AI-based land-air dual-purpose micro-robot and control system thereof

Abstract

The invention discloses an AI-based land-air dual-purpose micro-robot and a control system thereof, and relates to the technical field of robots. The AI-based land-air dual-purpose micro-robot and the control system thereof comprise a box body, and the box body is formed by sequentially connecting three first side plates and three second side plates end to end; the walking part is used for controlling the micro-robot to walk on the ground; the flying piece is used for controlling the micro-robot to fly in the air; the control part is used for providing power for the walking part and the flying part and controlling the walking part and the flying part to move; the folding and unfolding piece is used for controlling the flying piece to stretch and fold, and the folding and unfolding piece is placed in the center of the interior of the box body. According to the AI-based land-air dual-purpose micro-robot and the control system thereof, the rope body is controlled to be wound or unwound through forward and reverse rotation of the bidirectional motor, so that the flying wings are controlled to be unfolded or folded, the flying wings are protected, and the micro-robot can be conveniently switched between a flying mode and a walking mode.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to an AI-based terrestrial and airborne dual-purpose micro robot and a control system thereof. Background Art

[0002] AI's dual-purpose micro robot combines the capabilities of ground driving and air flying, and incorporates artificial intelligence technology, with a wide range of application scenarios.

[0003] With the rapid development of micro-robot technology, the demand for robots that can move flexibly in different environments is growing. In order to ensure mobility, existing micro-robots need to be lightweight and simple in design, and the control system and structural components cannot be too complicated. They often only have a single mode of movement, such as only walking or only flying, which limits their application in complex environments. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides an AI-based amphibious micro robot and its control system, which controls the winding or releasing of the rope through the forward and reverse rotation of a bidirectional motor, thereby controlling the unfolding or folding of the flying wings, protecting the flying wings and facilitating the micro robot to switch between flight mode and road mode.

[0005] Technical solution: To achieve the above objectives, the present invention is implemented through the following technical solution: an AI-based amphibious micro robot and its control system, comprising: a box body, which is formed by three first side panels and three second side panels connected in sequence.

[0006] The walking member is used to control the micro robot to walk on the ground. There are three walking members in total, and the top end of each walking member is connected to the outer side of a first side plate.

[0007] The flying piece is used to control the micro robot to fly in the air. There are two flying pieces in total, and the two flying pieces are symmetrically distributed on both sides of the longitudinal axis of the box body.

[0008] The control component is used to provide power to the walking component and the flying component and control the movement of the walking component and the flying component. The control component is placed inside the box body.

[0009] The retractable member is used to control the extension and folding of the flying member, and the retractable member is placed at the center of the box body.

[0010] Preferably, each of the first side panels is arranged between the two second side panels, and the two sides of the first side panel are respectively connected to the sides close to the two second side panels, the box body is a hexahedron, the first side panel and the second side panel have the same height, the length of the first side panel is greater than the length of the second side panel, and the top view of the box body resembles an equilateral triangle, and a cover panel is provided at both ends of the box body, and the sides close to the two cover panels are respectively connected to the two ends of the box body, and the two first side panels are symmetrically distributed on both sides of the longitudinal axis of the box body, and the two first side panels form a group of corresponding panels, and the outer side of each corresponding panel is penetrated by a window and a second channel, and the upper part of the side of each corresponding panel is connected to a placement box, the placement box is connected to the window, the placement box is connected to the second channel, the placement box is used to store folded walking parts, and the side of the second side panel is penetrated by the first channel.

[0011] Preferably, the walking member includes: an upper leg, the top end of the upper leg is connected to the side of the second side plate, the bottom end of the upper leg is connected to a connecting plate, a driver is provided on the inner side of the connecting plate, the middle parts of both sides of the driver are connected to a rod body, one end of the rod body passes through the connecting plate and is connected to the side plate, the rod body is rotatably connected to the connecting plate, the driver is connected to a lower leg, the driver is used to drive the lower leg, and the top end of the driver is electrically connected to a first wire and a second wire.

[0012] Preferably, each of the flying parts is adapted to a placement box, and the flying parts include: folding wings, a total of several folding wings, the folding wings are arranged on the outside of a first side panel, the side of the folding wing away from the first side panel is connected with a bone strip, a total of several bone strips, each of the bone strips is arranged between two folding wings, the two sides of each bone strip are respectively connected to the side close to the two folding wings, the bone strips are used to reinforce the folding wings, the folding wings are folded or stretched with the bone strip as the axis, the folding wing away from the first side panel is the outer wing, and the edge of the outer wing away from the upper leg is connected to the first vertical plate , a folded wing close to the first side panel is the inner wing, and the edge of the inner wing close to the upper leg is connected to the second vertical plate, the first vertical plate is connected to the second vertical plate through a spring, a rope body is connected to the center of the first vertical plate, one end of the rope body passes through the second vertical plate and the second channel in sequence, and the side of the inner wing close to the first side panel is connected to the fin plate through a connecting strip, one end of the fin plate passes through the window and extends into the box body, reinforcement strips are provided on both sides of the first vertical plate, the reinforcement strip is integrally formed with the first vertical plate, and the side of the reinforcement strip away from the upper leg is connected to the side of the outer wing close to the upper leg.

[0013] Preferably, the control component includes: a battery pack, which is connected to the cover plate at the bottom of the box body, a controller is arranged in the box body, the projection of the battery pack and the projection of the controller are both semicircular, the battery pack and the controller are symmetrically distributed along the longitudinal axis of the box body, a vibrator is arranged at one end of the box body close to the fin plate, one end of the fin plate passes through the window and is connected to the vibrating part of the vibrator, the vibrator is electrically connected to the battery pack through a third wire, and the vibrator is electrically connected to the controller through a fourth wire.

[0014] Preferably, the top end of the first wire passes through the connecting plate, the upper leg in sequence, and is electrically connected to the battery pack, the first wire is fixedly connected to the second wire, the axis of the first wire is arranged parallel to the axis of the second wire, and the top end of the second wire is electrically connected to the controller.

[0015] Preferably, the retractable component includes: a bidirectional motor, the bottom of the bidirectional motor is connected to the cover plate at the bottom of the box body, the rotating part of the bidirectional motor is connected to a reel, a plurality of friction grooves are arranged on the side of the reel, the top of the reel is connected to a top plate, the side of the reel is connected to a partition, the partition divides the reel into an upper area and a lower area, a rope body is connected to the side of the partition located in the upper area, and another rope body is connected to the side of the partition located in the lower area, when the bidirectional motor rotates forward, the two rope bodies are reeled in, and when the bidirectional motor rotates reversely, the two rope bodies are released, and after the rope bodies are released, they do not hinder the movement of the flying parts, and the cover plate at the bottom of the box body is connected to a vertical pole, and the rope body is wrapped around the vertical pole.

[0016] Preferably, a control system, characterized in that it is used to control the AI-based amphibious micro robot described in any one of claims 1-7, comprising: a perception module, the acquisition module includes at least any one of a visual sensor, a distance sensor, and an environmental sensor, the perception module is used to perceive the surrounding environment in real time; a conversion module is used to switch between walking mode and flight mode; an AI control module is used to analyze environmental information in real time and control the movement and task execution of the robot, the AI ​​control module includes at least one AI algorithm for environmental perception, path planning and task execution; an energy management module is used to support the energy needs of the robot in different modes, the energy management module includes an energy storage unit and an energy distribution unit, and is used to optimize the energy usage of the robot in different modes.

[0017] Beneficial effects: The present invention provides an AI-based dual-purpose micro robot for land and air and its control system. Compared with the prior art, it has the following beneficial effects: 1. The box body is approximately a triangular prism, and a walking part is arranged at the triangular part of the box body, and the walking part is used to control the micro robot to walk on the ground. A group of flying parts are arranged on both sides of the box body to control the micro robot to fly in the air. The flying part is composed of a large number of folding wings and bone strips. The folding wings can be folded along the bone strips. The reeling and releasing of the rope body are controlled by the forward and reverse rotation of the bidirectional motor. The rope body is reeled, and the rope body pulls the flying part and folds it into the placement box to protect the flying part, reduce the contact area between the flying part and the obstacle, reduce the resistance, and the micro robot is transformed into the walking mode; the rope body is released, and the flying part is no longer pulled by the rope body. The flying part recovers and unfolds under the action of the elastic part, and the micro robot is transformed into the flying mode.

[0018] 2. A partition is connected to the side of the reel, which divides the area where the reel is located into an upper area and a lower area, so as to prevent the two ropes from contacting and entangled. The reel reels the two ropes at the same time. The rope pulls the entire flying wing by pulling the first vertical plate. Different folded wings approach each other and fold together. The spring is compressed, and the end of the flying wing away from the box body continuously enters the placement box. Finally, all the folded wings are folded together and moved into the placement box. The flying wings are folded to avoid contact between the flying wings and external obstacles, thereby reducing the possibility of damage to the flying wings by foreign objects.

[0019] 3. When moving, one or two lower legs can be selected as the main power leg according to the use environment. When one lower leg is used as the main power leg, the two auxiliary power legs move forward, and the micro robot is more stable when moving, which is suitable for narrow environments or complex terrains; two lower legs can also be used as the main power legs, and the micro robot moves fast, which is suitable for use in smooth terrain. The appropriate movement method can be selected according to the use environment.

[0020] 4. When the rope wrapped around the reel is completely released, the bidirectional motor stops rotating and the flying wings are fully unfolded. At this time, the rope is in a relaxed state as a whole. The vibrating part of the vibrator vibrates at high speed with the two flying wings and flies with the micro robot. When the flying wings move to the highest or lowest point, the rope is still relaxed and will not hinder the vibration of the flying wings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the present application and, together with the description, further serve to explain the principles of the present application and enable those skilled in the relevant art to make and use the present application.

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a structural schematic diagram of the present invention.

[0024] Figure 2 for Figure 1 A diagram showing the separation of the portion where the first side plate is located from the cover plate and the running parts.

[0025] Figure 3 It is a schematic diagram of the structure of the walking parts.

[0026] Figure 4 This is an exploded view of the walking parts.

[0027] Figure 5 It is a schematic structural diagram of the portion where the first side panel is located.

[0028] Figure 6 This is a diagram showing the separation of the part where the box is placed and the flying parts.

[0029] Figure 7 This is an exploded view of the flying parts.

[0030] Figure 8 for Figure 5 Schematic diagram of the structure after removing the flying parts.

[0031] Fig. 9 for Figure 8 A separation diagram of a box body composed of a first side panel and a second side panel and the internal structure of the box body.

[0032] Fig.10 It is a schematic diagram of the structure of the control component and the retractable component.

[0033] Fig.11 It is a schematic diagram of the structure of the retractable parts.

[0034] Fig.12 It is a schematic diagram of the structure of the retractable parts and the flying parts.

[0035] The reference numerals in the figure are: 11 first side plate, 12 second side plate, 13 cover plate, 14 first channel, 15 window, 16 second channel, 17 placement box, 2 walking parts, 21 upper legs, 22 connecting plates, 23 rod body, 24 side plates, 25 drivers, 26 lower legs, 27 first wires, 28 second wires, 3 flying parts, 31 folding wings, 32 bone strips, 33 connecting strips, 34 fin plates, 35 first vertical plates, 36 reinforcement strips, 37 springs, 38 second vertical plates, 39 rope bodies, 4 control parts, 41 battery packs, 42 controllers, 43 vibrators, 5 retractable parts, 51 bidirectional motors, 52 reeling shafts, 53 partitions, 54 top plates, and 55 vertical poles.

[0036] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments, and the adjustments or modifications made are still included in the scope of the attached claims. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] The technical solution in the embodiments of the present application is to solve the above-mentioned technical problems, and the overall idea is as follows: a box body similar to an equilateral triangle is set, and a walking part is set at the triangle of the box body, and the micro robot is controlled to walk on the ground by the walking part. A group of flying parts are set on both sides of the box body to control the micro robot to fly in the air. The flying part is composed of a large number of folding wings and bone bars. The folding wings can be folded along the bone bars, and the winding and releasing of the rope body is controlled by the forward and reverse rotation of the bidirectional motor. When the rope body is wound, the rope body pulls the flying part and folds it into the placement box to protect the flying part, reduce the contact area between the flying part and the obstacle, reduce the resistance, and the micro robot is transformed into a walking mode; when the rope body is released, the flying part is no longer pulled by the rope body, and the flying part recovers and unfolds under the action of the elastic part, and the micro robot is transformed into a flying mode.

[0039] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0040] Reference Figure 1 - Fig.12A land and air dual-purpose micro robot based on AI includes: a box body, which is formed by connecting three first side panels 11 and three second side panels 12 in sequence.

[0041] Each first side panel 11 is arranged between the two second side panels 12, and the two sides of the first side panel 11 are respectively connected to the sides close to the two second side panels 12. The box body is a hexahedron, the first side panel 11 and the second side panel 12 have the same height, the length of the first side panel 11 is greater than the length of the second side panel 12, and the top view of the box body resembles an equilateral triangle. A cover panel 13 is arranged at both ends of the box body, and the sides close to the two cover panels 13 are respectively connected to the two ends of the box body. The two first side panels 11 are symmetrically distributed on both sides of the longitudinal axis of the box body. The two first side panels 11 are a group of corresponding panels, and the outer side of each corresponding panel is penetrated by a window 15 and a second channel 16. The upper part of the side of each corresponding panel is connected to a placement box 17, the placement box 17 is connected to the window 15, the placement box 17 is connected to the second channel 16, the placement box 17 is used to store the folded walking parts 2, and the side of the second side panel 12 is penetrated by a first channel 14.

[0042] The length of the first side plate 11 is 3-6 times the length of the second side plate 12. The second side plate 12 is mainly used to connect the walking part 2. In order to reduce the total weight of the micro robot, the mass of the walking part 2 should not be too heavy. The area of ​​the connection between the walking part 2 and the second side plate 12 is small, so the area of ​​the second side plate 12 does not need to be too large.

[0043] The box body is set to be nearly triangular, with one corner as the flight direction to reduce flight resistance.

[0044] A sensor array may be provided on the outside of the box body, and the sensor array is used to sense the surrounding environment in real time. The sensor array includes at least any one of a visual sensor, a distance sensor, and an environmental sensor.

[0045] The walking member 2 is used to control the micro robot to walk on the ground. There are three walking members 2 in total. The top of each walking member 2 is connected to the outer side of a first side plate 11. The walking member 2 includes: an upper leg 21, the top of the upper leg 21 is connected to the side of the second side plate 12, the bottom end of the upper leg 21 is connected to a connecting plate 22, a driver 25 is arranged on the inner side of the connecting plate 22, the middle part of both sides of the driver 25 is connected to a rod body 23, one end of the rod body 23 passes through the connecting plate 22 and is connected to the side plate 24, the rod body 23 is rotatably connected to the connecting plate 22, the driver 25 is connected to a lower leg 26, the driver 25 is used to drive the lower leg 26, the top of the driver 25 is electrically connected to a first wire 27 and a second wire 28, the top of the first wire 27 passes through the connecting plate 22, the upper leg 21, and is electrically connected to the battery pack 41 in sequence, the first wire 27 is fixedly connected to the second wire 28, the axis of the first wire 27 is arranged parallel to the axis of the second wire 28, and the top of the second wire 28 is electrically connected to the controller 42.

[0046] The first wire 27 and the second wire 28 are adhered together, and both the first wire 27 and the second wire 28 are arranged on the inner side of the lower leg 26 and the upper leg 21 to prevent the first wire 27 and the second wire 28 from contacting with debris in the environment.

[0047] The shape of the upper leg 21 and the upper leg 21 can be adjusted according to the needs of the environment, and the leg is preferably smooth, strong and light.

[0048] The walking member 2 is a walking leg, wherein the upper leg 21 is fixed and the lower leg 26 can rotate along with the driver 25 , thereby completing the movement of the lower leg 26 .

[0049] Each lower leg 26 is equipped with a driver 25, so that each lower leg 26 can move independently, and the lower leg 26 can move more flexibly. The three lower legs 26 can also control the movement of the micro robot under the action of the control member 4. When moving, one lower leg 26 is used as the main power leg, and the two lower legs 26 are used as auxiliary power legs. After the main power leg moves forward, the two auxiliary power legs follow and move forward. The overall movement is relatively stable, suitable for narrow environments or complex terrains, and can be used with sufficient power; two lower legs 26 can also be used as the main power legs, and the other lower leg 26 as the auxiliary power leg. After the main power leg moves forward, one auxiliary power leg is dragged forward. The micro robot moves fast and is suitable for use in smooth terrain.

[0050] A rotating part may also be provided at the connection between the upper leg 21 and the box body. The upper leg 21 can be rotated and placed under the action of the rotating part. It can be released and contact the ground when in use, and can be folded up and connected to the box body as a whole when not in use, thereby reducing the overall height of the micro robot and facilitating the flight of the micro robot.

[0051] If the load of the micro robot is to be reduced, the rotating part may not be provided so that the walking part 2 remains fixed.

[0052] The flying piece 3 is used to control the micro robot to fly in the air. There are two flying pieces 3. The two flying pieces 3 are symmetrically distributed on both sides of the longitudinal axis of the box body. Each flying piece 3 is adapted to a placement box 17. The flying piece 3 includes: a folding wing 31. There are several folding wings 31. The folding wing 31 is arranged on the outside of a first side plate 11. The side of the folding wing 31 away from the first side plate 11 is connected with a bone strip 32. There are several bone strips 32. Each bone strip 32 is arranged between two folding wings 31. The two sides of each bone strip 32 are respectively connected to the side close to the two folding wings 31. The bone strip 32 is used to reinforce the folding wing 31. The folding wing 31 is folded or stretched with the bone strip 32 as the axis. The folding wing 31 away from the first side plate 11 is an outer wing. The outer wing is away from A first vertical plate 35 is connected to the edge of one side of the upper leg 21, and a folded wing 31 close to the first side plate 11 is the inner wing. A second vertical plate 38 is connected to the edge of the inner wing close to the upper leg 21. The first vertical plate 35 is connected to the second vertical plate 38 through a spring 37. A rope body 39 is connected to the center of the first vertical plate 35, and one end of the rope body 39 passes through the second vertical plate 38 and the second channel 16 in sequence. A side of the inner wing close to the first side plate 11 is connected to a fin plate 34 through a connecting strip 33, and one end of the fin plate 34 passes through the window 15 and extends into the box body. Reinforcement strips 36 are provided on both sides of the first vertical plate 35, and the reinforcement strip 36 is integrally formed with the first vertical plate 35. The side of the reinforcement strip 36 away from the upper leg 21 is connected to the side of the outer wing close to the upper leg 21.

[0053] The flying wing is composed of the folded wing 31, the bone bar 32, the connecting plate 22 and the fin plate 34. The two flying wings are connected to the vibrating part of the vibrator 43. The vibrator 43 causes the flying wing to vibrate rapidly and causes the entire micro robot to fly.

[0054] A spring 37 is arranged between the first vertical plate 35 and the second vertical plate 38. When the rope 39 is pulled, the second vertical plate 38 remains stationary, and the rope 39 pulls the first vertical plate 35 toward the second vertical plate 38. The spring 37 is compressed, and the folded wings 31 and the bone strips 32 move toward the placement box 17.

[0055] The control component 4 is used to provide power for the walking component 2 and the flying component 3 and control the movement of the walking component 2 and the flying component 3. The control component 4 is placed inside the box body and includes: a battery pack 41, which is connected to the cover plate 13 at the bottom of the box body. A controller 42 is arranged inside the box body. The projection of the battery pack 41 and the projection of the controller 42 are both semicircular. The battery pack 41 and the controller 42 are symmetrically distributed along the longitudinal axis of the box body. A vibrator 43 is arranged at one end of the box body close to the fin plate 34. One end of the fin plate 34 passes through the window 15 and is connected to the vibration part of the vibrator 43. The vibrator 43 is electrically connected to the battery pack 41 through a third wire, and the vibrator 43 is electrically connected to the controller 42 through a fourth wire.

[0056] The controller 42 is responsible for receiving external instructions, processing sensor data and executing motion control algorithms to achieve autonomous motion and intelligent decision-making of the micro robot.

[0057] The retractable member 5 is used to control the extension and folding of the flying member 3. The retractable member 5 is placed at the center of the box body. The retractable member 5 includes: a bidirectional motor 51. The bottom of the bidirectional motor 51 is connected to the cover plate 13 at the bottom of the box body. The rotating part of the bidirectional motor 51 is connected to a reel 52. The side of the reel 52 is provided with a plurality of friction grooves. The top of the reel 52 is connected to a top plate 54. The side of the reel 52 is connected to a partition plate 53. The partition plate 53 connects the reel 52 to the side of the reel. 2 is divided into an upper area and a lower area, a side of the partition 53 located in the upper area is connected to a rope body 39, and a side of the partition 53 located in the lower area is connected to another rope body 39, when the bidirectional motor 51 rotates forward, the two rope bodies 39 are both wound, when the bidirectional motor 51 rotates reversely, the two rope bodies 39 are both released, after the rope bodies 39 are released, the rope bodies 39 do not hinder the movement of the flying parts 3, the cover plate 13 at the bottom of the box body is connected to the vertical rod 55, and the rope body 39 is wrapped around the vertical rod 55.

[0058] A control system for controlling a terrestrial and airborne dual-purpose micro robot, comprising: a perception module, a collection module comprising at least any one of a visual sensor, a distance sensor, and an environmental sensor, and the perception module is used for real-time perception of the surrounding environment.

[0059] Visual sensor: usually includes a camera or image sensor, which is used to capture images and video information of the surrounding environment. This is crucial for identifying obstacles, tracking targets, understanding the layout of the environment, etc.

[0060] Distance sensors: such as LiDAR, ultrasonic sensors or infrared sensors, are used to measure the distance between the robot and objects in its surrounding environment, which helps avoid collisions and navigate accurately.

[0061] Environmental sensors: These sensors may include temperature sensors, humidity sensors, air pressure sensors, etc., which are used to monitor the physical conditions of the surrounding environment and provide environmental background information for the robot's task execution.

[0062] A transition module, used to switch between walk mode and fly mode.

[0063] Walking mode: The robot may use structures such as wheels (such as wheel-legged robots), tracks or feet (such as humanoid robots) to enable the robot to walk on the ground, climb or cross obstacles.

[0064] Flight mode: By installing rotors, propellers or jet propulsion systems, the robot can fly, hover and move quickly in the air. This design allows the robot to perform tasks in complex or difficult-to-reach terrain.

[0065] The AI ​​control module is used to analyze environmental information in real time and control the movement and task execution of the robot. The AI ​​control module includes at least one AI algorithm for environmental perception, path planning and task execution.

[0066] AI algorithms: including deep learning, machine learning, computer vision and other algorithms, which are used to process and analyze data from sensor arrays to achieve functions such as environmental perception, path planning, target recognition, decision making and task execution. These algorithms enable robots to autonomously adapt to different environmental conditions and task requirements.

[0067] Environmental perception: Understand the status and changes of the current environment through sensor data, including obstacle locations, road conditions, climate conditions, etc.

[0068] Path planning: Based on the environmental perception results, plan the optimal or feasible movement path to ensure that the robot can reach the target location safely and efficiently.

[0069] Task execution: According to task instructions and current environmental conditions, control the robot's actions and behaviors to complete the predetermined task objectives.

[0070] The energy management module is used to support the energy needs of the robot in different modes. The energy management module includes an energy storage unit and an energy distribution unit, which are used to optimize the energy usage of the robot in different modes.

[0071] When in use, the bidirectional motor 51 is started, and the rotating end of the bidirectional motor 51 rotates with the winding shaft 52. One end of the two rope bodies 39 is fixed to the surface of the winding shaft 52. A partition 53 is connected to the side of the winding shaft 52. The partition 53 divides the area where the winding shaft 52 is located into two parts, an upper area and a lower area. One rope body 39 is located in the upper area, and the other rope body 39 is located in the lower area. The partition 53 plays a role of separation, which can prevent the two rope bodies 39 from contacting and entangled. The winding shaft 52 reels the two rope bodies 39 at the same time, and the ropes away from the bidirectional motor 51 One end of the body 39 begins to approach the box body, and the folded wing 31, the bone strip 32, the connecting plate 22, and the fin plate 34 form a flying wing. The rope body 39 pulls the entire flying wing by pulling the first vertical plate 35. The folded wing 31 takes the bone strip 32 as the axis. Different folded wings 31 approach each other and fold together. The spring 37 is compressed, and the end of the flying wing away from the box body continuously enters the placement box 17. Finally, all the folded wings 31 are folded together and all moved into the placement box 17. The flying wing is folded to avoid contact with external obstacles and reduce the possibility of damage to the flying wing by foreign objects. Each lower leg 26 is equipped with a driver 25, and the controller 42 controls a driver 25 through a fourth wire. Each driver 25 corresponds to a lower leg 26, so that each lower leg 26 can move independently, and the movement of the lower leg 26 is more flexible. When moving, if one lower leg 26 is used as the main power leg and the other lower leg 26 is used as the auxiliary power leg, after the main power leg moves forward, the two auxiliary power legs follow and move forward. The micro robot is relatively stable when moving and is suitable for narrow environments or complex terrains. It can be used when there is sufficient power. Alternatively, two lower legs 26 can be used as the main power leg and the other lower leg 26 can be used as the auxiliary power leg. After the main power leg moves forward, one auxiliary power leg is dragged forward. The micro robot moves quickly and is suitable for use in smooth terrain. The appropriate movement method can be selected according to the use environment, and the movement method is flexible.

[0072] When the micro robot is converted from the land mode to the air mode, the bidirectional motor 51 rotates in the opposite direction, the rope 39 wound on the winding shaft 52 is continuously released, the two ropes 39 are released to the same length, the spring 37 begins to recover, the spring 37 pushes the first vertical plate 35 and the flying wing away from the box body, and the flying wing extends from the placement box 17. When the rope 39 wound on the winding shaft 52 is completely released, the bidirectional motor 51 stops rotating, and the flying wing is fully unfolded. At this time, the rope 39 is in a relaxed state as a whole, and the vibrator 43 is started. The vibrating part of the vibrator 43 causes the two flying wings to vibrate at high speed and causes the micro robot to fly. When the flying wing moves to the highest point or the lowest point, the rope 39 is still relaxed, and the rope 39 will not hinder the vibration of the flying wing.

[0073] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the above preferred embodiments of the present invention, and those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0074] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An AI-based dual-purpose micro robot for land and air, characterized in that: include: The box body is formed by sequentially connecting three first side panels (11) and three second side panels (12); A walking member (2) for controlling the micro robot to walk on the ground, wherein there are three walking members (2) in total, and the top end of each walking member (2) is connected to the outer side of a first side plate (11); A flying piece (3) is used to control the micro robot to fly in the air, and there are two flying pieces (3) in total, and the two flying pieces (3) are symmetrically distributed on both sides of the longitudinal axis of the box body; A control component (4) is used to provide power to the walking component (2) and the flying component (3) and to control the movement of the walking component (2) and the flying component (3), wherein the control component (4) is placed inside the box body; The retractable member (5) is used to control the extension and folding of the flying member (3), and the retractable member (5) is placed at the center of the box body.

2. The AI-based dual-purpose land and air micro robot according to claim 1, characterized in that: Each of the first side panels (11) is arranged between two second side panels (12); the two sides of the first side panel (11) are respectively connected to the adjacent sides of the two second side panels (12); the box body is a hexahedron; the top view of the box body resembles an equilateral triangle; a cover panel (13) is arranged at each end of the box body; the adjacent sides of the two cover panels (13) are respectively connected to the two ends of the box body; the first side panel (11) and the second side panel (12) have the same height; the length of the first side panel (11) is greater than the length of the second side panel (12); and the two first side panels (11) are respectively connected to the second side panels (12). One side panel (11) is symmetrically distributed on both sides of the longitudinal axis of the box body. The two first side panels (11) form a group of corresponding panels. The outer side of each corresponding panel is penetrated by a window (15) and a second hole (16). The upper part of the side surface of each corresponding panel is connected to a placement box (17). The placement box (17) is connected to the window (15). The placement box (17) is connected to the second hole (16). The placement box (17) is used to store the folded walking member (2). The side surface of the second side panel (12) is penetrated by a first hole (14).

3. The AI-based dual-purpose land and air micro robot according to claim 1, characterized in that: The walking member (2) comprises an upper leg (21), the top end of the upper leg (21) being connected to the side of the second side plate (12), the bottom end of the upper leg (21) being connected to a connecting plate (22), a driver (25) being arranged inside the connecting plate (22), the middle parts of both sides of the driver (25) being connected to a rod body (23), one end of the rod body (23) passing through the connecting plate (22) and being connected to the side plate (24), the rod body (23) being rotatably connected to the connecting plate (22), the driver (25) being connected to a lower leg (26), the driver (25) being used to drive the lower leg (26), and the top end of the driver (25) being electrically connected to a first wire (27) and a second wire (28).

4. The AI-based dual-purpose land and air micro robot according to claim 3 is characterized in that: Each of the flying pieces (3) is adapted to a placement box (17), and the flying piece (3) comprises: a folding wing (31), wherein there are a plurality of folding wings (31), wherein the folding wings (31) are arranged on the outside of a first side plate (11), wherein a side of the folding wing (31) away from the first side plate (11) is connected to a bone strip (32), wherein there are a plurality of bone strips (32), wherein each bone strip (32) is arranged between two folding wings (31), wherein both sides of each bone strip (32) are respectively connected to a side close to the two folding wings (31), wherein the bone strip (32) is used to reinforce the folding wing (31), wherein the folding wing (31) is folded or stretched with the bone strip (32) as an axis, wherein a folding wing (31) away from the first side plate (11) is an outer wing, wherein the edge of the outer wing away from the upper leg (21) is connected to a first vertical plate (35), and the first vertical plate (35) is connected to the outer wing near the upper leg (21). A folded wing (31) of the first side plate (11) is an inner wing. The edge of the inner wing close to the upper leg (21) is connected to a second vertical plate (38). The first vertical plate (35) is connected to the second vertical plate (38) via a spring (37). A rope (39) is connected to the center of the first vertical plate (35). One end of the rope (39) passes through the second vertical plate (38) and the second hole (16) in sequence. The inner wing close to the first side plate (11) is connected to a fin plate (34) via a connecting strip (33). One end of the fin plate (34) passes through the window (15) and extends into the box body. Reinforcement strips (36) are provided on both sides of the first vertical plate (35). The reinforcement strips (36) are integrally formed with the first vertical plate (35). The side of the reinforcement strip (36) away from the upper leg (21) is connected to the side of the outer wing close to the upper leg (21).

5. The AI-based dual-purpose land and air micro robot according to claim 4 is characterized in that: The control component (4) comprises: a battery pack (41), the battery pack (41) being connected to a cover plate (13) at the bottom of the box body; a controller (42) being arranged inside the box body; the projection of the battery pack (41) and the projection of the controller (42) being both semicircular; the battery pack (41) and the controller (42) being symmetrically distributed along the longitudinal axis of the box body; a vibrator (43) being arranged at one end of the box body close to the fin plate (34); one end of the fin plate (34) passing through the window (15) and being connected to a vibrating part of the vibrator (43); the vibrator (43) being electrically connected to the battery pack (41) via a third wire; and the vibrator (43) being electrically connected to the controller (42) via a fourth wire.

6. The AI-based dual-purpose land and air micro robot according to claim 5, characterized in that: The top end of the first wire (27) passes through the connecting plate (22), the upper leg (21) in sequence, and is electrically connected to the battery pack (41); the first wire (27) is fixedly connected to the second wire (28); the axis of the first wire (27) is arranged parallel to the axis of the second wire (28); and the top end of the second wire (28) is electrically connected to the controller (42).

7. The AI-based dual-purpose land and air micro robot according to claim 4, characterized in that: The retractable component (5) comprises: a bidirectional motor (51), the bottom of the bidirectional motor (51) is connected to the cover plate (13) at the bottom of the box body, the rotating part of the bidirectional motor (51) is connected to a reel-up shaft (52), the side of the reel-up shaft (52) is provided with a plurality of friction grooves, the top of the reel-up shaft (52) is connected to a top plate (54), the side of the reel-up shaft (52) is connected to a partition plate (53), the partition plate (53) divides the reel-up shaft (52) into an upper area and a lower area, and the partition plate (53) is located on the side of the upper area. The cover plate (13) at the bottom of the box body is connected to a vertical rod (55), and the side of the partition plate (53) located in the lower area is connected to another vertical rod (39). When the bidirectional motor (51) rotates in the forward direction, the two vertical rods (39) are wound up. When the bidirectional motor (51) rotates in the reverse direction, the two vertical rods (39) are released. After the vertical rods (39) are released, the vertical rods (55) do not hinder the movement of the flying parts (3). The cover plate (13) at the bottom of the box body is connected to a vertical rod (55), and the vertical rod (55) is wound around the rope body (39).

8. A control system, characterized in that: Used to control the AI-based dual-purpose land and air micro robot according to any one of claims 1 to 7, comprising: The perception module includes at least one of a visual sensor, a distance sensor, and an environmental sensor. The perception module is used to perceive the surrounding environment in real time. A conversion module for switching between walking mode and flying mode; An AI control module, which is used to analyze environmental information in real time and control the movement and task execution of the robot. The AI ​​control module includes at least one AI algorithm for environmental perception, path planning and task execution; The energy management module is used to support the energy needs of the robot in different modes. The energy management module includes an energy storage unit and an energy distribution unit, which are used to optimize the energy usage of the robot in different modes.

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