All-terrain composite detection robot based on brain-like chip and control method

Abstract

The invention provides an all-terrain composite detection robot based on a brain-like chip and a control method, the all-terrain composite detection robot comprises a control cabin, an integration device and a multifunctional device, the control cabin is used for control, communication and detection of the robot, and the integration device is used for fixing the control cabin and the multifunctional device. The multifunctional device is used for detection work of the robot on the land, the ocean and the sky, and the robot controls the integration device and the multifunctional device to work through the control cabin so as to complete detection tasks under the sea, the land, the air and complex terrains. The self-form and the moving mode can be flexibly switched so as to meet the detection task requirements of complex environments such as sea, land and air; and the brain-like chip generates a control instruction in real time based on detection information, so that the efficient and accurate completion of a detection task is powerfully ensured.

Description

Technical Field

[0001] The present invention relates to the field of all-terrain composite detection robots, and in particular to an all-terrain composite detection robot based on a brain-like chip and a control method thereof. Background Art

[0002] With the rapid development of science and technology, detection robots are increasingly used in the fields of industry, military, environmental monitoring, etc. During autonomous or controlled movement, detection robots can use various types of sensors on board to collect corresponding types of data information in detection environments that are difficult for humans to reach or have complex conditions, and send them to the background so that people can quickly obtain specific conditions in the target environment. In actual applications, the detection environment is often complex and changeable, which may be underwater, in the air, in mountains, in forests, or at fire scenes, etc., which poses new challenges to the development of detection robot technology.

[0003] At present, detection robots have at least the following problems: First, traditional detection robots are often suitable for a single environment. For example, ground robots, underwater robots or aerial robots can only perform detection tasks on the ground, in water and in the air. However, actual detection tasks often involve multiple scenes such as sea, land and air. Traditional detection robots are difficult to meet the needs of multi-scene tasks, and using multiple types of detection robots to perform detection tasks will increase costs, and frequent equipment switching may also affect work efficiency and safety. Secondly, in actual applications, a single scene may also have multiple conditions. For example, the ground road can be flat. , bumps, stairs, climbing, etc., underwater detection involves water flow rate, water temperature, diving depth, etc., aerial detection involves wind speed, obstacle avoidance, etc., the above complex and changeable scene conditions will greatly reduce the execution efficiency of the detection task, and even cause equipment damage in serious cases, causing unnecessary losses; at the same time, the detection robot often includes multiple functional modules such as movement, detection, communication, and storage, especially the mobile module, which is more critical. How to improve and take into account the timeliness and accuracy of its control instructions to ensure that it can quickly adapt to the complex and changeable detection environment and complete the detection task efficiently and accurately is also a major problem faced by this field. Summary of the invention

[0004] The purpose of the present invention is to provide an all-terrain composite exploration robot and a control method based on a brain-like chip to solve the technical problems mentioned in the above background technology.

[0005] In order to achieve the above object, the specific technical solution adopted by the present invention is:

[0006] On the one hand, the present invention provides a control method for an all-terrain composite exploration robot based on a brain-like chip, comprising the following steps:

[0007] S1: Obtain detection mission information, generate an initial moving path based on its own position, mission starting point and target point, and collect surrounding environment and its own parameter information in real time during movement;

[0008] S2: The robot morphology transformation model calculates, outputs and adjusts the movement path, movement mode, speed and angle of each joint motor and servo based on the above information;

[0009] S3: The motion controller controls the shape and displacement parameters of the detection robot based on the above-mentioned moving path, moving mode, speed and angle of each joint motor and servo;

[0010] S4: The detection robot switches between different forms to move and detect the sky, sea, land and complex terrain, and collects and stores surrounding environmental information in real time;

[0011] Optionally, the task information includes a task starting point, a target point, a detection interval, and a detection parameter type;

[0012] Optionally, the different movement modes correspond to different forms, including flight detection mode, ocean detection mode, and land detection mode;

[0013] Optionally, the control process of the flight detection mode is as follows: the robot morphology transformation model of the controller brain-like chip sends a flight detection command, the controller receives the command, and controls the moving motors and the flight motors on the front, rear, left and right sides of the integrated device to stop rotating so that the composite tire and the flying wing stop moving, and then the controller controls the folding servo and the first joint servo to rotate and control the first joint and the second joint to rotate to a position parallel to the ground. After reaching the position, the controller sends a take-off command to control the flight motors on the front, rear, left and right sides of the integrated device to rotate so that the flying wing rotates, and the robot takes off;

[0014] Optionally, the movements of the flight detection mode include forward, backward, left turn, right turn, ascent and descent; for the forward / backward control, the speed of the left and right flight motors of the integrated device remains unchanged, the speed of the front / rear flight motors decreases, and the speed of the rear / front flight motors increases, thereby realizing forward / backward control; for the left / right turn control, the speed of the front and rear flight motors of the integrated device remains unchanged, the speed of the left / right flight motors decreases, thereby driving the speed of the flight wing to decrease, and the speed of the right / left flight motors increases, thereby driving the speed of the flight wing to increase, thereby realizing left / right turn control; for the ascent / descent control, the speed of the front, rear, left and right flight motors of the integrated device increases / decreases, thereby driving the speed of the flight wing to increase / decrease, thereby realizing ascent / descent control;

[0015] Optionally, the land detection mode includes a land high-speed mode, a land obstacle crossing mode, and a land bicycle mode;

[0016] According to another aspect of the present invention, there is also provided an all-terrain composite exploration robot based on a brain-like chip, comprising: a control cabin, an integration device, and a multifunctional device; the control cabin is fixed to the integration device, and the multifunctional device is respectively fixed to the front side, the rear side, the left side, and the right side of the integration device;

[0017] The control cabin is used for the control, communication and detection of the robot, the integration device is used to fix the control cabin and the multifunctional device, and the multifunctional device is used for the robot's land, sea and sky detection operations. The robot controls the integration device and the multifunctional device through the control cabin to complete the detection tasks on land, sea and air and in complex terrains;

[0018] Optionally, the controller is provided with a brain-like chip and a motion controller; the brain-like chip is preset with a robot morphology conversion model; the robot morphology conversion model can determine the movement mode and displacement parameters of the robot based on the surrounding environment and its own parameter information collected in real time;

[0019] Optionally, the different movement modes correspond to different forms, including flight detection mode, ocean detection mode, and land detection mode;

[0020] Optionally, the ocean detection mode includes an underwater mode, a surface mode and a surface flexible mode.

[0021] The present invention provides an all-terrain composite detection robot based on a brain-like chip and a control method, comprising: a control cabin, an integration device, and a multi-functional device. The control cabin is used for the control, communication and detection of the robot. The integration device is used to fix the control cabin and the multi-functional device. The multi-functional device is used for the robot's detection operations on land, sea and sky. The robot controls the integration device and the multi-functional device through the control cabin to complete detection tasks on land, sea, air and in complex terrains.

[0022] The present invention has the following technical effects:

[0023] (1) Use multifunctional devices to realize the transformation of the detection robot between sea, land and air, so that it can flexibly switch its own form to adapt to complex environments such as land, sea and air, meet the needs of diverse detection scenarios, and achieve seamless connection of diverse detection tasks;

[0024] (2) Collect and analyze detection environment information in real time, determine the optimal movement mode based on it, and switch the movement mode based on its own status to better adapt to the current detection scene conditions, ensuring that it can stably and efficiently complete the detection task under different scene conditions;

[0025] (3) Through the rapid analysis of data and accurate generation of control instructions by brain-like chips, efficient task allocation and real-time adjustment of decision-making can be achieved, which not only reduces the complexity and safety risks of human operations, but also effectively ensures the efficient and accurate completion of detection tasks;

[0026] (4) The integrated design of multiple sea, land and air detection modes allows one detection robot to complete detection tasks that traditionally require the cooperation of multiple types of detection robots, reducing equipment switching, improving the efficiency of detection task execution, and providing strong technical support for detection, rescue and other tasks in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0028] Figure 1 It is a schematic diagram of the flight detection mode of the all-terrain composite detection robot based on the brain-like chip described in the present invention;

[0029] Figure 2 It is a structural schematic diagram of the control cabin and the integration device of the present invention;

[0030] Figure 3 is another structural schematic diagram of the control cabin of the present invention;

[0031] Figure 4 is another structural schematic diagram of the control cabin of the present invention;

[0032] Figure 5 is another structural schematic diagram of the integration device of the present invention;

[0033] Figure 6 is a structural schematic diagram of the multifunctional device of the present invention;

[0034] Figure 7 It is a schematic diagram of the land high-speed mode of the all-terrain composite exploration robot based on the brain-like chip described in the present invention;

[0035] Figure 8 It is a schematic diagram of a land obstacle crossing mode of an all-terrain composite detection robot based on a brain-like chip according to the present invention;

[0036] Fig. 9 It is a schematic diagram of a land bicycle mode of an all-terrain composite exploration robot based on a brain-like chip according to the present invention;

[0037] Fig.10 It is a schematic diagram of an underwater mode of an all-terrain composite detection robot based on a brain-like chip according to the present invention;

[0038] Fig.11 It is a schematic diagram of the water surface mode of an all-terrain composite detection robot based on a brain-like chip according to the present invention;

[0039] Fig.12 It is a schematic diagram of the water surface flexible mode of the all-terrain composite detection robot based on the brain-like chip described in the present invention.

[0040] Description of reference numerals:

[0041] Control cabin 1, waterproof cabin head 101, waterproof cabin body 102, waterproof cabin tail 103, head waterproof cover 104, visual sensor 105, control frame 106, tail waterproof cover 107, secondary waterproof cover 108, sensor 109, controller 110, integration device 2, integration frame 201, cabin fixing cover 202, communication line 203, joint folding servo 204, buoyancy cover 205, flying frame 206, flying roller 207, multi-functional device 3, first joint 301, first joint servo 302, second joint 303, moving roller 304, moving motor 305, composite tire 306, flying motor 307, flying wing 308, omnidirectional wheel 309. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in each embodiment of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0043] In the following description, terms such as "inside", "outside", "up", "down", "left", "right", etc. that indicate directions or positional relationships are only used to facilitate the description of the embodiments and simplify the description, and do not indicate or imply that the referred device or element must have a specific direction, be constructed and operate in a specific direction. Therefore, it should not be understood as a limitation of the present invention.

[0044] In order to solve the technical problems mentioned in the background technology section, the specific technical solution adopted by the present invention is:

[0045] An all-terrain composite detection robot based on a brain-like chip, as shown in the attached manual Figure 1 As shown, it includes a control cabin 1, an integration device 2, and a multifunctional device 3; the control cabin 1 is fixed to the integration device 2, and the multifunctional device 3 is respectively fixed to the front side, the rear side, the left side, and the right side of the integration device 2;

[0046] The control cabin 1 is used for the control, communication and detection of the robot. The integration device 2 is used to fix the control cabin 1 and the multi-function device 3. The multi-function device 3 is used for the robot's detection operations on land, sea and sky. The robot controls the integration device 2 and the multi-function device 3 through the control cabin 1 to complete the detection tasks on land, sea, air and in complex terrain.

[0047] As the instruction manual Figure 2-4 As shown, the control cabin 1 includes a waterproof cabin head 101, a waterproof cabin body 102, a waterproof cabin tail 103, a head waterproof cover 104, a visual sensor 105, a control frame 106, a tail waterproof cover 107, a secondary waterproof cover 108, a sensor 109, and a controller 110;

[0048] Specifically, the waterproof cabin head 101 is a semicircular thin-walled structure, and is provided with a through hole for bolt connection of the waterproof cabin body 102. The head waterproof cover 104 is fixed to the front of the waterproof cabin body 102 to ensure the waterproof sealing of the connection between the waterproof cabin head 101 and the waterproof cabin body 102; the front and rear of the waterproof cabin body 102 are provided with through holes for bolt connection of the waterproof cabin head 101 and the waterproof cabin tail 103. The interior of the waterproof cabin body 102 is a hollow structure, and the waterproof cabin tail 103 is provided with a waterproof interface for control. The waterproof cabin tail 103 is provided with a through hole for bolt connection of the rear of the waterproof cabin body 102. The rear waterproof cover 107 is fixed to the rear of the waterproof cabin body 102 to ensure the connection between the waterproof cabin tail 103 and the waterproof cabin body 102 Waterproof seal; the secondary waterproof cover 108 is fixed inside the waterproof cabin 102 to prevent secondary waterproofing when the waterproof cabin leaks. The top of the secondary waterproof cover 108 is provided with a through hole for wiring. The secondary waterproof cover 108 is a multi-layer waterproof structure, and each layer is provided with a groove for storing water; the control frame 106 is located and fixed inside the waterproof cabin 102. The control frame 106 is a two-layer structure, and each layer is provided with a through hole for fixing the sensor 109 and the controller 110. Each layer of the control frame 106 is provided with a through hole for wiring. The front of the control frame 106 is provided with a through hole for bolting the waterproof cabin head 101 and the waterproof cabin 102. The front of the control frame 106 is provided with a boss for fixing the visual sensor 105;

[0049] The sensor 109 includes a posture sensor, an air pressure sensor, a satellite navigation sensor, a humidity sensor, a temperature sensor, a wind speed sensor, and a diving depth sensor;

[0050] The controller 110 includes a power supply, a micro control board, a wireless communication module, and a storage module; the power supply can supply power to each functional module of the detection robot; the storage module can store data information collected during the operation of the detection robot;

[0051] The micro control board includes a brain-like chip and a motion controller;

[0052] The brain-like chip is preset with a robot morphology conversion model, which is obtained by training historical sample data through machine learning. It can calculate, output and adjust the moving path, moving mode, speed and angle of each joint motor and servo of the detection robot in real time based on the surrounding environment and its own parameter information collected during movement. The motion controller controls the morphology and displacement parameters of the detection robot based on the above-mentioned moving path, moving mode, speed and angle of each joint motor and servo;

[0053] To further achieve accurate control of the robot, the controller 110 intermittently obtains the operation data of the robot, and iteratively trains the robot's morphological transformation model based on reinforcement learning, so as to continuously improve its adaptability and operational efficiency in various environments, ensure that it can make intelligent responses in unknown or changing environments, and perform detection tasks efficiently and accurately;

[0054] Optionally, the controller 110 can also adjust and control the operation state of the detection robot by receiving control instructions issued by the user through a remote terminal and a cloud server based on the wireless communication module; the remote terminal can be a PC, a mobile terminal, etc.;

[0055] As the instruction manual Figure 2 and 5 As shown, the integration device 2 includes an integration frame 201, a cabin fixing sleeve 202, a communication line 203, a joint folding steering gear 204, a buoyancy sleeve 205, a flying frame 206, and a flying roller 207;

[0056] The integrated frame 201 is provided with a groove in the middle for fixing the waterproof hull 102, the hull fixing sleeve 202 is respectively fixed at the front and rear positions of the waterproof hull 102, and the bottom of the hull fixing sleeve 202 is provided with a boss, and the boss is provided with a through hole fastened to the integrated frame 201; the integrated frame 201 is provided with a through hole for fixed connection of the communication line 203, and the communication line 203 is fixedly connected to the integrated frame 201 by bolts; the bottom of the integrated frame 201 is fixedly connected to the flying frame 206, and the flying frame 206 is connected to the buoyancy The sleeve 205 is fixedly connected, the bottom of the flying frame 206 is provided with a boss, and the boss is provided with a bolt hole for the flying roller 207 to be fixedly connected; the front side, rear side, left side and right side of the bottom of the integrated frame 201 are provided with bosses for the multifunctional device 3 to be rotatably connected, one side of the boss is provided with a through hole for the multifunctional device 3 to be rotatably connected, and one side of the boss is provided with a boss for the joint folding steering gear 204 to be fixedly connected; the joint folding steering gear 204 is fixed to one side of the boss of the multifunctional device 3 to control the folding of the multifunctional device 3;

[0057] As the instruction manual Figure 6As shown, the multifunctional device 3 includes a first joint 301, a first joint steering gear 302, a second joint 303, a moving roller 304, a moving motor 305, a composite tire 306, a flying motor 307, a flying wing 308, and an omnidirectional wheel 309;

[0058] The first joint 301 is provided with bosses for folding on both sides, one side of the boss is provided with a fixing hole for rotationally connecting the joint folding steering gear 204, and the other side is provided with a through hole for rotationally connecting the bottom boss of the integrated frame 201; the first joint 301 is provided with a boss fixed to the first joint steering gear 302 in the middle, the first joint steering gear 302 rotation axis is provided with a rotating disk, and the first joint 301 is provided with a through hole for the first joint steering gear 302 rotating disk to rotate in the middle; the first joint steering gear 302 is rotationally connected to the second joint 303, the second joint 303 is provided with a boss for fixedly connecting the moving motor 305, the moving roller 304 The composite tire 306 is fixedly connected to the rotating shaft of the mobile motor 305; the second joint 303 is provided with a boss, the boss is connected by a crossbeam, and the crossbeam is provided with a groove for fixed connection to the flight motor 307; the composite tire 306 is provided with a through hole connected to the flight motor 307 in a rolling manner, the flight wing 308 is fixed to the rotation of the flight motor 307, the outer side of the composite tire 306 is in contact with the mobile motor 305, and the composite tire 306 is driven to rotate through the friction rotation of the mobile motor 305; the bottom of the composite tire 306 is provided with a circumferentially arranged boss, the boss is provided with a cylindrical crossbeam, and the omnidirectional wheel 309 is connected to the cylindrical crossbeam in a rolling manner;

[0059] Optionally, the number of the flying rollers 207 and the communication lines 203 is four.

[0060] According to another aspect of the present invention, a control method for an all-terrain composite exploration robot based on a brain-like chip is provided, comprising the following steps:

[0061] S1: Obtain detection mission information, generate an initial moving path based on its own position, mission starting point and target point, and collect surrounding environment and its own parameter information in real time during movement;

[0062] S2: The robot morphology transformation model calculates, outputs and adjusts the movement path, movement mode, speed and angle of each joint motor and servo based on the above information;

[0063] S3: The motion controller controls the shape and displacement parameters of the detection robot based on the above-mentioned moving path, moving mode, speed and angle of each joint motor and servo;

[0064] S4: The detection robot switches between different forms to move and detect the sky, sea, land and complex terrain, and collects and stores surrounding environmental information in real time;

[0065] The task information includes the task starting point, target point, detection interval, detection parameter type, etc.;

[0066] As the instruction manual Figure 1 , 7 -12, the different movement modes correspond to different forms, including flight detection mode, ocean detection mode, and land detection mode;

[0067] The land detection mode includes a land high-speed mode, a land obstacle crossing mode, and a land bicycle mode; the robot form conversion model performs form conversion in sequence according to the ruggedness of the ground; the ruggedness of the ground is determined by analyzing the data collected in real time by the visual sensor 105;

[0068] The ocean detection mode includes an underwater mode, a surface mode and a surface flexible mode;

[0069] The following is a detailed introduction to the control process of different movement modes:

[0070] The control process of the flight detection mode is as follows: the robot morphology transformation model of the brain-like chip of the controller 110 sends a flight detection command, the controller 110 receives the command, and controls the mobile motors 305 and the flight motors 307 on the front, rear, left and right sides of the integration device 2 to stop rotating, so that the composite tire 306 and the flight wing 308 stop moving, and then the controller 110 controls the folding servo 204 and the first joint servo 302 to rotate and control the first joint 301 and the second joint 303 to rotate to a position parallel to the ground. After reaching the position, the controller 110 sends a take-off command to control the flight motors 307 on the front, rear, left and right sides of the integration device 2 to rotate, so that the flight wing 308 rotates, and the robot takes off;

[0071] The movements of the flight detection mode include forward, backward, left turn, right turn, ascent and descent; for the forward / backward control, the speed of the left and right flight motors 307 of the integrated device 2 remains unchanged, the speed of the front / rear flight motors 307 is reduced, and the speed of the rear / front flight motors 307 is increased, so as to realize forward / backward control; for the left / right turn control, the speed of the front and rear flight motors 307 of the integrated device 2 remains unchanged, the speed of the left / right flight motors 307 is reduced, thereby driving the speed of the flight wing 308 to decrease, and the speed of the right / left flight motors 307 is increased, thereby driving the speed of the flight wing 308 to increase, so as to realize left / right turn control; for the ascent / descent control, the speed of the front, rear, left and right flight motors 307 of the integrated device 2 is increased / decreased, thereby driving the speed of the flight wing 308 to increase / decrease, so as to realize ascent / descent control;

[0072] The control process of the land high-speed mode is as follows: the robot morphology conversion model of the brain-like chip of the controller 110 sends a land high-speed mode instruction, the controller 110 receives the instruction, and controls the flight motors 307 on the front, rear, left and right sides of the integration device 2 to reduce the speed so as to reduce the speed of the flight wings 308, the robot lands on the ground, and stops on the ground through the omnidirectional wheels 309, the controller 110 controls the flight motors 307 to stop rotating, and then controls the folding servos 204 on the front, rear, left and right sides of the integration device 2 to rotate and control the first joint 301 to rotate so that the front, rear, left and right composite tires 306 are in contact with the ground, and the robot morphology conversion model adjusts the height of the robot's driving chassis according to the environment;

[0073] The movement of the land high-speed mode includes forward, backward, left turn and right turn; for the forward / backward control, the front and rear moving motors 305 of the integration device 2 stop rotating so that the composite tire 306 stops, and the left and right moving motors 305 rotate forward / reversely so as to drive the composite tire 306 to rotate forward / reversely to propel the robot forward / backward, thereby realizing forward / backward control; for the left / right turn control, the front moving motor 305 of the integration device 2 rotates forward / reversely so as to move the composite tire 306 to the left / right, the rear moving motor 305 rotates forward / reversely so as to move the composite tire 306 to the right / left, the left moving motor 305 rotates forward / reversely so as to drive the composite tire 306 to move backward / forward, and the right moving motor 305 rotates forward / reversely so as to drive the composite tire 306 to move forward / backward, thereby realizing left / right turn control;

[0074] The control process of the land obstacle crossing mode is as follows: the robot morphology conversion model of the brain-like chip of the controller 110 sends a land obstacle crossing mode command, the controller 110 receives the command, and controls the flight motors 307 on the front, rear, left and right sides of the integration device 2 to reduce the speed so as to reduce the speed of the flight wing 308, the robot lands on the ground and stops on the ground through the omnidirectional wheels 309, the controller 110 controls the flight motor 307 to stop rotating, controls the rotation of the folding servos 204 on the left and right sides of the integration device 2 to control the rotation of the first joint 301 so that the left and right composite tires 306 are in contact with the ground, and the robot morphology conversion model adjusts the height of the robot's driving chassis according to the environment; the controller 110 controls the forward / reverse rotation of the flight motors 307 on the front and rear sides of the integration device 2 through the attitude sensor information to keep the robot balanced;

[0075] The movement of the land obstacle crossing mode includes forward, backward, left turn and right turn; for the forward / backward control, the left and right moving motors 305 of the integration device 2 rotate forward / reversely to drive the composite tire 306 to rotate forward / reversely to propel the robot forward / backward, thereby realizing forward / backward control; for the left / right turn control, the left moving motor 305 of the integration device 2 rotates forward / reversely to drive the composite tire 306 to move backward / forward, and the right moving motor 305 rotates forward / reversely to drive the composite tire 306 to move forward / backward, thereby realizing left / right turn control;

[0076] The control process of the land bicycle mode is as follows: the robot morphology conversion model of the brain-like chip of the controller 110 sends a land bicycle mode instruction, the controller 110 receives the instruction, and controls the flight motors 307 on the front, rear, left and right sides of the integration device 2 to reduce the speed so as to reduce the speed of the flight wings 308, the robot lands on the ground, and stops on the ground through the omnidirectional wheels 309, the controller 110 controls the flight motors 307 to stop rotating, and then controls the first joint servos 302 on the front and rear sides of the integration device 2 to rotate and control the second joint 303 to rotate to be perpendicular to the ground; controls the folding servos 204 on the front, rear, left and right sides of the integration device 2 to rotate and control the first joint 301 to rotate so that the front, rear, left and right composite tires 306 are in contact with the ground, and the robot morphology conversion model adjusts the height of the robot's driving chassis according to the environment;

[0077] The movement of the land bicycle mode includes forward, backward, left turn and right turn; for the forward / backward control, the front, rear, left and right moving motors 305 of the integrated device 2 rotate forward / reversely, thereby driving the composite tire 306 to rotate forward / reversely to propel the robot forward / backward, thereby realizing forward / backward control; for the left / right turn control, the front, rear, left and right moving motors 305 of the integrated device 2 rotate forwardly, thereby driving the composite tire 306 to rotate forwardly to propel the robot forward, and controlling the first joint servos 302 of the front and rear of the integrated device 2 to rotate and controlling the second joint 303 to rotate so that the composite tire 306 deviates to the left / right, thereby realizing left / right turn control;

[0078] The underwater mode control process is as follows: the robot morphology conversion model of the brain-like chip of the controller 110 sends an underwater mode detection command, the controller 110 receives the command, and controls the flight motors 307 on the front, rear, left and right sides of the integration device 2 to reduce the speed so as to reduce the speed of the flight wing 308, the robot lands on the sea surface, and floats on the sea surface through the buoyancy sleeve 205, the controller 110 controls the flight motor 307 to stop rotating, and then controls the first joint servos 302 on the left and right sides of the integration device 2 to rotate and control the second joint 303 to rotate to be perpendicular to the sea surface;

[0079] The underwater mode of motion includes ascending, descending, turning left, turning right, advancing, and retreating; for the ascending / descending control, the flight motors 307 on the front and rear sides of the integration device 2 rotate forward / reversely, thereby driving the flight wing 308 to rotate forward / reversely, and the robot is propelled upward / downward to achieve ascending / descending control; for the left / right turn control, the speed of the flight motor 307 on the front side of the integration device 2 stops, the speed of the left / right side flight motor 307 decreases, thereby driving the speed of the flight wing 308 to decrease, and the speed of the right / left side flight motor 307 increases, thereby driving the speed of the flight wing 308 to increase, thereby achieving left / right turn control; for the forward / backward control, the speed of the flight motors 307 on the front and rear sides of the integration device 2 remains unchanged, and the left and right side flight motors 307 rotate forward / reversely, thereby driving the flight wing 308 to rotate forward / reversely to propel the robot forward / backward, thereby achieving forward / backward control;

[0080] The water surface mode control process is as follows: the robot morphology conversion model of the brain-like chip of the controller 110 sends a sea surface mode detection command, the controller 110 receives the command, and controls the flight motors 307 on the front, rear, left and right sides of the integration device 2 to reduce the speed so as to reduce the speed of the flight wing 308, the robot lands on the sea surface, and floats on the sea surface through the buoyancy sleeve 205, the controller 110 controls the flight motor 307 to stop rotating, and then controls the first joint servos 302 on the left and right sides of the integration device 2 to rotate and control the second joint 303 to rotate to be perpendicular to the sea surface, the controller 110 controls the folding servos 204 to rotate and control the first joint 301 to rotate so that the left and right composite tires 306 are submerged in water;

[0081] The movement of the water surface mode includes left turn, right turn, forward and backward; for the left turn / right turn control, the speed of the flight motor 307 on the front and rear sides of the integration device 2 stops, the speed of the left / right flight motor 307 decreases, thereby driving the speed of the flight wing 308 to decrease, and the speed of the right / left flight motor 307 increases, thereby driving the speed of the flight wing 308 to increase, thereby realizing left turn / right turn control; for the forward / backward control, the flight motor 307 on the front and rear sides of the integration device 2 stops, and the left and right flight motors 307 rotate forward / reverse, thereby driving the flight wing 308 to rotate forward / reverse to propel the robot forward / backward, thereby realizing forward / backward control;

[0082] The control process of the water surface flexible mode is as follows: the robot morphology transformation model of the brain-like chip of the controller 110 sends a sea surface flexible mode detection instruction, the controller 110 receives the instruction, and controls the flight motors 307 on the front, rear, left and right sides of the integration device 2 to reduce the speed so as to reduce the speed of the flight wings 308, the robot lands on the sea surface, and floats on the sea surface through the buoyancy sleeve 205, the controller 110 controls the flight motors 307 to stop rotating, and then controls the first joint servos 302 on the rear, left and right sides of the integration device 2 to rotate and control the second joint 303 to rotate to be perpendicular to the sea surface, the controller 110 controls the folding servos 204 to rotate and control the first joint 301 to rotate so that the rear, left and right composite tires 306 are submerged under water;

[0083] The movements of the flexible water surface mode include left turn, right turn, forward and backward; for the left turn / right turn control, the speed of the front flight motor 307 of the integration device 2 stops, the speed of the left / right flight motor 307 decreases, thereby driving the speed of the flying wing 308 to decrease, the speed of the right / left flight motor 307 increases, thereby driving the speed of the flying wing 308 to increase, the rear flight motor 307 rotates forward / reverse, thereby driving the flying wing 308 to rotate forward / reverse so that the robot is propelled to the right / left, realizing left turn / right turn control; for the forward / backward control, the speed of the front and rear flight motors 307 of the integration device 2 remains unchanged, the left and right flight motors 307 rotate forward / reverse, thereby driving the flying wing 308 to rotate forward / reverse so that the robot is propelled forward / backward, realizing forward / backward control.

[0084] The present invention provides an all-terrain composite detection robot and a control method based on a brain-like chip, comprising: a control cabin, an integration device, and a multifunctional device. The control cabin is used for controlling, communicating and detecting the robot. The integration device is used to fix the control cabin and the multifunctional device. The multifunctional device is used for the robot's detection operations on land, sea and sky. The robot controls the integration device and the multifunctional device through the control cabin to complete detection tasks on land, sea, air and in complex terrains. The present invention can solve the technical problems of poor adaptability, frequent equipment switching and low task execution efficiency of traditional single-environment robots. In complex and changeable environments, the integrated land, sea and air design of the present invention can operate flexibly in complex environments such as land, sea and sky without frequent equipment replacement, greatly improving operation efficiency and safety. The control system driven by the brain-like chip further optimizes the allocation and adjustment of tasks, so that the robot can quickly respond to environmental changes, independently complete precise detection, and reduce operational complexity, providing an efficient and intelligent solution for multi-terrain detection.

[0085] The above contents are only the technical ideas of the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical ideas proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A control method for an all-terrain composite detection robot based on a brain-like chip, characterized in that: The following steps are included: S1: Obtain detection mission information, generate an initial moving path based on its own position, mission starting point and target point, and collect surrounding environment and its own parameter information in real time during movement; S2: The robot morphology transformation model calculates, outputs and adjusts the movement path, movement mode, speed and angle of each joint motor and servo based on the above information; S3: The motion controller controls the shape and displacement parameters of the detection robot based on the above-mentioned moving path, moving mode, speed and angle of each joint motor and servo; S4: The detection robot switches between different forms to move and detect the sky, sea, land and complex terrain, and collects and stores surrounding environmental information in real time.

2. The method according to claim 1, characterized in that The task information includes a task starting point, a target point, a detection interval and a detection parameter type.

3. The method according to claim 2, characterized in that Different mobile modes correspond to different forms, including flight detection mode, ocean detection mode and land detection mode.

4. The method according to claim 3, characterized in that: The control process of the flight detection mode is as follows: the robot morphology transformation model of the brain-like chip of the controller (110) sends a flight detection command, the controller (110) receives the command, and controls the moving motors (305) and the flight motors (307) on the front, rear, left and right sides of the integration device (2) to stop rotating, thereby stopping the composite tire (306) and the flight wing (308), and then the controller (110) controls the folding servo (204) and the first joint servo (302) to rotate and control the first joint (301) and the second joint (303) to rotate to a position parallel to the ground. After reaching the position, the controller (110) sends a take-off command to control the flight motors (307) on the front, rear, left and right sides of the integration device (2) to rotate, thereby rotating the flight wing (308), and the robot takes off.

5. The method according to claim 4, characterized in that The movement of the flight detection mode includes forward, backward, left turn, right turn, ascent and descent; in the forward / backward control, the speed of the left and right flight motors (307) of the integrated device (2) remains unchanged, the speed of the front / rear flight motor (307) decreases, and the speed of the rear / front flight motor (307) increases, thereby realizing forward / backward control; in the left / right turn control, the speed of the front and rear flight motors (307) of the integrated device (2) remains unchanged, the speed of the left / right flight motor (307) decreases, thereby driving the speed of the flight wing (308) to decrease, and the speed of the right / left flight motor (307) increases, thereby driving the speed of the flight wing (308) to increase, thereby realizing left / right turn control; in the ascent / descent control, the speed of the front, rear, left and right flight motors (307) of the integrated device (2) increases / decreases, thereby driving the speed of the flight wing (308) to increase / decreases, thereby realizing ascent / descent control.

6. The method according to claim 3, characterized in that The land detection mode includes a land high-speed mode, a land obstacle crossing mode, and a land bicycle mode.

7. An all-terrain composite exploration robot based on a brain-like chip using the method according to any one of claims 1 to 6, characterized in that: include: A control cabin (1), an integrated device (2), and a multifunctional device (3); the control cabin (1) is fixed to the integrated device (2), and the multifunctional device (3) is respectively fixed to the front side, the rear side, the left side, and the right side of the integrated device (2); The control cabin (1) is used for controlling, communicating and detecting the robot, the integration device (2) is used to fix the control cabin (1) and the multifunctional device (3), and the multifunctional device (3) is used for the robot's detection operations on land, sea and sky. The robot controls the integration device (2) and the multifunctional device (3) through the control cabin (1) to complete detection tasks on land, sea and air and in complex terrain.

8. The robot according to claim 7, characterized in that: The controller (110) is provided with a brain-like chip and a motion controller; the brain-like chip is preset with a robot morphology conversion model; the robot morphology conversion model can determine the robot's movement mode and displacement parameters based on the surrounding environment and its own parameter information collected in real time.

9. The robot according to claim 8, characterized in that: The different movement modes correspond to different forms, including flight detection mode, ocean detection mode and land detection mode.

10. The robot according to claim 7, characterized in that: The ocean detection mode includes an underwater mode, a surface mode and a surface flexible mode.

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