Rotor wing driving type deformable air-ground omni-directional motion robot and motion method

Abstract

The invention discloses a rotor wing driving type deformable air-ground omni-directional motion robot and a motion method. The robot comprises a robot body, robot arms, rotor wing wheel assemblies, rotor wing wheel assembly tilting and posture adjusting execution mechanisms, a control box and a battery. The rotor wing wheel assembly tilting posture adjusting executing mechanism is mounted in the fuselage; the four machine arms are uniformly distributed in the circumferential direction of the machine body, the root of each machine arm is connected with the rotor wing wheel assembly tilting posture adjusting executing mechanism, and the head of each machine arm is provided with one rotor wing wheel assembly; the battery is arranged at the bottom of the machine body. The movement method is divided into an air flight mode, a ground running mode and a steep slope and vertical surface climbing mode. Compared with the prior art, the unmanned aerial vehicle not only has a traditional air flight mode, but also has a ground running mode and an abrupt slope and vertical surface climbing mode, air-ground all-dimensional movement is achieved in multiple movement modes, and compared with high-energy-consumption traditional single air cruise, the unmanned aerial vehicle can be replaced with the low-energy-consumption ground running mode, and the maximum voyage of the robot is effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a rotor-driven deformable air-to-ground omnidirectional motion robot and a motion method. Background Art

[0002] The quadrotor robot is a type of unmanned aerial vehicle. Because it has six degrees of freedom, it can achieve stable hovering in the air and fly in all directions. It has outstanding advantages in pesticide spraying and material delivery.

[0003] However, traditional quadrotor robots only have an aerial flight mode. Due to the single movement mode, the application scenarios of quadrotor robots are subject to certain restrictions. In addition, the energy consumption of quadrotor robots during cruising is relatively high, which further limits their maximum range. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a rotor-driven deformable air-to-ground omnidirectional motion robot and a motion method, which not only has an aerial flight mode that is exactly the same as a traditional four-rotor robot, but also has a ground driving mode and a steep slope and vertical surface climbing mode, and realizes air-to-ground omnidirectional motion in multiple motion modes. Compared with the high-energy-consuming traditional single aerial cruising, it can be replaced by a low-energy-consuming ground driving mode, thereby effectively improving the robot's maximum range.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a rotor-driven deformable air-to-ground omnidirectional motion robot, comprising a fuselage, an arm, a rotor wheel assembly, a rotor wheel assembly tilting and attitude adjustment actuator, a control box and a battery; the rotor wheel assembly tilting and attitude adjustment actuator is installed inside the fuselage; the number of the arms is four, and the four arms are evenly distributed along the circumference of the fuselage, the root of each arm is connected to the rotor wheel assembly tilting and attitude adjustment actuator, and the head of each arm is equipped with a rotor wheel assembly; the control box is installed on the top of the fuselage, and the rotor wheel assembly and the rotor wheel assembly tilting and attitude adjustment actuator are electrically connected to the control box; the battery is installed at the bottom of the fuselage; the rotor wheel assembly, the rotor wheel assembly tilting and attitude adjustment actuator and the control box are all powered by the battery.

[0006] The tilt attitude adjustment actuator of the rotor wheel assembly includes a steering gear, a transmission plate, a transverse transmission shaft, a transverse axis transmission block, a transverse axis transmission rod, a longitudinal transmission shaft, a longitudinal axis transmission block and a longitudinal axis transmission rod; the steering gear is fixedly mounted on the fuselage, and the power output shaft of the steering gear faces downward; the transmission plate is horizontally fixedly connected to the power output shaft of the steering gear; the transverse transmission shaft and the longitudinal transmission shaft are distributed in a cross shape and are located below the transmission plate, and the transverse transmission shaft and the longitudinal transmission shaft are both rotatably connected to the fuselage through a bearing seat; the transverse axis transmission block is fixedly mounted on the transverse transmission shaft, and the lower end of the transverse axis transmission rod is hinged The longitudinal axis transmission block is fixedly mounted on the longitudinal axis transmission shaft, and the lower end of the longitudinal axis transmission rod is hinged on the longitudinal axis transmission block; the transmission plate is respectively provided with a transverse axis transmission hole groove and a longitudinal axis transmission hole groove, and the transverse axis transmission hole groove and the longitudinal axis transmission hole groove are distributed in phase at 90°; the upper end rod body of the transverse axis transmission rod is inserted into the transverse axis transmission hole groove; the upper end rod body of the longitudinal axis transmission rod is inserted into the longitudinal axis transmission hole groove; the two shaft ends of the transverse transmission shaft are respectively fixedly connected to a machine arm; the two shaft ends of the longitudinal transmission shaft are respectively fixedly connected to a machine arm.

[0007] The rotor wheel assembly includes a brushless motor, a bidirectional rotor blade, a motor adapter, a universal wheel, a spoke bracket and a hub sleeve; the brushless motor is fixedly mounted on the motor adapter, and the motor adapter is fixedly connected to the head of the machine arm; the bidirectional rotor blade is mounted on the motor shaft of the brushless motor; the rim of the universal wheel is coaxially sleeved on the circumference of the bidirectional rotor blade, the rim of the universal wheel is fixedly connected to the hub sleeve through the spoke bracket, the hub sleeve and the rim of the universal wheel are coaxially distributed, the hub sleeve is sleeved on the motor adapter through a bearing, and the hub sleeve has only rotational freedom relative to the motor adapter.

[0008] The movement method of the rotor-driven deformable air-to-ground omnidirectional movement robot is divided into an air flight mode, a ground driving mode and a steep slope and vertical surface climbing mode.

[0009] In the flight motion mode, the four rotor wheel assemblies are distributed horizontally with the ground, the thrust generated by the rotor wheel assemblies is directed toward the ground, and the robot is lifted off and flies under the reaction force of the thrust.

[0010] In ground driving mode, all four rotor wheel assemblies are arranged perpendicular to the ground;

[0011] When the robot needs to move in a straight line, the two rotor wheel assemblies parallel to the moving direction are not started, and the two rotor wheel assemblies perpendicular to the moving direction are started synchronously, and the thrust directions generated by the two rotor wheel assemblies are the same; when the thrust is backward, the robot moves forward under the reaction force of the thrust; when the thrust is forward, the robot moves backward under the reaction force of the thrust;

[0012] When the robot needs to turn in place, only the two rotor wheel assemblies at the two ends of the axial direction of the transverse transmission shaft are started, or only the two rotor wheel assemblies at the two ends of the axial direction of the longitudinal transmission shaft are started and the thrusts generated by the two rotor wheel assemblies are in opposite directions, and the robot turns in place under the reaction force of the thrust;

[0013] When the robot needs to turn while moving in a straight line, based on the robot's straight-line moving mode, any one of the two rotor wheel assemblies perpendicular to the moving direction is started separately; if the started rotor wheel assembly is located at the front end of the moving direction, when the thrust direction generated by the rotor wheel assembly is to the left, the robot turns right, and when the thrust direction generated by the rotor wheel assembly is to the right, the robot turns left; if the started rotor wheel assembly is located at the rear end of the moving direction, when the thrust direction generated by the rotor wheel assembly is to the left, the robot turns left, and when the thrust direction generated by the rotor wheel assembly is to the right, the robot turns right.

[0014] In steep slope and vertical surface climbing mode, all four rotor wheel assemblies are tilted with respect to the ground;

[0015] Before climbing a steep slope or a vertical surface, the robot first drives to the intersection of the ground and the steep slope or the vertical surface. The oblique downward thrust generated by the two tilted rotor wheel assemblies at the front end is further decomposed into a backward component and a downward component. Under the reaction force of the downward component, the two tilted rotor wheel assemblies at the front end are lifted and moved along the steep slope or the vertical surface; the oblique downward thrust generated by the two tilted rotor wheel assemblies at the rear end is also decomposed into a backward component and a downward component. Under the reaction force of the backward component, the two tilted rotor wheel assemblies at the rear end move toward the steep slope or the vertical surface;

[0016] When the robot as a whole is pressed against the steep slope or vertical surface, the four tilt-rotor wheel assemblies change their rotation direction synchronously and continue to generate an oblique downward thrust, which is also decomposed into a backward component and a downward component. Under the reaction force of the backward component, the robot is pressed against the steep slope or vertical surface, and under the reaction force of the downward component, the robot moves upward against the steep slope or vertical surface.

[0017] Beneficial effects of the present invention:

[0018] The rotor-driven deformable air-to-ground omnidirectional motion robot and motion method of the present invention have an aerial flight mode that is exactly the same as that of a traditional four-rotor robot, and can also have a ground driving mode and a steep slope and vertical surface climbing mode. It realizes air-to-ground omnidirectional motion in multiple motion modes. Compared with the high-energy-consuming traditional single aerial cruising, it can be replaced by a low-energy-consuming ground driving mode, effectively increasing the robot's maximum range. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1Schematic diagram of the structure of the rotor-driven deformable air-to-ground omnidirectional motion robot (in aerial flight mode) of the present invention (viewing angle 1);

[0020] Figure 2 It is a structural schematic diagram of the rotor-driven deformable air-to-ground omnidirectional motion robot (in aerial flight mode) of the present invention (viewpoint 2);

[0021] Figure 3 Schematic diagram of the structure of the rotor-driven deformable air-to-ground omnidirectional motion robot (in aerial flight mode) of the present invention (viewpoint three);

[0022] Figure 4 Schematic diagram of the structure of the rotor-driven deformable air-to-ground omnidirectional motion robot (ground driving mode) of the present invention (viewing angle 1);

[0023] Figure 5 Schematic diagram of the structure of the rotor-driven deformable air-to-ground omnidirectional motion robot (ground driving mode) of the present invention (viewing angle 2);

[0024] Figure 6 Schematic diagram of the structure of the rotor-driven deformable air-to-ground omnidirectional motion robot (ground driving mode) of the present invention (viewing angle 3);

[0025] Figure 7 It is a structural schematic diagram of the rotor-driven deformable air-to-ground omnidirectional motion robot (steep slope and vertical surface climbing mode) of the present invention (viewing angle 1);

[0026] Figure 8 It is a structural schematic diagram of the rotor-driven deformable air-to-ground omnidirectional motion robot (steep slope and vertical surface climbing mode) of the present invention (viewpoint 2);

[0027] Fig. 9 It is a structural schematic diagram of the rotor-driven deformable air-to-ground omnidirectional motion robot (steep slope and vertical surface climbing mode) of the present invention (viewpoint three);

[0028] Fig.10 It is a schematic structural diagram of the combination of the fuselage (part), the rotor wheel assembly tilt attitude adjustment actuator and the machine arm of the present invention;

[0029] Fig.11 It is a schematic diagram of the structure of the combination of the fuselage (part) and the rotor wheel assembly tilt attitude adjustment actuator of the present invention;

[0030] Fig.12 It is a schematic structural diagram of the rotor wheel assembly of the present invention;

[0031] Fig.13 The diagram is a schematic diagram of the mode conversion process of the rotor-driven deformable air-to-ground omnidirectional motion robot of the present invention.

[0032] In the figure, 1 is the fuselage, 2 is the arm, 3 is the rotor wheel assembly, 4 is the rotor wheel assembly tilt attitude adjustment actuator, 5 is the control box, 6 is the battery, 7 is the servo, 8 is the transmission plate, 9 is the transverse transmission shaft, 10 is the transverse axis transmission block, 11 is the transverse axis transmission rod, 12 is the longitudinal transmission shaft, 13 is the longitudinal axis transmission block, 14 is the longitudinal axis transmission rod, 15 is the transverse axis transmission hole slot, 16 is the longitudinal axis transmission hole slot, 17 is the brushless motor, 18 is the bidirectional rotor blade, 19 is the motor adapter, 20 is the universal wheel, 21 is the spoke bracket, and 22 is the hub sleeve. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] like Figures 1 to 13 As shown, a rotor-driven deformable air-to-ground omnidirectional motion robot comprises a fuselage 1, arms 2, a rotor wheel assembly 3, a rotor wheel assembly tilting and attitude adjustment actuator 4, a control box 5 and a battery 6; the rotor wheel assembly tilting and attitude adjustment actuator 4 is installed inside the fuselage 1; there are four arms 2, and the four arms 2 are evenly distributed along the circumference of the fuselage 1, the root of each arm 2 is connected to the rotor wheel assembly tilting and attitude adjustment actuator 4, and the head of each arm 2 is installed with a rotor wheel assembly 3; the control box 5 is installed on the top of the fuselage 1, and the rotor wheel assembly 3 and the rotor wheel assembly tilting and attitude adjustment actuator 4 are electrically connected to the control box 5; the battery 6 is installed at the bottom of the fuselage 1; the rotor wheel assembly 3, the rotor wheel assembly tilting and attitude adjustment actuator 4 and the control box 5 are all powered by the battery 6.

[0035] The rotor wheel assembly tilt attitude actuator 4 includes a steering gear 7, a transmission plate 8, a transverse transmission shaft 9, a transverse axis transmission block 10, a transverse axis transmission rod 11, a longitudinal transmission shaft 12, a longitudinal axis transmission block 13 and a longitudinal axis transmission rod 14; the steering gear 7 is fixedly mounted on the fuselage 1, and the power output shaft of the steering gear 7 faces downward; the transmission plate 8 is horizontally fixedly connected to the power output shaft of the steering gear 7; the transverse transmission shaft 9 and the longitudinal transmission shaft 12 are distributed in a cross shape and are located below the transmission plate 8, and the transverse transmission shaft 9 and the longitudinal transmission shaft 12 are both rotatably connected to the fuselage 1 through a bearing seat; the transverse axis transmission block 10 is fixedly mounted on the transverse transmission shaft 9, and the lower end of the transverse axis transmission rod 11 is hinged It is connected to the transverse axis transmission block 10; the longitudinal axis transmission block 13 is fixedly mounted on the longitudinal transmission shaft 12, and the lower end of the longitudinal axis transmission rod 14 is hinged on the longitudinal axis transmission block 13; the transverse axis transmission hole groove 15 and the longitudinal axis transmission hole groove 16 are respectively opened on the transmission plate 8, and the transverse axis transmission hole groove 15 and the longitudinal axis transmission hole groove 16 are distributed in phase at 90°; the upper end rod body of the transverse axis transmission rod 11 is installed in the transverse axis transmission hole groove 15; the upper end rod body of the longitudinal axis transmission rod 14 is installed in the longitudinal axis transmission hole groove 16; the two shaft ends of the transverse transmission shaft 9 are each fixedly connected to a machine arm 2; the two shaft ends of the longitudinal transmission shaft 12 are each fixedly connected to an machine arm 2.

[0036] The rotor wheel assembly 3 includes a brushless motor 17, a bidirectional rotor blade 18, a motor adapter 19, a universal wheel 20, a spoke bracket 21 and a hub sleeve 22; the brushless motor 17 is fixedly mounted on the motor adapter 19, and the motor adapter 19 is fixedly connected to the head of the arm 2; the bidirectional rotor blade 18 is mounted on the motor shaft of the brushless motor 17; the rim of the universal wheel 20 is coaxially sleeved on the circumference of the bidirectional rotor blade 18, the rim of the universal wheel 20 is fixedly connected to the hub sleeve 22 through the spoke bracket 21, the hub sleeve 22 is coaxially distributed with the rim of the universal wheel 20, the hub sleeve 22 is sleeved on the motor adapter 19 through a bearing, and the hub sleeve 22 only has rotational freedom relative to the motor adapter 19.

[0037] The movement method of the rotor-driven deformable air-to-ground omnidirectional movement robot is divided into an air flight mode, a ground driving mode and a steep slope and vertical surface climbing mode.

[0038] In the flight motion mode, the four rotor wheel assemblies 3 are all distributed horizontally with the ground, the thrust generated by the rotor wheel assemblies 3 is directed toward the ground, and the robot is lifted off and flies under the reaction force of the thrust.

[0039] In the ground driving mode, the four rotor wheel assemblies 3 are all distributed vertically to the ground;

[0040] When the robot needs to move in a straight line, the two rotor wheel assemblies 3 parallel to the moving direction are not started, and the two rotor wheel assemblies 3 perpendicular to the moving direction are started synchronously, and the thrust directions generated by the two rotor wheel assemblies 3 are the same; when the thrust is backward, the robot moves forward under the reaction force of the thrust; when the thrust is forward, the robot moves backward under the reaction force of the thrust;

[0041] When the robot needs to turn in place, only the two rotor wheel assemblies 3 at the axial ends of the transverse transmission shaft 9 are started, or only the two rotor wheel assemblies 3 at the axial ends of the longitudinal transmission shaft 12 are started and the thrusts generated by the two rotor wheel assemblies 3 are in opposite directions, and the robot turns in place under the reaction force of the thrust;

[0042] When the robot needs to turn during straight-line travel, on the basis of the robot's straight-line travel mode, any one of the two rotor wheel assemblies 3 perpendicular to the travel direction is started separately; if the started rotor wheel assembly 3 is located at the front end of the travel direction, when the thrust direction generated by the rotor wheel assembly 3 is to the left, the robot turns right, and when the thrust direction generated by the rotor wheel assembly 3 is to the right, the robot turns left; if the started rotor wheel assembly 3 is located at the rear end of the travel direction, when the thrust direction generated by the rotor wheel assembly 3 is to the left, the robot turns left, and when the thrust direction generated by the rotor wheel assembly 3 is to the right, the robot turns right.

[0043] In the steep slope and vertical surface climbing mode, the four rotor wheel assemblies 3 are all inclined with respect to the ground;

[0044] Before climbing a steep slope or a vertical surface, the robot first drives to the intersection of the ground and the steep slope or the vertical surface. The oblique downward thrust generated by the two tilted rotor wheel assemblies 3 at the front end will be further decomposed into a backward component and a downward component. Under the reaction force of the downward component, the two tilted rotor wheel assemblies 3 at the front end will be lifted and moved along the steep slope or the vertical surface; the oblique downward thrust generated by the two tilted rotor wheel assemblies 3 at the rear end will also be decomposed into a backward component and a downward component. Under the reaction force of the backward component, the two tilted rotor wheel assemblies 3 at the rear end will move toward the steep slope or the vertical surface;

[0045] When the robot as a whole is pressed against the steep slope or vertical surface, the four tilt-rotor wheel assemblies 3 change their rotation direction synchronously and continue to generate an oblique downward thrust, which is also decomposed into a backward component and a downward component. Under the reaction force of the backward component, the robot is pressed against the steep slope or vertical surface, and under the reaction force of the downward component, the robot moves upward against the steep slope or vertical surface.

[0046] Specifically, when the robot needs to switch from the aerial flight mode to the ground driving mode, or needs to switch from the ground driving mode to the steep slope and vertical surface climbing mode, the servo 7 is first started, and the servo 7 drives the transmission plate 8 to rotate. During the rotation of the transmission plate 8, the transverse axis transmission hole groove 15 and the longitudinal axis transmission hole groove 16 thereon will be used to turn the transverse axis transmission rod 11 and the longitudinal axis transmission rod 14. The transverse axis transmission rod 11 will further drive the transverse transmission shaft 9 to rotate through the transverse axis transmission block 10, and the longitudinal axis transmission rod 14 will further drive the longitudinal transmission shaft 12 to rotate through the longitudinal axis transmission block 13.

[0047] The synchronous rotation of the transverse transmission shaft 9 and the longitudinal transmission shaft 12 will further drive the four arms 2 to rotate synchronously, and then the steering attitude of the rotor wheel assembly 3 is adjusted through the rotating arms 2.

[0048] Furthermore, when the four rotor wheel assemblies 3 are horizontally distributed with the ground, the robot can execute the aerial flight mode; when the four rotor wheel assemblies 3 are vertically distributed with the ground, the robot can execute the ground driving mode; when the four rotor wheel assemblies 3 are inclined with the ground, the robot can execute the steep slope and vertical surface climbing mode.

[0049] In the ground driving mode and the steep slope and vertical surface climbing mode, the universal wheels 20 in the rotor wheel assembly 3 are activated and effective. Specifically, in the ground driving mode, the universal wheels 20 at the front and rear ends use the wheel rims to rotate as a whole, while the universal wheels 20 at the left and right ends use the rollers on the wheel rims to rotate independently. In the steep slope and vertical surface climbing mode, the four universal wheels 20 all use the rollers on the wheel rims to rotate independently.

[0050] The solutions in the embodiments are not intended to limit the patent protection scope of the present invention. All equivalent implementations or changes that do not deviate from the present invention are included in the patent scope of this case.

Claims

1. A rotor-driven deformable air-to-ground omnidirectional motion robot, characterized in that: It comprises a fuselage, an arm, a rotor wheel assembly, a rotor wheel assembly tilt attitude adjustment actuator, a control box and a battery; the rotor wheel assembly tilt attitude adjustment actuator is installed inside the fuselage; there are four arms, which are evenly distributed along the circumference of the fuselage, the root of each arm is connected to the rotor wheel assembly tilt attitude adjustment actuator, and a rotor wheel assembly is installed at the head of each arm; the control box is installed on the top of the fuselage, and the rotor wheel assembly and the rotor wheel assembly tilt attitude adjustment actuator are electrically connected to the control box; the battery is installed at the bottom of the fuselage; the rotor wheel assembly, the rotor wheel assembly tilt attitude adjustment actuator and the control box are all powered by the battery.

2. The rotor-driven deformable air-to-ground omnidirectional motion robot according to claim 1, characterized in that: The tilt attitude adjustment actuator of the rotor wheel assembly includes a steering gear, a transmission plate, a transverse transmission shaft, a transverse axis transmission block, a transverse axis transmission rod, a longitudinal transmission shaft, a longitudinal axis transmission block and a longitudinal axis transmission rod; the steering gear is fixedly mounted on the fuselage, and the power output shaft of the steering gear faces downward; the transmission plate is horizontally fixedly connected to the power output shaft of the steering gear; the transverse transmission shaft and the longitudinal transmission shaft are distributed in a cross shape and are located below the transmission plate, and the transverse transmission shaft and the longitudinal transmission shaft are both rotatably connected to the fuselage through a bearing seat; the transverse axis transmission block is fixedly mounted on the transverse transmission shaft, and the lower end of the transverse axis transmission rod is hinged The longitudinal axis transmission block is fixedly mounted on the longitudinal axis transmission shaft, and the lower end of the longitudinal axis transmission rod is hinged on the longitudinal axis transmission block; the transmission plate is respectively provided with a transverse axis transmission hole groove and a longitudinal axis transmission hole groove, and the transverse axis transmission hole groove and the longitudinal axis transmission hole groove are distributed in phase at 90°; the upper end rod body of the transverse axis transmission rod is inserted into the transverse axis transmission hole groove; the upper end rod body of the longitudinal axis transmission rod is inserted into the longitudinal axis transmission hole groove; the two shaft ends of the transverse transmission shaft are respectively fixedly connected to a machine arm; the two shaft ends of the longitudinal transmission shaft are respectively fixedly connected to a machine arm.

3. The rotor-driven deformable air-to-ground omnidirectional motion robot according to claim 1, characterized in that: The rotor wheel assembly includes a brushless motor, a bidirectional rotor blade, a motor adapter, a universal wheel, a spoke bracket and a hub sleeve; the brushless motor is fixedly mounted on the motor adapter, and the motor adapter is fixedly connected to the head of the machine arm; the bidirectional rotor blade is mounted on the motor shaft of the brushless motor; the rim of the universal wheel is coaxially sleeved on the circumference of the bidirectional rotor blade, the rim of the universal wheel is fixedly connected to the hub sleeve through the spoke bracket, the hub sleeve and the rim of the universal wheel are coaxially distributed, the hub sleeve is sleeved on the motor adapter through a bearing, and the hub sleeve has only rotational freedom relative to the motor adapter.

4. The motion method of the rotor-driven deformable air-to-ground omnidirectional motion robot according to claim 1, characterized in that: It is divided into aerial flight mode, ground driving mode and steep slope and vertical surface climbing mode.

5. The motion method of the rotor-driven deformable air-to-ground omnidirectional motion robot according to claim 4, characterized in that: In the flight motion mode, the four rotor wheel assemblies are distributed horizontally with the ground, the thrust generated by the rotor wheel assemblies is directed toward the ground, and the robot is lifted off and flies under the reaction force of the thrust.

6. The motion method of the rotor-driven deformable air-to-ground omnidirectional motion robot according to claim 4, characterized in that: In ground driving mode, all four rotor wheel assemblies are arranged perpendicular to the ground; When the robot needs to move in a straight line, the two rotor wheel assemblies parallel to the moving direction are not started, and the two rotor wheel assemblies perpendicular to the moving direction are started synchronously, and the thrust directions generated by the two rotor wheel assemblies are the same; when the thrust is backward, the robot moves forward under the reaction force of the thrust; when the thrust is forward, the robot moves backward under the reaction force of the thrust; When the robot needs to turn in place, only the two rotor wheel assemblies at the two ends of the axial direction of the transverse transmission shaft are started, or only the two rotor wheel assemblies at the two ends of the axial direction of the longitudinal transmission shaft are started and the thrusts generated by the two rotor wheel assemblies are in opposite directions, and the robot turns in place under the reaction force of the thrust; When the robot needs to turn while moving in a straight line, based on the robot's straight-line moving mode, any one of the two rotor wheel assemblies perpendicular to the moving direction is started separately; if the started rotor wheel assembly is located at the front end of the moving direction, when the thrust direction generated by the rotor wheel assembly is to the left, the robot turns right, and when the thrust direction generated by the rotor wheel assembly is to the right, the robot turns left; if the started rotor wheel assembly is located at the rear end of the moving direction, when the thrust direction generated by the rotor wheel assembly is to the left, the robot turns left, and when the thrust direction generated by the rotor wheel assembly is to the right, the robot turns right.

7. The motion method of the rotor-driven deformable air-to-ground omnidirectional motion robot according to claim 4, characterized in that: In steep slope and vertical surface climbing mode, all four rotor wheel assemblies are tilted with respect to the ground; Before climbing a steep slope or a vertical surface, the robot first drives to the intersection of the ground and the steep slope or the vertical surface. The oblique downward thrust generated by the two tilted rotor wheel assemblies at the front end is further decomposed into a backward component and a downward component. Under the reaction force of the downward component, the two tilted rotor wheel assemblies at the front end are lifted and moved along the steep slope or the vertical surface; the oblique downward thrust generated by the two tilted rotor wheel assemblies at the rear end is also decomposed into a backward component and a downward component. Under the reaction force of the backward component, the two tilted rotor wheel assemblies at the rear end move toward the steep slope or the vertical surface; When the robot as a whole is pressed against the steep slope or vertical surface, the four tilt-rotor wheel assemblies change their rotation direction synchronously and continue to generate an oblique downward thrust, which is also decomposed into a backward component and a downward component. Under the reaction force of the backward component, the robot is pressed against the steep slope or vertical surface, and under the reaction force of the downward component, the robot moves upward against the steep slope or vertical surface.

Images