to include an object grabbing operation, an adsorption operation, and a walking operation.

[0054] Beneficial Effects: Compared to the prior art, the flying robot of the present invention comprises: a main body, and multiple motion devices disposed around the main body; the motion devices include a connecting assembly, a flying assembly, and a claw assembly; the connecting assembly is disposed between the flying assembly and the main body, and the claw assembly can be displaced along a first direction to perform a preset operation; the first direction is the extension direction of the connecting assembly; the preset operations are configured to include grasping an object, adsorbing an object, and walking. Thus, by providing the claw assembly, the flying robot simultaneously possesses the capabilities of flying, grasping an object, adsorbing an object, and walking, thereby enhancing the flying robot's adaptability and application capabilities in complex environments.

[0055] Compared with the prior art, the control method of the flying robot of the embodiment of the present application may include all the technical features and beneficial effects of the above-mentioned flying robot, which will not be repeated here.

[0056] Compared with the prior art, the control system of the flying robot in the embodiment of the present application may include all the technical features and beneficial effects of the above-mentioned flying robot and flying robot control method, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0058] Figure 1 A schematic diagram of the structure of the flying robot provided in an embodiment of the present application;

[0059] Figure 2 for Figure 1 A partial enlarged schematic diagram of area A in the middle;

[0060] Figure 3 A schematic diagram of the structure of the foot claw assembly of the flying robot provided in an embodiment of the present application;

[0061] Figure 4 A schematic structural diagram of the first moving part of the flying robot provided in an embodiment of the present application;

[0062] Figure 5 for Figure 3 A partial enlarged schematic diagram of area B in the middle;

[0063] Figure 6 A schematic diagram of the preset operation execution of the flying robot provided in an embodiment of the present application.

[0064] Figure markings: 100-main body; 200-moving device; 300-connecting assembly; 310-fixing part; 320-screw; 400-flying assembly; 410-base; 420-rotor; 500-foot claw assembly; 510-driving module; 511-servo; 512-housing; 520-first moving part; 521-moving joint; 522-elastic part; 5221-through hole; 523-driving rope; 530-second moving part; 531-first support plate; 532-second support plate; 533-first support rod; 534-third support plate; 535-suction and gripping integrated device; 5351-mounting surface; 5352-operating surface; 5353-first mounting part; 5354-second mounting part; 536-second support rod; 537-suction cup. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0066] In the description of this application, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "top", "bottom", "inner", "outer", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting this application. In the description of this application, "plurality" means two or more, and "at least one" means one, two, or more than two, unless otherwise clearly and specifically defined.

[0067] This application embodiment provides a flying robot, see Figure 1 , Figure 1 The schematic diagram of the structure of the flying robot provided by the embodiment of the present application is shown. The flying robot provided by the embodiment of the present application includes: a main body 100, and multiple motion devices 200 arranged around the main body 100; the motion devices 200 include a connecting assembly 300, a flying assembly 400, and a claw assembly 500. The connecting assembly 300 is arranged between the flying assembly 400 and the main body 100, and the claw assembly 500 can be displaced along a first direction X to achieve a preset operation; the first direction X is the extension direction of the connecting assembly 300; the preset operations are configured to include an object grabbing operation, an adsorption operation, and a walking operation. In this way, by providing the claw assembly 500, the flying robot can simultaneously perform flying operations, object grabbing operations, adsorption operations, and walking operations, thereby improving the adaptability and application capabilities of the flying robot in complex environments.

[0068] See also Figure 3 , Figure 3The schematic diagram of the foot assembly of a flying robot provided in an embodiment of the present application is shown. In some embodiments, the foot assembly 500 includes: a drive module 510, multiple first moving parts 520, and a second moving part 530. The drive module 510 is connected to the connecting assembly 300. The multiple first moving parts 520 are connected in series and arranged on the side of the drive module 510 away from the connecting assembly 300. The second moving part 530 is arranged on the side of the first moving part 520 away from the first moving part 520. The drive module 510 is configured to drive the first moving parts 520 to bend, thereby driving the second moving parts 530 to perform object grabbing, suction, and walking operations. In this embodiment of the present application, the foot assembly 500 has multiple functions, including grabbing, suction, and walking, which expands the applicability of the flying robot to various tasks and environments. In addition, by separating the drive module 510, the first moving part 520, and the second moving part 530 into independent components, a modular design is achieved, allowing each component to be maintained, replaced, or upgraded relatively independently, improving the flexibility and maintainability of the flying robot. At the same time, the driving module 510 drives the bending movement of the first moving part 520, thereby driving the second moving part 530 to perform object grabbing operations, adsorption operations and walking operations, achieving precise motion control, so that the flying robot can efficiently perform various tasks.

[0069] Please refer again Figure 3 In some embodiments, the drive module 510 includes a housing 512 and multiple servos 511 connected to the interior of the housing 512. At least one servo 511 is used to drive the foot assembly 500 to move along the extension direction of the connecting assembly 300, and at least one servo 511 is used to drive the first motion portion 520. In this embodiment, because the drive module 510 can control the displacement of the foot assembly 500, the position of the foot assembly 500 can be adjusted according to different tasks and environmental requirements to accommodate various work scenarios and work objects of different shapes and sizes. In addition, at least one servo 511 is used to drive the first motion portion 520, which means that the drive module 510 can achieve diversified motion control of the foot assembly 500. For example, through the coordinated action of different servos 511, various motions of the foot assembly 500, including bending, extension, rotation, etc., can be achieved to meet the requirements of different tasks. Furthermore, using multiple servos 511 for driving can improve the reliability and stability of the flying robot. Even if one of the servos 511 fails, the other servos 511 can still continue to work to ensure the normal operation of the flying robot.

[0070] See also Figure 4 , Figure 4The diagram illustrates the structure of the first motion unit of the flying robot provided in an embodiment of the present application. In some embodiments, the first motion unit 520 includes a motion joint 521, multiple elastic members 522, and a drive rope 523. The motion joint 521 is arranged along a second direction Y, which is the direction from the drive module 510 to the second motion unit 530. The elastic members 522 extend along the second direction Y, and the multiple elastic members 522 are arranged radially around the motion joint 521. The elastic members 522 have through holes 5221 extending along the second direction Y. The drive rope 523 is inserted into the through holes 5221 and connects the drive module 510 to the second motion unit 530. In the embodiment of the present application, the elastic member 522 is arranged radially around the motion joint 521, giving the first motion portion 520 a certain degree of flexibility and adaptability. Furthermore, the presence of the elastic member 522 can provide shock absorption and cushioning. When the claw assembly contacts or collides with a work object, the elastic member can absorb some of the impact force, reducing the impact on the entire flying robot, thereby ensuring the stability and durability of the flying robot. The elastic member 522 can be a spring or other elastic device.

[0071] Please also refer to Figure 1 、 Figure 2 and Figure 3 In the embodiment of the present application, the combination of the motion joint 521, the elastic member 522, and the drive rope 523 can simulate the motion capabilities of an elephant's trunk, allowing the first motion portion 520 to bend and twist freely in multiple directions to better adapt to complex working environments and task requirements. Specifically, the motion joint 521 can simulate the joint structure and range of motion of an elephant's trunk, allowing the first motion portion 520 to move and adjust freely in multiple directions to accommodate target objects of varying shapes and sizes, improving the adaptability and versatility of related operations. The elastic member 522 can simulate the flexibility and bending ability of an elephant's trunk, allowing for free bending and twisting in multiple directions. The drive rope 523 simulates the muscles and nerves of an elephant's trunk to finely control the movement and posture of the first motion portion 520. By adjusting the tension and direction of the drive rope 523, the present application can achieve precise control of the first motion portion 520, thereby enabling precise manipulation of target objects and improving the accuracy and efficiency of related operations of the flying robot.

[0072] See also Figure 5 , Figure 5 Indicated Figure 3A partial enlarged schematic diagram of the middle B area; in some embodiments, the second moving part 530 includes: a first support plate 531, a second support plate 532, a third support plate 534, a second support rod 536, a plurality of first support rods 533 and a plurality of grabbing and sucking integrated devices 535; wherein, the first support plate 531 is arranged on the side of the first moving part 520 away from the first moving part 520; the second support plate 532 is arranged opposite to the first support plate 531 along the second direction Y; the first support rod 533 is connected between the first support plate 531 and the second support plate 532; the third support plate 534 is sleeved on the first support rod 533; the grabbing and sucking integrated devices 535 The body device 535 has a mounting surface 5351 and an operating surface 5352 that are oppositely disposed. A first mounting portion 5353 and a second mounting portion 5354 are spaced apart on the mounting surface 5351. The first mounting portion 5353 is connected to the third support plate 534 via a second support rod 536, and the second mounting portion 5354 is connected to the second support plate 532. A plurality of suction cups 537 are arranged on the operating surface 5352. The third support plate 534 reciprocates along the first support rod 533, driving the gripping and suctioning device 535 to rotate about the second mounting portion 5354 via the second support rod 536 to adjust the angle of the operating surface 5352. Specifically, the arrangement of the first support plate 531, the second support plate 532, the third support plate 534, and the plurality of first support rods 533, as well as the connection of the second support rods 536, together form a stable support structure, thereby effectively supporting and securing the gripping and suctioning device 535, ensuring its stability and reliability during operation and preventing operational errors and damage caused by vibration or instability. Secondly, the first support plate 531 and the second support plate 532 are arranged relative to each other along the second direction Y. The third support plate 534 reciprocates along the first support rod 533, and drives the integrated gripping and suction device 535 to rotate about the second mounting portion 5354 via the second support rod 536. This allows for flexible adjustment of the angle of the operating surface 5352, allowing the integrated gripping and suction device 535 to adapt to workpieces of varying shapes and positions, thereby improving operational flexibility and adaptability. Furthermore, the integrated gripping and suction device 535 includes multiple suction cups 537, which can precisely position and absorb workpieces by adjusting the angle and position of the operating surface 5352.

[0073] See also Figure 2 , Figure 2 Indicated Figure 1A partial enlarged schematic diagram of area A in the center. In some embodiments, the flight assembly 400 includes a base 410 and multiple rotors 420; the base 410 is mounted on the connection assembly 300; and the rotors 420 are disposed around the side of the base 410 away from the connection assembly 300. Specifically, the multiple rotors 420 surrounding the base 410 provide multi-directional thrust and more balanced lift for the flight assembly 400, making the flight assembly 400 more flexible and versatile in the air while maintaining its stability.

[0074] Please refer again Figure 2 In some embodiments, the connection assembly 300 includes a fixing member 310 and a screw 320. The fixing member 310 is disposed between the flight assembly 400 and the main body 100. The screw 320 is disposed within the fixing member 310, and the foot assembly 500 can be displaced along the extension direction of the screw 320 to perform a predetermined operation. Specifically, the fixing member 310 is disposed between the flight assembly 400 and the main body 100. The screw 320 securely connects the flight assembly 400 to the main body 100, ensuring a stable and reliable connection. This allows the flight assembly 400 to perform various aerial tasks without loosening or falling off, thereby enhancing the safety and stability of the flying robot. Furthermore, the screw 320 allows the foot assembly 500 to be displaced along the extension direction of the screw 320, enabling precise control of the foot assembly 500, allowing it to move along a predetermined path or operation. This is crucial for tasks requiring precise positioning or manipulation, such as capturing or releasing objects at specific locations and performing precise positioning adjustments. It can be understood that the displacement of the claw assembly 500 along the extension direction of the screw 320 can also be achieved by the steering gear 511.

[0075] Accordingly, an embodiment of the present application provides a method for controlling a flying robot, including:

[0076] S1. Get current scene information.

[0077] S2. Generate operational instructions based on current scene information. In the embodiments of the present application, by acquiring current scene information and generating operational instructions based on it, the flying robot can achieve intelligent operation. Specifically, the flying robot can adjust its behavior based on environmental changes and requirements, thereby better adapting to different tasks and scenarios. This intelligent operation enables the flying robot to perform tasks more flexibly and efficiently, improving its applicability and efficiency.

[0078] S3. Execute a preset operation based on the operation instruction; the preset operation is configured to include grasping an object, adsorbing an object, and walking. This includes grasping an object, adsorbing an object, and walking, which means the flying robot has a wide range of applications. Whether it needs to grasp an object, adsorb an object, or walk, the flying robot can perform the corresponding operation as needed, thus adapting to a wider range of application scenarios.

[0079] In summary, the control method of the flying robot provided in this application provides important support and guarantee for the application of flying robots through its advantages in intelligent operation, multifunctional application, improved operation accuracy and success rate, reduced human intervention and improved autonomy, so that flying robots can better adapt to different tasks and scenarios.

[0080] See also Figure 6 , Figure 6 The following is a schematic diagram illustrating the execution of a preset operation of a flying robot provided in an embodiment of the present application. In some embodiments, when the preset operation is an object grabbing operation, S3 includes the following steps of executing the preset operation based on the operation instruction:

[0081] S301: Identify and lock onto the object to be grasped. Specifically, through the steps of identifying and locking onto the object to be grasped in S301, the flying robot can accurately identify and lock onto the target object. This precise object recognition and positioning helps the flying robot effectively find the target object, reducing the possibility of errors and failures during the grasping process and improving the success rate of the grasping operation.

[0082] S302. Adjust the flight component 400 so that the claw component 500 is aligned with the object to be grasped. Specifically, the flying robot adjusts the flight component 400 so that the claw component 500 is aligned with the object to be grasped, thereby ensuring that the claw component 500 can accurately contact the target object during the grasping process, thereby improving the grasping accuracy and success rate.

[0083] S303: Adjust the posture of the claw assembly 500 so that it bends and wraps around the object to be grasped, completing the object grasping operation. Specifically, in S303, the flying robot adjusts the posture of the claw assembly 500 so that it bends and wraps around the object to be grasped, completing the grasping action. This motion design enables the flying robot to effectively grasp objects and ensures that the objects do not slip or become damaged during the grasping process. In addition, by adjusting the posture of the claw assembly 500, the flying robot can better adapt to target objects of different shapes and sizes, improving the flexibility and applicability of the grasping operation.

[0084] Please refer again Figure 6In some embodiments, when the preset operation is the adsorption operation, the step of S3 of executing the preset operation based on the operation instruction includes:

[0085] S304, identifying the position to be adsorbed; specifically, through the step of identifying the position to be adsorbed in S304, the flying robot can accurately identify and determine the position of the adsorption target, reducing the possibility of errors and failures in the adsorption process, and improving the success rate of the adsorption operation.

[0086] S305, adjusting the connecting assembly 300 to adapt the foot claw assembly 500 to the position to be adsorbed; specifically, in S305, the flying robot adjusts the connecting assembly 300 to adapt the foot claw assembly 500 to the position to be adsorbed, ensuring that the foot claw assembly 500 can be closely combined with the position to be adsorbed, providing a good foundation for subsequent adsorption operations, ensuring the stability and reliability of the adsorption operation, and improving the success rate of adsorption.

[0087] S306, adjusting the posture of the foot claw assembly 500 to make the suction cup 537 fit the position to be adsorbed, and completing the adsorption operation. Specifically, the flying robot adjusts the posture of the foot claw assembly 500 to make the suction cup 537 fit the position to be adsorbed, and completes the adsorption operation. This precise adjustment of the posture of the foot claw assembly 500 ensures that the suction cup 537 can completely fit the surface of the target object, achieving effective adsorption effect, ensuring the stability and reliability of the adsorption operation, reducing friction and sliding during the adsorption operation process, and improving the success rate of the adsorption operation.

[0088] Please refer to Figure 6 In some embodiments, when the preset operation is the walking operation, the step of S3 of executing the preset operation based on the operation instruction includes:

[0089] S307, identifying the position to be walked; specifically, by identifying the position to be walked, the flying robot can accurately identify and determine the position of the walking target, effectively plan the walking path, avoid obstacles and reach the target position, and improve the success rate and efficiency of the walking operation.

[0090] S308, adjusting the flying assembly 400 to adapt the foot claw assembly 500 to the position to be walked; specifically, the flying robot adjusts the flying assembly 400 to adapt the foot claw assembly 500 to the position to be walked, ensuring the adaptability of the flying assembly 400 to the position to be walked, providing stable support for subsequent walking operations, ensuring the stability and reliability of the walking operation, and improving the success rate of the walking operation.

[0091] S309. Adjust the posture of the foot assembly 500 so that the foot assembly 500 bends; specifically, the flying robot adjusts the posture of the foot assembly 500 so that the foot assembly 500 bends, ensuring that the foot assembly 500 fits tightly with the position to be walked, and provides good support and traction, thereby enhancing the stability and controllability of the flying robot during walking.

[0092] S310: Control the motion joints 521 to complete the walking operation. Specifically, by controlling the motion joints 521, the flying robot can achieve flexible walking movements and adapt to changes in different terrains and environments, thereby improving the flying robot's adaptability and coping capabilities in complex environments.

[0093] Accordingly, an embodiment of the present application provides a control system for a flying robot, comprising: an acquisition module, a generation module and an execution module; the acquisition module is configured to acquire current scene information; the generation module is configured to generate operation instructions based on the current scene information; the execution module is configured to perform preset operations based on the operation instructions; the preset operations are configured to include object grabbing operations, adsorption operations and walking operations.

[0094] Compared with the prior art, the control system of the flying robot in the embodiment of the present application may include all the technical features and beneficial effects of the above-mentioned flying robot and flying robot control method, which will not be repeated here.

[0095] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0096] The above is a detailed introduction to a flying robot and a control method and control system of a flying robot provided in the embodiments of the present application, and specific examples are used to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the technical solutions and core ideas of the present application; ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A flying robot, characterized in that: include: A body (100), and a plurality of motion devices (200) arranged around the body (100); The motion device (200) comprises a connecting component (300), a flying component (400) and a claw component (500), wherein the connecting component (300) is arranged between the flying component (400) and the body (100), and the claw component (500) can be displaced along a first direction (X) to achieve a preset operation; the first direction (X) is the extension direction of the connecting component (300); the preset operation is configured to include an object grabbing operation, an adsorption operation and a walking operation; The foot assembly (500) includes: A driving module (510), the driving module (510) being connected to the connecting assembly (300); a plurality of first moving parts (520), wherein the plurality of first moving parts (520) are connected in series and arranged on a side of the driving module (510) away from the connecting assembly (300); a second moving part (530), the second moving part (530) being arranged on a side of the first moving part (520) away from the first moving part (520); The driving module (510) is used to drive the first moving part (520) to perform bending motion, thereby driving the second moving part (530) to perform object grabbing operation, adsorption operation and walking operation; The first moving part (520) comprises: The motion joint (521) is arranged along a second direction (Y), wherein the second direction (Y) is a direction in which the driving module (510) points toward the second motion part (530); a plurality of elastic members (522), the elastic members (522) extending along the second direction (Y), and the plurality of elastic members (522) being arranged in a radial direction around the motion joint (521); the elastic members (522) having a through hole (5221) opened along the second direction (Y); a driving rope (523), the driving rope (523) being passed through the through hole (5221), and the driving rope (523) being connected between the driving module (510) and the second moving part (530); The second moving part (530) includes: a first support plate (531), the first support plate (531) being arranged on a side of the first moving part (520) away from the first moving part (520); a second support plate (532), the second support plate (532) being arranged opposite to the first support plate (531) along a second direction (Y); a plurality of first support rods (533), wherein the first support rods (533) are connected between the first support plate (531) and the second support plate (532); A third support plate (534), the third support plate (534) is sleeved on the first support rod (533).

2. The flying robot according to claim 1, characterized in that: The driving module (510) comprises a housing (512) and a plurality of servos (511) connected to the interior of the housing (512), at least one of the servos (511) being used to drive the foot assembly (500) to move along the extension direction of the connecting assembly (300), and at least one of the servos (511) being used to drive the first moving part (520).

3. The flying robot according to claim 1, characterized in that: The second moving part (530) further includes: A plurality of integrated gripping and suction devices (535), each having a mounting surface (5351) and an operating surface (5352) arranged opposite to each other; a first mounting portion (5353) and a second mounting portion (5354) are arranged on the mounting surface (5351) at intervals; the first mounting portion (5353) is connected to the third support plate (534) via a second support rod (536), and the second mounting portion (5354) is connected to the second support plate (532); and a plurality of suction cups (537) are arranged on the operating surface (5352); The third support plate (534) performs reciprocating motion along the first support rod (533), and drives the integrated grasping and suction device (535) to rotate around the second mounting portion (5354) via the second support rod (536) to adjust the angle of the operating surface (5352).

4. The flying robot according to claim 1, characterized in that: The flight assembly (400) includes: a base (410), the base (410) being arranged on the connecting assembly (300); A plurality of rotors (420), wherein the rotors (420) are arranged around a side of the base (410) away from the connection assembly (300).

5. The flying robot according to claim 4, characterized in that: The connection assembly (300) comprises: a fixing member (310), the fixing member (310) being arranged between the flight assembly (400) and the body (100); A screw rod (320) is provided on the fixing member (310), and the claw assembly (500) can be displaced along the extension direction of the screw rod (320) to achieve the preset operation.

6. A method for controlling a flying robot, for controlling the flying robot according to any one of claims 1 to 5, characterized in that: The control method includes: Get current scene information; generating an operation instruction based on the current scene information; Based on the operation instruction, a preset operation is performed; the preset operation is configured to include an object grabbing operation, an adsorption operation, and a walking operation.

7. The control method of the flying robot according to claim 6, characterized in that: When the preset operation is the object grabbing operation, the step of executing the preset operation based on the operation instruction includes: Identify and lock the object to be grasped; Adjusting the flight assembly (400) so that the claw assembly (500) is aligned with the object to be grasped; The posture of the claw assembly (500) is adjusted so that the claw assembly (500) bends and wraps the object to be grasped, thereby completing the object grasping operation.

8. The flying robot control method according to claim 6, characterized in that: When the preset operation is the adsorption operation, the step of performing the preset operation based on the operation instruction includes: Identify the position to be adsorbed; Adjusting the connecting assembly (300) so that the claw assembly (500) adapts to the position to be adsorbed; The posture of the paw assembly (500) is adjusted so that the suction cup (537) fits the position to be adsorbed, thereby completing the adsorption operation.

9. The flying robot control method according to claim 6, characterized in that: When the preset operation is the walking operation, the step of executing the preset operation based on the operation instruction includes: Identify the location to be walked; Adjusting the flight assembly (400) to adapt the foot assembly (500) to the position to be walked; Adjusting the posture of the foot assembly (500) so that the foot assembly (500) bends; The motion joint (521) is controlled to complete the walking operation.

10. A control system for a flying robot, configured to execute the flying robot control method according to any one of claims 6 to 9, and to control the flying robot according to any one of claims 1 to 5, characterized in that: The control system includes: an acquisition module, wherein the acquisition module is configured to acquire current scene information; a generating module, the generating module being configured to generate an operation instruction based on the current scene information; An execution module is configured to execute a preset operation based on the operation instruction; the preset operation is configured to include an object grabbing operation, an adsorption operation, and a walking operation.

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