Mechanical biomimetic unmanned aerial platform

Abstract

The application discloses a kind of mechanical bionic unmanned aerial vehicle mobile platform, belong to unmanned aerial vehicle mobile platform technical field.It includes: frame, and the two structural structure same foot leg type walking components of front part of the frame and the two structural same wheel leg type walking components of rear part of the frame are set to frame.The unmanned aerial vehicle mobile platform includes three kinds of operation modes: crouching operation mode, leg type movement mode and inverted wheel type operation mode;Each operation mode is realized by the control module to the hip drive motor, the first drive motor, the second drive motor, the third drive motor and the fourth drive motor sends PWM signal.This application has significant advantages in improving the overall performance and applicability of unmanned aerial vehicle mobile platform, and is expected to bring new breakthroughs and possibilities for the development and practical application of unmanned aerial vehicle mobile platform technology.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) platform technology, and specifically relates to a mechanical bionic UAV platform. Background Technology

[0002] With the continuous development of science and technology, human activities in space exploration, seabed resource exploration, disaster relief, and military operations are increasing. Ground-based unmanned aerial vehicle (UAV) platforms have attracted much attention due to their small size, low cost, strong survivability, and flexible movement. Obstacle crossing capability is a key indicator for evaluating UAV platforms.

[0003] Currently, unmanned aerial vehicles (UAVs) used for obstacle crossing mainly come in several types, including wheeled, tracked, and legged, each with its own advantages and disadvantages. Wheeled UAVs are simple to operate, suitable for movement on flat ground, and have higher speeds, making them widely used. However, wheeled UAVs have poor terrain adaptability and are generally unable to climb obstacles. Tracked UAVs are capable of traversing various terrains, providing stable support through their tracks and allowing them to cross various obstacles. However, tracked UAVs can damage the ground, especially on soft or easily damaged surfaces. Furthermore, the speed of tracked UAVs may be limited. Legged UAVs are capable of traversing rugged terrain, crossing ditches and navigating steps, making them widely applicable. However, legged UAVs have higher control requirements, more complex mechanisms, and limited load capacity. Summary of the Invention

[0004] This invention aims to address the shortcomings of existing technologies by proposing a mobile unmanned aerial vehicle (UAV) platform with a combined structure of forelegs and rear wheels. The UAV platform has three operating modes: prone driving, leg-mounted upright, and inverted wheel-mounted upright, giving it excellent obstacle-crossing ability and high comprehensive performance. During obstacle crossing, the motion state of the UAV platform changes accordingly, which helps to improve the stability, flexibility, and adaptability of the UAV platform, thereby optimizing its obstacle-crossing performance and expanding its practicality in various application scenarios.

[0005] To achieve the above objectives, the present invention provides the following solution: a mechanical bionic unmanned aerial vehicle platform, comprising: a frame, and two identical leg-type walking components disposed at the front of the frame and two identical wheel-type walking components disposed at the rear of the frame.

[0006] More preferably, the frame includes: a frame skeleton, a back plate fixed to the top and bottom of the frame skeleton, side panels fixed to the left and right sides of the frame skeleton, and fixing plates fixed to the front and rear of the frame skeleton;

[0007] The rack frame is equipped with a WiFi module, a power module, a switch, and a control module;

[0008] The WiFi module is used to receive control commands sent by the host computer and forward the control commands to the control module.

[0009] The switch is used to control the power supply and shutdown of the mechanical bionic unmanned aerial vehicle platform;

[0010] The power module is used to provide power to the mechanical bionic unmanned aerial vehicle platform;

[0011] The control module is used to send control signals to the foot-leg walking component and the wheel-leg walking component based on the control command;

[0012] A hip drive motor is provided on the inner side of the fixed plate. The hip drive motor is rotatably connected to the foot-leg walking assembly through a leg connector and is used to control the left and right rotation of the foot-leg walking assembly. A sensor bracket is fixed on the outer side. A binocular camera and a millimeter-wave radar are provided on the sensor bracket.

[0013] The binocular camera is used to determine the current operating mode of the mechanical bionic unmanned aerial vehicle platform based on the type and height of the obstacle.

[0014] The millimeter-wave radar acquires the distance between the mechanical bionic unmanned aerial vehicle platform and obstacles.

[0015] More preferably, the leg-type walking assembly includes: a first leg segment, a second leg segment, a foot segment, a first drive motor, and a second drive motor;

[0016] The first leg segment is connected to the second leg segment at its lower part, and the first leg segment is provided with the first drive motor and the second drive motor;

[0017] The output shaft of the first drive motor is connected to the second drive motor and is used to drive the first leg section to swing back and forth.

[0018] The second drive motor is rotatably connected to the large pulley inside the first leg section; the large pulley is connected to the small pulley on the second leg section via a belt; the second drive motor drives the second leg section to rotate radially around the first leg section via the large pulley, the belt, and the small pulley;

[0019] The foot segment is connected to the second leg segment, and the connection point can rotate freely to increase the contact area between the foot segment and the ground.

[0020] More preferably, the wheel-leg walking assembly includes: a third leg section, a drive wheel, a third drive motor, and a fourth drive motor;

[0021] The third drive motor is used to drive the third leg section to swing back and forth.

[0022] The fourth drive motor is rotatably connected to the large pulley inside the third leg section; the large pulley is connected to the small pulley on the drive wheel via a belt; the fourth drive motor drives the drive wheel to rotate radially around the third leg section via the large pulley, the belt, and the small pulley.

[0023] The shafts of the third drive motor and the fourth drive motor are always perpendicular to the third leg section.

[0024] More preferably, the unmanned aerial vehicle platform includes three operating modes: a prone operating mode, a legged operating mode, and an inverted wheeled operating mode;

[0025] Each operating mode is achieved by the control module sending PWM signals to the hip drive motor, the first drive motor, the second drive motor, the third drive motor, and the fourth drive motor.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] The mechanical bionic unmanned aerial vehicle platform provided by this invention achieves three operating modes—prone driving, leg-based upright, and inverted wheel-based upright—through a design that combines forelegs and rear wheels, thereby improving its obstacle-crossing ability and overall performance.

[0028] During obstacle crossing, the motion state of the unmanned aerial vehicle (UAV) platform changes accordingly. In common rugged scenarios, the prone driving mode allows for stable and rapid movement. In stair-climbing scenarios, the legged upright mode mimics human ascent of standard stairs. When climbing high walls, the inverted wheeled upright mode, combined with the support of the legged and traction components, enables the bionic UAV platform to traverse even higher obstacles. These three operating modes enhance the stability, flexibility, and adaptability of the UAV platform, optimizing its performance in obstacle-crossing tasks and expanding its application scenarios. Therefore, it offers significant advantages in improving the overall performance and applicability of UAV platforms, and is expected to bring new breakthroughs and possibilities for the development and practical application of UAV platform technology. Attached Figure Description

[0029] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a three-dimensional structural diagram of the mechanical bionic unmanned aerial vehicle platform according to an embodiment of the present invention;

[0031] Figure 2 This is a three-dimensional structural diagram of the leg-type component according to an embodiment of the present invention;

[0032] Figure 3 This is a three-dimensional structural diagram of the wheel-leg component according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the three-dimensional structure of the frame according to an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the leg-type operation mode according to an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the inverted wheel-type operation mode according to an embodiment of the present invention.

[0036] Explanation of reference numerals in the attached figures:

[0037] 1. Leg-type walking assembly; 2. Frame; 3. Wheel-type walking assembly; 4. First drive motor; 5. Second drive motor; 6. First leg section; 7. Second leg section; 8. Leg section; 9. Large pulley; 10. Small pulley; 11. Leg connector; 12. Drive wheel; 13. Third leg section; 14. Third drive motor; 15. Fourth drive motor; 16. WiFi module; 17. Pole arm; 18. T-connector; 19. Power module; 20. Sensor bracket; 21. Binocular camera; 22. Millimeter-wave radar; 23. Mounting plate; 24. Hip drive motor; 25. Switch; 26. Side trim panel; 27. Control module. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] Example 1:

[0041] like Figure 1As shown, this embodiment provides a mechanical bionic unmanned aerial vehicle platform, including: a frame 2, and two identical leg-type walking components 1 disposed at the front of the frame and two identical wheel-type walking components 3 disposed at the rear of the frame.

[0042] In this embodiment, as Figure 4 As shown, the frame 2 includes: a frame skeleton composed of multiple lever arms 17 connected by multiple T-joints 18; a back plate fixed to the top and bottom of the frame skeleton; side panels 26 fixed to the left and right sides of the frame skeleton; and fixing plates 23 fixed to the front and rear of the frame skeleton. The frame skeleton houses a WiFi module 16, a power module 19, a switch 25, and a control module 27. The WiFi module 16 receives control commands from the host computer and forwards them to the control module; the switch 25 powers on and off the mechanical bionic unmanned aerial vehicle platform; the control module uses the same communication protocol and data format as the host computer to ensure accurate data transmission. The control module 27 parses the control commands and generates corresponding motor control signals, allowing each motor to adjust its speed and direction according to the corresponding control signals. A hip drive motor 24 is mounted on the inner side of the front fixed plate 23. The hip drive motor 24 is rotatably connected to the leg-type walking assembly 1 via the leg connector 11, and is used to control the left and right rotation of the leg-type walking assembly 1. A sensor bracket 20 is fixed on the outer side, and a binocular camera 21 and a millimeter-wave radar 22 are mounted on the sensor bracket 20. The millimeter-wave radar 22 identifies the presence of obstacles and obtains the distance between the mechanical bionic UAV platform and obstacles by sending and receiving millimeter waves. The binocular camera 21 uses algorithms to identify the type and height of obstacles to determine the current operating mode of the mechanical bionic UAV platform.

[0043] like Figure 2 As shown, each leg-type walking assembly 1 includes: a first leg segment 6, a second leg segment 7, a foot segment 8, a first drive motor 4, and a second drive motor 5. The first leg segment 6 is connected to the second leg segment 7 at its lower end, and the first drive motor 4 and the second drive motor 5 are mounted on the first leg segment 6. The output shaft of the first drive motor 4 is connected to the second drive motor 5 to drive the first leg segment 6 to swing back and forth. The first leg segment 6 is fixedly connected to the second drive motor 5, and the second drive motor 5 is rotatably connected to a large pulley 9 inside the first leg segment 6. The large pulley 9 is connected to a small pulley 10 on the second leg segment 7 via a belt. The small pulley 10 is rotatably connected to the second leg segment 7. The second drive motor 5 drives the second leg segment 7 to rotate radially around the first leg segment 6 via the large pulley 9, the belt, and the small pulley 10. The foot segment 8 is connected to the second leg segment 7, and the connection point can rotate freely to adapt to the ground, increasing the contact area between the foot segment 8 and the ground.

[0044] The rear mounting plate 23 is fixed with a wheel-leg type walking component 3, such as... Figure 3As shown, the wheel-leg walking assembly 3 includes: a third leg section 13, a drive wheel 12, a third drive motor 14, and a fourth drive motor 15; similar to the foot-leg walking assembly 1, the third drive motor 14 is used to drive the third leg section 13 to swing back and forth; the fourth drive motor 15 is rotatably connected to the large pulley inside the third leg section 13; the large pulley is connected to the small pulley on the drive wheel through a belt; the fourth drive motor 15 drives the drive wheel 12 to rotate radially around the third leg section 13 through the large pulley, belt, and small pulley; the rotation axes of the third drive motor 14 and the fourth drive motor 15 are always perpendicular to the third leg section 13.

[0045] The hip drive motor 24, the first drive motor 4, the second drive motor 5, the third drive motor 14, and the fourth drive motor 15 are all connected to the control module 27, and their rotation angle and speed are controlled by the PWM signal generated by the control module 27.

[0046] In this embodiment, the unmanned aerial vehicle platform includes three operating modes: prone operating mode, legged operating mode, and inverted wheeled operating mode.

[0047] The working process of the prone walking model is as follows: In the initial state of the mechanical bionic UAV platform, the control module 27 sends PWM signals to each motor. Upon receiving the PWM signals, the first drive motor 4 of the leg-type walking assembly 1 drives the first leg segment 6 to swing back and forth in the front-to-back direction. At the same time, the second drive motor 5 causes the second leg segment 7 to swing back and forth around the end axis of the first leg segment 6 through the transmission of the large pulley 9, belt, and small pulley 10. The third drive motor 14 of the wheel-type walking assembly 3 fixes the third leg segment 13 in a suitable position, and the fourth drive motor 15 causes the drive wheel 12 to rotate around the end axis of the third leg segment 13 through the transmission of the large pulley, belt, and small pulley, thus achieving asynchronous walking. Figure 1 The left front leg steps forward, with the stride length related to the PWM signal received by the first drive motor 4. The right front leg steps forward, completing one cycle to achieve the forward leg movement of the wheel-legged unmanned aerial vehicle platform. The reverse leg movement of the wheel-legged unmanned aerial vehicle platform is achieved by the right rear leg stepping back, the left front leg stepping back, the left rear leg stepping back, and the right front leg stepping back, in sequence to achieve the backward leg movement of the wheel-legged unmanned aerial vehicle platform. The rotational speed of the drive wheel 12 is adapted to the step frequency of the legged walking component 1, and its rotational speed is related to the PWM signal received by the fourth drive motor 15.

[0048] When operating in a prone position, movement is primarily achieved via the wheel-legged walking assembly 3, with the foot-legged walking assembly 1 working in conjunction. The third drive motor 14 at the upper end of the third leg section 13 of the wheel-legged walking assembly 3 secures the third leg section 13 in a suitable position, while the fourth drive motor 15, via a pulley, rotates the drive wheel 12, serving as the primary power source. The foot-legged walking assembly 1 performs reciprocating movements with corresponding step frequency and gait based on the current movement speed of the UAV platform. With the coordinated operation of the four walking assemblies, more stable crawling movement can be achieved, suitable for low-impact, complex, and rugged terrain.

[0049] The working process of the leg movement mode is as follows: Figure 5 The diagram illustrates the climbing of a standard staircase in legged operation mode of a bionic unmanned aerial vehicle (UAV) platform. The first drive motor 4 of the legged walking component 1 drives the first leg segment 6 to swing up and down, while the second drive motor 5 drives the second leg segment 7 to swing back and forth, ensuring stable contact between the leg segment 8 and the ground. Together, these components enable the legged movement of the UAV platform. During legged walking, the two legged walking components 1 work together to climb common staircases.

[0050] When using the leg-walking mode, movement is mainly achieved through the leg-walking component 1. The first drive motor 4 at the upper end of the first leg section 6 of the leg-walking component 1 drives the first leg section 6, and the second drive motor 5 drives the second leg section 7 to reciprocate through a pulley, thereby driving the foot section 8 to move. With the cooperation of the two leg-walking components 1, leg-walking can be achieved, which is suitable for climbing common stair environments.

[0051] The working process of the inverted wheel operation mode is as follows: Figure 6 The diagram illustrates the inverted wheeled operation mode of a bionic unmanned aerial vehicle (UAV) platform as it climbs a high wall. The inverted, balanced state of the UAV platform is achieved through a wheel-legged walking assembly 3. The legs 8 of the legged walking assembly 1 provide upward support on the wall surface. The third drive motor 14 of the wheel-legged walking assembly 3 drives the third leg 13, providing downward pressure to the drive wheel 12, thereby increasing the adhesion of the wheel-legged walking assembly 3. When the support force provided by one legged walking assembly 1 reaches its limit, the other legged walking assembly 1 moves forward, providing new support force. The combined effect of the support force of the legged walking assembly 1 and the adhesion of the wheel-legged walking assembly 3 allows the bionic UAV platform to climb higher obstacles.

[0052] When the inverted wheel type is used for upright standing, the dual-wheel balance is achieved through the wheel-leg type walking component 3. The leg type walking component 1 provides support on higher obstacles, and the third leg section 13 of the wheel-leg type walking component 3 presses down to provide greater adhesion to the drive wheel 12. Under the combined action of support and adhesion, the mechanical bionic UAV platform can climb over higher obstacles.

[0053] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A mechanical biomimetic unmanned mobile platform, characterized in that, The machine frame comprises: a machine frame, two pairs of walking components with the same structure arranged at the front and rear of the machine frame, and two pairs of walking components with the same structure arranged at the left and right of the machine frame; the machine frame comprises a machine frame skeleton and a fixing plate fixed to the front and rear of the machine frame skeleton; a hip driving motor is arranged on the inner side of the fixing plate, and the hip driving motor is rotationally connected to the walking component through a leg connecting piece, and is used for controlling the left and right rotation of the walking component; the walking component comprises a first leg segment, a second leg segment, a foot segment, a first driving motor and a second driving motor; the first leg segment is connected to the second leg segment below, and the first driving motor and the second driving motor are arranged on the first leg segment; the output shaft of the first driving motor is connected to the second driving motor, and is used for driving the first leg segment to swing forward and backward; the second driving motor is rotationally connected to a large pulley in the first leg segment, and the large pulley is connected to a small pulley on the second leg segment through a belt, and the second driving motor drives the second leg segment to rotate radially around the first leg segment through the large pulley, the belt and the small pulley; the foot segment is connected to the second leg segment, and the connection part can rotate freely to increase the contact area between the foot segment and the ground; the walking component comprises a third leg segment, a driving wheel, a third driving motor and a fourth driving motor; the third driving motor is used for driving the third leg segment to swing forward and backward; the fourth driving motor is rotationally connected to a large pulley in the third leg segment, and the large pulley is connected to a small pulley on the driving wheel through a belt, and the fourth driving motor drives the driving wheel to rotate radially around the third leg segment through the large pulley, the belt and the small pulley; the rotation shafts of the third driving motor and the fourth driving motor are always perpendicular to the third leg segment.

2. The mechanical bionic unmanned aerial platform of claim 1, wherein, The machine frame comprises: a back plate fixed to the upper and lower parts of the machine frame skeleton, and a side plate fixed to the left and right parts of the machine frame skeleton; a WiFi module, a power module, a switch and a control module are arranged in the machine frame skeleton; the WiFi module is used for receiving control instructions sent by an upper computer and forwarding the control instructions to the control module; the switch is used for controlling the power-on and power-off of the mechanical bionic unmanned aerial vehicle mobile platform; the power module is used for providing power supply for the mechanical bionic unmanned aerial vehicle mobile platform; the control module is used for sending control signals to the walking component and the walking component based on the control instructions; a sensor support is fixed to the outer side of the fixing plate, and a binocular camera and a millimeter wave radar are arranged on the sensor support; the binocular camera is used for judging the running mode of the current mechanical bionic unmanned aerial vehicle mobile platform based on the type and height of the obstacle; the millimeter wave radar obtains the distance between the mechanical bionic unmanned aerial vehicle mobile platform and the obstacle.

3. A mechanical biomimetic unmanned aerial platform according to claim 2, wherein, The unmanned aerial vehicle mobile platform comprises three running modes: a crouching running mode, a leg type running mode and an inverted wheel type running mode; Each operating mode is implemented by the control module sending PWM signals to the hip drive motor, the first drive motor, the second drive motor, the third drive motor, and the fourth drive motor.

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