Air-ground amphibious cross-country robot based on humanoid bionics

Abstract

The invention discloses an air-ground amphibious cross-country robot based on humanoid bionics, and relates to the technical field of cross-country robots and bionic robots. The invention aims to solve the problems that existing traditional wheel type and foot type robots are limited in movement in complex terrains such as mountainous regions and jungles, and the cross-terrain cross-country ability is insufficient in an extreme environment. The robot comprises a fuselage assembly, two bionic walking assemblies and four foldable flying arm assemblies, the four foldable flying arm assemblies are symmetrically arranged on the upper portion of the fuselage assembly, and the two bionic walking assemblies are symmetrically arranged on the lower portion of the fuselage assembly; in the flight mode, the foldable flight machine arm assembly is unfolded for vector flight, and the bionic walking assembly is retracted; in the walking mode, the foldable flying machine arm assemblies are folded and adjust the posture in a self-adaptive mode, and the bionic walking assemblies stretch to walk. The robot is used for cross-country tasks of complex terrains, can flexibly act in a complex environment by combining air and ground cross-country capabilities, and is beneficial to improving the success rate and efficiency of the cross-country tasks.

Description

Technical Field

[0001] The invention relates to the technical field of off-road robots and bionic robots, and in particular to an amphibious off-road robot based on humanoid bionics. Background Art

[0002] In recent years, the demand for robotic systems has been increasing in areas such as natural disaster emergency rescue, military reconnaissance, logistics and transportation, and exploration of extreme environments. These scenarios usually involve a variety of complex terrains, such as muddy, desert, densely forested or fractured terrain, and even require crossing obstacles or reaching high targets. A single form of robot is difficult to meet such diverse needs.

[0003] Amphibious off-road robots integrate ground walking or off-road functions with aerial flight capabilities, and can switch motion modes freely in complex terrains, overcoming the limitations of traditional robots in off-road motion. In recent years, with the development of drone technology and ground robot platforms, many research teams have been committed to exploring how to combine these two motion modes so that robots have both stable ground performance and flexible flight capabilities.

[0004] Traditional off-road robots generally have the following movement modes: wheeled movement, which relies on wheel drive and is equipped with off-road tires and suspension systems to improve grip and shock resistance; tracked movement, which uses tracks to disperse ground pressure, improve grip and stability, and can cross lower obstacles; legged movement imitates animal walking or jumping, and adapts to complex and irregular terrain through a multi-legged mechanical structure.

[0005] By analyzing the existing off-road robots, we found that they have the following problems: 1) The adaptability of a single movement mode is limited and it is difficult to cope with diverse terrains. 2) The movement flexibility is not enough and it cannot cope with obstacles in low-altitude environments. 3) It lacks the ability to cross terrain in extremely complex terrains (such as cliffs and high obstacles). Summary of the invention

[0006] In order to solve the problems of the limitations of existing traditional wheeled and legged robots in complex terrains such as mountains and jungles, and insufficient cross-terrain off-road capabilities in extreme environments, the present invention proposes an amphibious off-road robot based on humanoid bionics, which has flexible aerial flight capabilities and widely adaptable ground walking capabilities, aiming to overcome the limitations of traditional mobile platforms in complex environments and realize cross-country operations across various obstacles and terrain changes.

[0007] The technical solution adopted by the present invention to solve the above technical problems is:

[0008] A land and air amphibious off-road robot based on humanoid bionics comprises a body component, two bionic walking components and four foldable flight arm components, wherein the four foldable flight arm components are symmetrically arranged on the upper part of the body component, and the two bionic walking components are symmetrically arranged on the lower part of the body component; in the flight mode, the foldable flight arm components are unfolded to perform vector flight, and the bionic walking components are retracted; in the walking mode, the foldable flight arm components are folded and the posture is adaptively adjusted, and the bionic walking components are extended to walk.

[0009] Furthermore, the fuselage assembly includes an upper platform and a lower platform, the lower platform is arranged parallel to and directly below the upper platform, the foldable flight arm assembly is connected to the outer edge of the upper platform, and the bionic walking assembly is connected to both sides of the lower platform.

[0010] Furthermore, the foldable flight arm assembly includes an arm folding assembly and a vector flight assembly, the inner end of the arm folding assembly is connected to the outer edge of the upper platform, and the arm folding assembly can be folded or unfolded around the connection, the vector flight assembly is arranged at the outer end of the arm folding assembly, and the vector flight assembly can perform vector flight.

[0011] Further, the arm folding assembly includes a connecting arm, an arm servo, an arm servo frame, an arm servo U-shaped frame and an arm, the connecting arm is fixedly connected to the outer edge of the upper platform, the arm servo frame is fixedly connected to the lower part of the outer end of the connecting arm, the arm servo is fixedly connected to the arm servo frame vertically downward, the opening of the arm servo U-shaped frame is horizontally inwardly arranged on the outer side of the arm servo frame, the arm servo disc of the arm servo is fixedly connected to the lower end side wall of the arm servo U-shaped frame, the inner end of the arm is fixedly connected to the outer end of the upper end side wall of the arm servo U-shaped frame, and the inner end of the arm and the upper end side wall of the arm servo U-shaped frame are hinged to the outer end of the connecting arm.

[0012] Furthermore, the vector flight assembly includes a propeller, a propeller servo motor, a propeller servo gear, a propeller servo gear frame and a propeller servo gear U-shaped frame, the propeller servo gear frame is fixedly connected to the upper part of the outer end of the arm, the propeller servo gear is fixedly connected to the propeller servo gear frame along the width direction of the arm, the opening of the propeller servo gear U-shaped frame is downwardly arranged on the outer side of the propeller servo gear frame, the propeller servo gear disc of the propeller servo gear is fixedly connected to the side wall of one end of the propeller servo gear U-shaped frame, the side wall of the other end of the propeller servo gear U-shaped frame is hinged to the propeller servo gear frame, the propeller servo motor is fixedly connected to the top of the propeller servo gear Y-shaped frame, and the middle part of the propeller is fixedly connected to the output shaft of the propeller servo motor through a locking nut.

[0013] Furthermore, a toothed plug plate is fixedly connected to the lower portion of the outer end of the arm, and a toothed groove is correspondingly provided at the lower portion of the connecting arm. When the foldable flight arm assembly is folded, the toothed plug plate is meshed with the toothed groove.

[0014] Furthermore, the bionic walking component includes a front leg component, a hind leg component and a bionic foot, the upper end of the front leg component is connected to the front end of the lower end surface of the lower platform, the upper end of the hind leg component is connected to the rear end of the lower end surface of the lower platform, and the lower ends of the front leg component and the hind leg component are respectively hinged to the upper end of the bionic foot.

[0015] Further, the front leg assembly includes a front leg steering gear frame, a front leg steering gear, a front leg upper connecting block, a front leg upper connecting rod, a front leg lower connecting block and a front leg lower connecting rod, the front leg steering gear frame is fixedly connected to the lower end surface of the lower platform, the front leg steering gear is horizontally fixedly connected to the front leg steering gear frame outward, the front leg steering gear disc of the front leg steering gear is fixedly connected to the upper end of the front leg upper connecting block, the lower end of the front leg upper connecting block is fixedly connected to the upper end of the front leg upper connecting rod, the lower end of the front leg upper connecting rod is fixedly connected to the upper end of the front leg lower connecting block, the lower end of the front leg lower connecting block is hinged to the upper end of the front leg lower connecting rod, and the lower end of the front leg lower connecting rod is hinged to the front side of the upper end of the bionic foot;

[0016] The hind leg assembly comprises an upper servo frame of the hind legs, an upper servo of the hind legs, an upper connecting block of the hind legs, an upper connecting rod of the hind legs, a lower connecting block of the hind legs, a lower servo frame of the hind legs, a lower servo of the hind legs, a U-shaped frame of the lower servo of the hind legs and a lower connecting rod of the hind legs. The upper servo frame of the hind legs is fixedly connected to the lower end surface of the lower platform, the upper servo of the hind legs is fixedly connected to the upper servo frame of the hind legs horizontally outwardly, the upper servo disc of the upper servo of the hind legs is fixedly connected to the upper end of the upper connecting block of the hind legs, the lower end of the upper connecting block of the hind legs is fixedly connected to the upper end of the upper connecting rod of the hind legs, and the lower end of the upper connecting rod of the hind legs is fixedly connected to the lower connecting block of the hind legs The upper end of the block is fixedly connected, the lower end of the hind leg lower connecting block is fixedly connected to the hind leg lower steering gear frame, the hind leg lower steering gear is fixedly connected to the hind leg lower steering gear frame horizontally and outwardly, the opening of the hind leg lower steering gear U-shaped frame is arranged upward on the outside of the hind leg lower steering gear frame, the hind leg lower steering gear disc of the hind leg lower steering gear is fixedly connected to one end side wall of the hind leg lower steering gear U-shaped frame, the other end side wall of the hind leg lower steering gear U-shaped frame is hinged to the hind leg lower steering gear frame, the upper end of the hind leg lower connecting rod is fixedly connected to the lower end of the hind leg lower steering gear U-shaped frame, and the lower end of the hind leg lower connecting rod is hinged to the rear side of the upper end of the bionic foot.

[0017] Furthermore, the bionic foot includes a V-shaped ankle and an inverted V-shaped foot, the inverted V-shaped foot is arranged below the V-shaped ankle, and the middle part of the upper end of the inverted V-shaped foot is hinged to the middle part of the lower end of the V-shaped ankle.

[0018] Furthermore, the humanoid bionics-based amphibious off-road robot also includes a momentum wheel auxiliary balancing component, which is fixedly connected to the middle of the lower end of the fuselage component. The momentum wheel auxiliary balancing component includes a regular tetrahedron shell, three momentum auxiliary balancing servo motors and three momentum wheels. One end face of the regular tetrahedron shell is fixedly connected to the fuselage component, and a momentum wheel is respectively provided in the middle of the other three end faces of the regular tetrahedron shell. Each momentum wheel is respectively connected to the output shaft of a momentum auxiliary balancing servo motor, and the momentum auxiliary balancing servo motor is embedded in the regular tetrahedron shell.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention proposes a composite land-air amphibious off-road robot based on humanoid bionics, which has a dual-mode switching function and can switch freely between flying in the air and walking on the ground, greatly improving its ability to work in a variety of complex environments. Its innovative four-rotor independent control, folding rotor design, momentum wheel balancing system and bionic leg structure enable it to have efficient flight capabilities, stable gait control and strong off-road adaptability. It has the following characteristics and advantages as follows:

[0021] 1. The land-air amphibious robot of the present invention has two working modes: aerial flight and ground walking, and can be flexibly switched according to environmental requirements. In flight mode, the quadcopter provides powerful flight capabilities, allowing the robot to fly over obstacles, perform emergency obstacle avoidance, and fly accurately at low altitudes. In walking mode, the robot uses bionic human legs to imitate human movement characteristics, has the ability to walk, run and jump on the ground, and adapt to complex terrain. The combination of the two modes enables the robot to work effectively in different environments. This enables it to work efficiently in a variety of environments. In scenes such as urban ruins, disaster area rescue, wilderness exploration, etc., whether it is flying over obstacles or walking in rugged terrain, it can adapt to and complete tasks.

[0022] 2. The present invention has the function of independent vector flight control. In flight mode, the lift direction of the quadcopter can be adjusted independently, and each rotor can be precisely controlled according to the required movement, thereby providing highly flexible attitude control and flight action. During flight, the attitude can be precisely controlled, and environmental changes can be quickly responded to to complete complex flight tasks, such as obstacle avoidance, detour, hovering, etc. The robot's flight system can not only cope with rapid obstacle avoidance and detour, but also perform precise operations in a small space, greatly enhancing the robot's flexibility and stability in complex environments.

[0023] 3. The combination of the posture adjustment balance system and the bionic human leg structure provides very stable gait control. Whether it is walking smoothly or dealing with rough terrain, the momentum wheel and quadrotor can adaptively adjust the robot's posture in real time, compensate for unstable torque, and ensure that the robot is not easy to lose balance when walking. This makes the robot highly adaptable in complex off-road environments and can perform tasks stably for a long time. In addition, the robot's bionic human leg structure and multi-degree-of-freedom joint design enable it to adapt to various complex terrains and switch between multiple gait modes according to needs, such as walking, running and jumping.

[0024] 4. The robot adopts folding rotors and mechanical lock design to minimize the space occupied in different working modes. In flight mode, the folding of the rotors reduces the size of the robot and reduces the air resistance during flight. In walking mode, the rotors can be quickly retracted and continue to provide lift at an appropriate angle, and can adaptively adjust the robot's posture, enhancing the robot's off-road ability on the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic structural diagram of a humanoid bionics-based amphibious off-road robot in a flying off-road mode before transformation;

[0026] Figure 2 It is a schematic structural diagram of a humanoid bionics-based land-air amphibious off-road robot in a walking off-road mode after the robot is transformed;

[0027] Figure 3 It is a schematic diagram of the main structure of the foldable flight arm assembly of the present invention;

[0028] Figure 4 It is a schematic diagram of the top view of the foldable flight arm assembly of the present invention;

[0029] Figure 5 It is a schematic diagram of the top view of the structure of the foldable flight arm assembly in the present invention when it is in an unfolded state;

[0030] Figure 6 It is a schematic diagram of the top view of the foldable flight arm assembly of the present invention in a folded state;

[0031] Figure 7 It is a schematic diagram of the structure when the toothed insert plate and the toothed groove are meshed in the present invention;

[0032] Figure 8 It is a schematic structural diagram of the momentum wheel auxiliary balancing assembly in the present invention;

[0033] Fig. 9 It is a schematic diagram of the structure of the bionic walking component in the present invention;

[0034] Fig.10 It is a schematic diagram of the structure when two bionic walking components are connected to the fuselage component in the present invention;

[0035] Fig.11 This is a control flow chart of the dual-mode switching between air flight and ground walking of an amphibious off-road robot based on humanoid bionics of the present invention;

[0036] Fig.12 The present invention is a flow chart of off-road process control of an amphibious off-road robot based on humanoid bionics. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] Specific implementation method 1: Combination Figures 1 to 12 To illustrate this embodiment, the land and air amphibious off-road robot based on humanoid bionics described in this embodiment includes a fuselage assembly, two bionic walking assemblies and four foldable flight arm assemblies, the four foldable flight arm assemblies are symmetrically arranged on the upper part of the fuselage assembly, and the two bionic walking assemblies are symmetrically arranged on the lower part of the fuselage assembly; in the flight mode, the foldable flight arm assembly is unfolded for vector flight, and the bionic walking assembly is retracted; in the walking mode, the foldable flight arm assembly is folded and the posture is adaptively adjusted, and the bionic walking assembly is extended for walking.

[0039] The humanoid bionic amphibious off-road robot of the present invention mainly comprises a bionic walking component and a foldable flying arm component. Figure 1 As shown in the figure, it is integrated together and divided into two modes. In the flight mode, the foldable flight arm assembly is unfolded for vector flight, and the bionic walking assembly is retracted; in the walking mode, the foldable flight arm assembly is folded and the posture is adaptively adjusted, and the bionic walking assembly is extended to walk over obstacles.

[0040] Specific implementation method 2: Combination Figures 1 to 7 To illustrate this embodiment, the fuselage assembly described in this embodiment includes an upper platform 1 and a lower platform 2, the lower platform 2 is arranged in parallel and directly below the upper platform 1, the foldable flight arm assembly is connected to the outer edge of the upper platform 1, and the bionic walking assembly is connected to both sides of the lower platform 2.

[0041] The undisclosed technical features in this embodiment are the same as those in the first embodiment.

[0042] Specific implementation method three: Combination Figures 1 to 7 To illustrate this embodiment, the foldable flight arm assembly described in this embodiment includes an arm folding assembly and a vector flight assembly. The inner end of the arm folding assembly is connected to the outer edge of the upper platform 1, and the arm folding assembly can be folded or unfolded around the connection. The vector flight assembly is arranged at the outer end of the arm folding assembly, and the vector flight assembly can perform vector flight.

[0043] The undisclosed technical features in this embodiment are the same as those in the second embodiment.

[0044] Specific implementation method four: Combination Figures 1 to 7The present embodiment is described. The arm folding assembly described in the present embodiment includes a connecting arm 3, an arm servo 5, an arm servo frame 6, an arm servo U-shaped frame 7 and an arm 8. The connecting arm 3 is fixedly connected to the outer edge of the upper platform 1, the arm servo frame 6 is fixedly connected to the lower part of the outer end of the connecting arm 3, the arm servo 5 is fixedly connected to the arm servo frame 6 vertically downward, the opening of the arm servo U-shaped frame 7 is horizontally inwardly arranged on the outer side of the arm servo frame 6, the arm servo disc 4 of the arm servo 5 is fixedly connected to the lower end side wall of the arm servo U-shaped frame 7, the inner end of the arm 8 is fixedly connected to the outer end of the upper end side wall of the arm servo U-shaped frame 7, and the inner end of the arm 8 and the upper end side wall of the arm servo U-shaped frame 7 are hinged to the outer end of the connecting arm 3.

[0045] The undisclosed technical features in this embodiment are the same as those in the third embodiment.

[0046] When receiving the folding command, the arm servo disc 4 of the arm servo 5 applies torque to the arm 8 by rotating the arm servo U-shaped frame 7, thereby realizing the folding function.

[0047] When the robot needs to switch to walking mode, in order to reduce space occupation and avoid mechanical damage in narrow or complex terrain, the robot first lands on a relatively open ground. Subsequently, the four arm servos 5 under the connecting arm 3 start the rotation and folding process, and the arm 8 rotates to a specific angle.

[0048] Specific implementation method five: Combination Figures 1 to 7 The present embodiment is described. The vector flight assembly described in the present embodiment includes a propeller 9, a propeller servo motor 10, a propeller steering gear 12, a propeller steering gear frame 13 and a propeller steering gear U-shaped frame 14. The propeller steering gear frame 13 is fixedly connected to the upper part of the outer end of the arm 8. The propeller steering gear 12 is fixedly connected to the propeller steering gear frame 13 along the width direction of the arm 8. The opening of the propeller steering gear U-shaped frame 14 is downwardly arranged on the outer side of the propeller steering gear frame 13. The propeller steering gear disc of the propeller steering gear 12 is fixedly connected to the side wall of one end of the propeller steering gear U-shaped frame 7. The side wall of the other end of the propeller steering gear U-shaped frame 7 is hinged to the propeller steering gear frame 13. The propeller servo motor 10 is fixedly connected to the upper part of the propeller steering gear Y-shaped frame 7. The middle part of the propeller 9 is fixedly connected to the output shaft of the propeller servo motor 10 through a locking nut.

[0049] The undisclosed technical features in this embodiment are the same as those in the fourth embodiment.

[0050] When receiving a command to change the direction of lift, the propeller servo disc of the propeller servo 12 starts to drive, driving the propeller servo U-shaped frame 7 to rotate, and the propeller servo motor 10 is fixed on the propeller servo U-shaped frame 7, and the direction of the rotor changes accordingly, achieving the function of vector flight. During flight, the arm 8 opens in an X shape, and vector flight is achieved in conjunction with the control algorithm. The lift direction of each rotor can be adjusted independently, which can not only provide precise attitude control and complex flight movements, meet the needs of emergency obstacle avoidance and bypassing obstacles, but also cope with precise movement in a small space, greatly improving the stability and flexibility of the off-road robot system.

[0051] Specific implementation method six: Combination Figures 1 to 7 To illustrate this embodiment, a toothed plug plate 11 is fixedly connected to the lower portion of the outer end of the arm 8 described in this embodiment, and a toothed groove is correspondingly provided at the lower portion of the connecting arm 3. When the foldable flight arm assembly is folded, the toothed plug plate 11 is engaged with the toothed groove.

[0052] The undisclosed technical features in this embodiment are the same as those in the fourth embodiment.

[0053] The toothed plug plate 11 plays a role of limiting and fixing. During the folding process, the toothed groove under the connecting arm 3 engages with the toothed plug plate 11 of the adjacent arm 8. When the toothed groove engages with the toothed plug plate 11, it means that the folding is completed, which can effectively prevent the arm 8 from shaking left and right or up and down in the folded state. While playing a limiting role, it can ensure the stability of the arm 8 in the folded state.

[0054] Specific implementation method seven: Combination Figure 1 , Figure 2 , Fig. 9 and Fig.10 To illustrate this embodiment, the bionic walking component described in this embodiment includes a front leg component, a hind leg component and a bionic foot 15, the upper end of the front leg component is connected to the front end of the lower end surface of the lower platform 2, the upper end of the hind leg component is connected to the rear end of the lower end surface of the lower platform 2, and the lower ends of the front leg component and the hind leg component are respectively hinged to the upper end of the bionic foot 15.

[0055] The undisclosed technical features in this embodiment are the same as those in the second embodiment.

[0056] The bionic walking component can simulate the movement characteristics of human legs, has joints with multiple degrees of freedom, and can adapt to the off-road needs of various complex terrains through walking, jumping and other movements. It is made of high-performance materials to ensure its strength and durability.

[0057] Specific implementation method eight: Combination Figure 1 , Figure 2 , Fig. 9 and Fig.10The present embodiment is described. The front leg assembly of the present embodiment comprises a front leg servo frame 16, a front leg servo, a front leg upper connecting block 18, a front leg upper connecting rod 19, a front leg lower connecting block 20 and a front leg lower connecting rod 21. The front leg servo frame 16 is fixedly connected to the lower end surface of the lower platform 2. The front leg servo is fixedly connected to the front leg servo frame 16 horizontally outward. The front leg servo disc 17 of the front leg servo is fixedly connected to the upper end of the front leg upper connecting block 18. The lower end of the front leg upper connecting block 18 is fixedly connected to the upper end of the front leg upper connecting rod 19. The lower end of the front leg upper connecting rod 19 is fixedly connected to the upper end of the front leg lower connecting block 20. The lower end of the front leg lower connecting block 20 is hinged to the upper end of the front leg lower connecting rod 21. The lower end of the front leg lower connecting rod 21 is hinged to the front side of the upper end of the bionic foot 15.

[0058] The hind leg assembly includes a hind leg upper steering gear frame 22, a hind leg upper steering gear, a hind leg upper connecting block 24, a hind leg upper connecting rod 25, a hind leg lower connecting block 26, a hind leg lower steering gear frame 27, a hind leg lower steering gear, a hind leg lower steering gear U-shaped frame 29 and a hind leg lower connecting rod 30. The hind leg upper steering gear frame 22 is fixedly connected to the lower end surface of the lower platform 2, the hind leg upper steering gear is horizontally fixedly connected to the hind leg upper steering gear frame 22 outwardly, the hind leg upper steering gear disc 23 of the hind leg upper steering gear is fixedly connected to the upper end of the hind leg upper connecting block 24, the lower end of the hind leg upper connecting block 24 is fixedly connected to the upper end of the hind leg upper connecting rod 25, and the lower end of the hind leg upper connecting rod 25 is fixedly connected to the hind leg lower connecting block 26. The upper end of the block 26 is fixed, the lower end of the hind leg lower connecting block 26 is fixed to the hind leg lower servo frame 27, the hind leg lower servo is fixed to the hind leg lower servo frame 27 horizontally outwardly, the opening of the hind leg lower servo U-shaped frame 29 is upwardly arranged on the outside of the hind leg lower servo frame 27, the hind leg lower servo disc 28 of the hind leg lower servo is fixed to one end side wall of the hind leg lower servo U-shaped frame 29, the other end side wall of the hind leg lower servo U-shaped frame 29 is hinged to the hind leg lower servo frame 27, the upper end of the hind leg lower connecting rod 30 is fixed to the lower end of the hind leg lower servo U-shaped frame 29, and the lower end of the hind leg lower connecting rod 30 is hinged to the rear side of the upper end of the bionic foot 15.

[0059] The undisclosed technical features in this embodiment are the same as those in the seventh embodiment.

[0060] The middle portion of the rear leg upper connecting rod 25 is bent backwards.

[0061] When the robot is in a walking state, the control algorithm is used to adjust the angle of the front leg servo, and the front leg upper connecting rod 19 is rotated to drive the front leg lower connecting rod 21 and the bionic foot 15 to follow the movement, and then the angles of the hind leg upper servo and the hind leg lower servo are adjusted to make the whole body move forward. Then, the angles of the hind leg upper servo and the hind leg lower servo are adjusted first to make the hind foot of the bionic foot 15 land, and then the front leg servo is adjusted to make the front foot of the bionic foot 15 land, completing a walk. During walking, the propeller 9 lift and the momentum wheel 31 are used to maintain balance and adjust the posture.

[0062] The advanced humanoid design, with reconfigurable rotors that resemble human legs and torso balance structure, enables stable walking in changing terrains.

[0063] Specific implementation method nine: Combination Figure 1 , Figure 2 , Fig. 9 and Fig.10 To illustrate this embodiment, the bionic foot 15 described in this embodiment includes a V-shaped ankle and an inverted V-shaped foot. The inverted V-shaped foot is arranged below the V-shaped ankle, and the middle part of the upper end of the inverted V-shaped foot is hinged to the middle part of the lower end of the V-shaped ankle.

[0064] The undisclosed technical features in this embodiment are the same as those in the seventh embodiment.

[0065] Specific implementation method ten: Combination Figure 8 To explain this embodiment, the land and air amphibious off-road robot based on humanoid bionics described in this embodiment also includes a momentum wheel auxiliary balancing component, which is fixedly connected to the middle part of the lower end of the fuselage component. The momentum wheel auxiliary balancing component includes a regular tetrahedron shell 33, three momentum auxiliary balancing servo motors 32 and three momentum wheels 31. One end face of the regular tetrahedron shell 33 is fixedly connected to the fuselage component, and a momentum wheel 31 is respectively provided in the middle of the other three end faces of the regular tetrahedron shell 33. Each momentum wheel 31 is respectively connected to the output shaft of a momentum auxiliary balancing servo motor 32, and the momentum auxiliary balancing servo motor 32 is embedded in the regular tetrahedron shell 33.

[0066] The undisclosed technical features in this embodiment are the same as those in the ninth embodiment.

[0067] The robot's posture adjustment and balancing system consists of two parts: the first part is the adaptive posture adjustment module, and the second part is the momentum wheel auxiliary balancing module.

[0068] 1) Adaptive posture adjustment module

[0069] The adaptive attitude adjustment module consists of four vector flight components.

[0070] When the robot is walking on the ground, the lift of the rotor does not disappear completely, but the size and direction of the lift of each rotor are adaptively adjusted as needed, which is achieved through the individual adjustment of the quadrotor. When the robot walks on the ground and encounters uneven terrain, the rotor can help the robot correct its attitude when the center of gravity shifts or is acted upon by external forces by adjusting the direction of the lift. For example, when the robot walks over a slope or obstacle, the rotor will adaptively adjust the direction of the lift to prevent the robot from losing balance.

[0071] 2) Momentum wheel auxiliary balancing module

[0072] The momentum wheel auxiliary balance module is a momentum wheel auxiliary balance component. In walking mode, the auxiliary balance system maintains the robot's posture stability when crossing obstacles through the high-speed rotation of three mutually perpendicular momentum wheels 31 and the lift provided by the rotation of the folded propeller 9.

[0073] The momentum wheel assisted balancing system tetrahedron shell 33 is a regular tetrahedron, the bottom of which is fixed to the center of the lower platform 2 by three bolts, and a momentum wheel 31 is installed at the center of each of the other three mutually perpendicular side surfaces, and three momentum assisted balancing servo motors 32 are embedded therein, and rotational inertia in three directions is generated by the three mutually perpendicular momentum wheels 31.

[0074] The momentum wheel 31 has a large angular momentum when rotating at high speed. When the rotation direction or speed of the momentum wheel 31 changes, the angular momentum of the entire system must be conserved. At this time, by changing the rotation state of the momentum wheel 31, a reverse torque can be generated to balance the system. When there are momentum wheels 31 in three directions in space, the momentum wheels 31 can keep the robot stable regardless of the robot's tendency to fall in any direction.

[0075] The present embodiment describes an amphibious off-road robot based on humanoid bionics, wherein a foldable flight arm assembly is fixed on an upper platform 1, a momentum wheel auxiliary balance assembly is fixed under the center of a lower platform 2, and a bionic walking assembly is fixed on both sides of the lower platform 2.

[0076] Combination Fig.11 The functions that the robot can achieve and the corresponding implementation methods are shown below. Combining these functions can enable the robot to move and overcome obstacles in complex and extreme environments.

[0077] 1) It can switch between aerial flight and ground walking modes. Through the combination of quadcopters and humanoid bionic legs, it can select the appropriate mode according to the ground environment and low-altitude environment of the area.

[0078] 2) In flight mode, the lift direction of each rotor can be adjusted independently, which can not only provide precise attitude control and complex flight movements to meet the needs of emergency obstacle avoidance and bypassing obstacles, but also cope with precise movement in a small space, greatly improving the stability and flexibility of the off-road robot system. The legs will be folded to reduce space occupancy, avoid mechanical damage, and raise the center of gravity of the robot for easier attitude control and motion control.

[0079] 3) In walking mode, the rotors can be folded quickly to reduce space occupancy and avoid mechanical damage in narrow or complex terrain. A mechanical lock is provided so that the rotors can still rotate to provide lift during recovery. This can adaptively compensate for the gait balance of the off-road robot and ensure the stability of the robot's ground walking and off-road capability.

[0080] 4) It has a momentum wheel auxiliary balancing system. Through the high-speed rotation of three mutually perpendicular momentum wheels, the robot system has a large angular momentum. When the rotation direction or speed of the momentum wheel changes (that is, the robot has an unstable tendency), a reverse torque can be generated by changing the rotation state of the momentum wheel to balance the system.

[0081] 5) The anthropomorphic leg structure is based on the principles of bionics, simulating the movement characteristics of human legs. It has joints with multiple degrees of freedom. Together with the folded rotors and momentum wheels, it can adapt to different terrains and various walking modes (such as walking, running, and jumping).

[0082] A land and air amphibious off-road robot based on humanoid bionics adopts the following process, combined with Fig.12 The robot's off-road process is described. The device operates as follows:

[0083] 1) The robot is in standby mode, hovering in the air, ready for off-road missions on the ground. The quadrotor provides stable hovering capability, while the servo motor-controlled steering gear and robotic arm are in the deployed state.

[0084] 2) After the user issues a task instruction, the robot selects the most suitable movement mode (flight or ground off-road) based on the target area and environmental assessment.

[0085] 3) If the robot enters flight state, the robot accelerates the quadrotor system to ensure lift optimization and enhance flight stability.

[0086] 4) The robot adjusts its flight attitude through four independent rotors and uses a vector control system to achieve precise flight, enabling the robot to perform flexible directional flight in complex environments. During the rotation of the propeller, the robot arm is ensured to be stable and able to provide lift to support most of the robot's weight, while the lift direction can be adjusted adaptively to adjust the robot's attitude.

[0087] 5) The environmental perception system (such as lidar, infrared sensor, etc.) scans the obstacles in front and around in real time. The flight control system automatically adjusts the flight direction and speed according to the location, distance and flight path of the obstacles to ensure that the robot can bypass obstacles and avoid collisions.

[0088] 6) If the robot enters the off-road state, the robot will choose a flat ground or a relatively open area to land. During the landing process, the robot's legs are lowered, and the flight control system gradually slows down and adjusts its posture to ensure that the robot lands stably.

[0089] 7) After landing, the robot retracts its arms to prepare for ground walking mode. The servos under the connecting arms start to retract the arms one by one, reducing the robot's footprint and ensuring that it can walk in a narrow ground environment.

[0090] 8) The robot uses humanoid mechanical legs, momentum wheel auxiliary balance system and propeller lift to maintain the body posture and movement balance, and can flexibly move forward in complex environments such as soft ground, sand, and mud. The three servos can be independently controlled to ensure that each leg of the robot can move flexibly when facing different obstacles.

[0091] 9) After completing the task, the robot selects the optimal return route based on the preset path.

[0092] Example:

[0093] Set up a background for this robot: the robot needs to cross the desert and rugged mountains, eventually reach a mountain base, perform a reconnaissance mission and return to the starting point. The environment includes desert plains, sand dunes, rocky areas and rugged mountain terrain.

[0094] First, the robot is in standby mode, located in an open area on the edge of the desert, ready to enter mission mode. The robot is in hovering mode, and the quadcopter controlled by the servo remains deployed to provide stability and lift support for flight. The flight control system is activated, and the sensor begins to scan the surrounding environment to prepare for the upcoming flight path planning.

[0095] The user issues a mission command, and the robot selects a flight mode to fly over deserts and mountainous areas based on the environment and target area assessment. The robot accelerates the quadrotor system to increase lift and stabilizes flight through a vector control system. The lift of the quadrotor not only provides vertical lift, but also helps the robot to fly accurately forward, backward, left and right. During the flight, the robot encountered strong winds and airflow changes at the top of the dune, and the flight control system automatically adjusted the flight attitude to maintain stability.

[0096] The robot quickly crosses the desert plain, using the flexibility of the flight mode to bypass the large sand dunes on the ground. During the flight, the quadcopter scans the obstacles ahead based on real-time sensor data (such as lidar and ultrasonic sensors), adjusts the flight path, and avoids collisions. The vector flight control system optimizes the flight path based on the perception data and can quickly change the flight direction or speed to adapt to the changing dune terrain. The lidar and infrared sensors detect obstacles ahead (such as rocks behind the dunes), and the flight control system analyzes the size, location, and distance of the obstacles in real time and decides to bypass them. Using the vector flight capability, the robot chooses to bypass obstacles and adjusts the flight altitude and attitude based on real-time feedback to avoid collisions with obstacles.

[0097] The robot flies to the edge of the mountain and begins to prepare to enter the ground off-road mode to continue the mission. The robot gradually decelerates through a precise attitude control system and chooses a relatively open area for landing. During the landing process, the flight control system continuously monitors the ground to ensure a stable landing. The lift provided by the quadcopter gradually decreases, and the robot's legs are lowered to ensure that it can remain stable when it touches the ground. After landing, the robot retracts its arms one by one to reduce the footprint and prepare for the ground walking mode. At the same time, the toothed plug under the arm precisely meshes with the toothed groove of the adjacent connecting arm to ensure that the arm is stably retracted, while the propeller can still keep rotating to provide some lift to support the weight of the robot. The robot is ready to use its humanoid mechanical legs and enter the ground off-road mode.

[0098] The robot starts walking in complex terrain with humanoid mechanical legs driven by servos, and the leg movements are precisely controlled to cope with different obstacles. The robot adapts to different ground conditions such as sand, rocks, and mud, and can move flexibly in rugged mountains. During this period, the robot uses momentum wheels and propellers to maintain balance, especially on sand and soft ground, to prevent rollover or fall. The momentum wheels help adjust the robot's body posture to ensure that it walks stably on uneven terrain. In mountainous areas, the robot constantly encounters complex obstacles such as gullies, gravel, and inclined rock ramps. By combining environmental perception with adaptive control, the robot can respond instantly. The robot scans the obstacles ahead and plans the path, avoids rocks or height difference areas in real time, and adjusts its gait to ensure that it does not lose stability during walking. For example, when encountering a wide obstacle, the robot will adjust its pace and use its mechanical legs to cross the obstacle; while in rugged terrain, the robot adjusts its gait according to the environment and walks accurately.

[0099] After the robot completes the reconnaissance mission, it enters the mission return phase. According to the preset path, the robot chooses the best route to return to the starting point.

[0100] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A land and air amphibious off-road robot based on humanoid bionics, characterized by: It includes a fuselage assembly, two bionic walking assemblies and four foldable flight arm assemblies, wherein the four foldable flight arm assemblies are symmetrically arranged on the upper part of the fuselage assembly, and the two bionic walking assemblies are symmetrically arranged on the lower part of the fuselage assembly; in the flight mode, the foldable flight arm assemblies are unfolded for vector flight, and the bionic walking assemblies are retracted; in the walking mode, the foldable flight arm assemblies are folded and the posture is adaptively adjusted, and the bionic walking assemblies are extended for walking.

2. The amphibious off-road robot based on humanoid bionics according to claim 1, characterized in that: The fuselage assembly comprises an upper platform (1) and a lower platform (2), wherein the lower platform (2) is arranged parallel to and directly below the upper platform (1), the foldable flight arm assembly is connected to the outer edge of the upper platform (1), and the bionic walking assembly is connected to both sides of the lower platform (2).

3. The amphibious off-road robot based on humanoid bionics according to claim 2, characterized in that: The foldable flying arm assembly comprises an arm folding assembly and a vector flying assembly, wherein the inner end of the arm folding assembly is connected to the outer edge of the upper platform (1), and the arm folding assembly can be folded or unfolded around the connection, and the vector flying assembly is arranged at the outer end of the arm folding assembly, and the vector flying assembly can perform vector flight.

4. The amphibious off-road robot based on humanoid bionics according to claim 3 is characterized by: The arm folding assembly comprises a connecting arm (3), an arm steering gear (5), an arm steering gear frame (6), an arm steering gear U-shaped frame (7) and an arm (8); the connecting arm (3) is fixedly connected to the outer edge of the upper platform (1); the arm steering gear frame (6) is fixedly connected to the lower part of the outer end of the connecting arm (3); the arm steering gear (5) is fixedly connected to the arm steering gear frame (6) vertically downward; the opening of the arm steering gear U-shaped frame (7) is horizontally arranged inwardly on the outer side of the arm steering gear frame (6); the arm steering gear disc (4) of the arm steering gear (5) is fixedly connected to the lower end side wall of the arm steering gear U-shaped frame (7); the inner side end of the arm (8) is fixedly connected to the outer side end of the upper end side wall of the arm steering gear U-shaped frame (7); and the inner side end of the arm (8) and the upper end side wall of the arm steering gear U-shaped frame (7) are hinged to the outer side end of the connecting arm (3).

5. The amphibious off-road robot based on humanoid bionics according to claim 4, characterized in that: The vector flight assembly comprises a propeller (9), a propeller servo motor (10), a propeller steering gear (12), a propeller steering gear frame (13) and a propeller steering gear U-shaped frame (14); the propeller steering gear frame (13) is fixedly connected to the upper part of the outer end of the machine arm (8); the propeller steering gear (12) is fixedly connected to the propeller steering gear frame (13) along the width direction of the machine arm (8); the opening of the propeller steering gear U-shaped frame (14) is arranged downward on the outer side of the propeller steering gear frame (13); the propeller steering gear disc of the propeller steering gear (12) is fixedly connected to the side wall of one end of the propeller steering gear U-shaped frame (7); the side wall of the other end of the propeller steering gear U-shaped frame (7) is hinged to the propeller steering gear frame (13); the propeller servo motor (10) is fixedly connected to the upper part of the propeller steering gear Y-shaped frame (7); and the middle part of the propeller (9) is fixedly connected to the output shaft of the propeller servo motor (10) through a locking nut.

6. The amphibious off-road robot based on humanoid bionics according to claim 4, characterized in that: A toothed plug plate (11) is fixedly connected to the lower part of the outer end of the arm (8), and a toothed groove is correspondingly provided at the lower part of the connecting arm (3). When the foldable flight arm assembly is folded, the toothed plug plate (11) is meshed with the toothed groove.

7. The land and air amphibious off-road robot based on humanoid bionics according to claim 2, characterized in that: The bionic walking component comprises a front leg component, a hind leg component and a bionic foot (15); the upper end of the front leg component is connected to the front end of the lower end surface of the lower platform (2); the upper end of the hind leg component is connected to the rear end of the lower end surface of the lower platform (2); and the lower ends of the front leg component and the hind leg component are respectively hinged to the upper end of the bionic foot (15).

8. The amphibious off-road robot based on humanoid bionics according to claim 7, characterized in that: The front leg assembly comprises a front leg steering gear frame (16), a front leg steering gear, a front leg upper connecting block (18), a front leg upper connecting rod (19), a front leg lower connecting block (20) and a front leg lower connecting rod (21); the front leg steering gear frame (16) is fixedly connected to the lower end surface of the lower platform (2); the front leg steering gear is fixedly connected to the front leg steering gear frame (16) horizontally outward; the front leg steering gear disc (17) of the front leg steering gear is fixedly connected to the upper end of the front leg upper connecting block (18); the lower end of the front leg upper connecting block (18) is fixedly connected to the upper end of the front leg upper connecting rod (19); the lower end of the front leg upper connecting rod (19) is fixedly connected to the upper end of the front leg lower connecting block (20); the lower end of the front leg lower connecting block (20) is hinged to the upper end of the front leg lower connecting rod (21); and the lower end of the front leg lower connecting rod (21) is hinged to the front side of the upper end of the bionic foot (15); The hind leg assembly comprises a hind leg upper steering gear frame (22), a hind leg upper steering gear, a hind leg upper connecting block (24), a hind leg upper connecting rod (25), a hind leg lower connecting block (26), a hind leg lower steering gear frame (27), a hind leg lower steering gear, a hind leg lower steering gear U-shaped frame (29) and a hind leg lower connecting rod (30). The hind leg upper steering gear frame (22) is fixedly connected to the lower end surface of the lower platform (2), the hind leg upper steering gear is fixedly connected to the hind leg upper steering gear frame (22) horizontally outwardly, the hind leg upper steering gear disc (23) of the hind leg upper steering gear is fixedly connected to the upper end of the hind leg upper connecting block (24), the lower end of the hind leg upper connecting block (24) is fixedly connected to the upper end of the hind leg upper connecting rod (25), and the lower end of the hind leg upper connecting rod (25) is fixedly connected to the hind leg lower connecting block (24). The upper end of the connecting block (26) is fixedly connected, the lower end of the hind leg lower connecting block (26) is fixedly connected to the hind leg lower steering gear frame (27), the hind leg lower steering gear is fixedly connected to the hind leg lower steering gear frame (27) horizontally outwardly, the opening of the hind leg lower steering gear U-shaped frame (29) is arranged upwardly on the outer side of the hind leg lower steering gear frame (27), the hind leg lower steering gear disc (28) of the hind leg lower steering gear is fixedly connected to one end side wall of the hind leg lower steering gear U-shaped frame (29), the other end side wall of the hind leg lower steering gear U-shaped frame (29) is hinged to the hind leg lower steering gear frame (27), the upper end of the hind leg lower connecting rod (30) is fixedly connected to the lower end of the hind leg lower steering gear U-shaped frame (29), and the lower end of the hind leg lower connecting rod (30) is hinged to the rear side of the upper end of the bionic foot (15).

9. The land and air amphibious off-road robot based on humanoid bionics according to claim 7, characterized in that: The bionic foot (15) comprises a V-shaped ankle and an inverted V-shaped foot, wherein the inverted V-shaped foot is arranged below the V-shaped ankle, and the middle part of the upper end of the inverted V-shaped foot is hinged to the middle part of the lower end of the V-shaped ankle.

10. The amphibious off-road robot based on humanoid bionics according to claim 1, characterized in that: The humanoid bionics-based amphibious off-road robot also includes a momentum wheel auxiliary balance component, which is fixedly connected to the middle part of the lower end of the fuselage component. The momentum wheel auxiliary balance component includes a regular tetrahedron shell (33), three momentum auxiliary balance servo motors (32) and three momentum wheels (31). One end face of the regular tetrahedron shell (33) is fixedly connected to the fuselage component, and a momentum wheel (31) is respectively arranged in the middle of the other three end faces of the regular tetrahedron shell (33). Each momentum wheel (31) is respectively connected to the output shaft of a momentum auxiliary balance servo motor (32), and the momentum auxiliary balance servo motor (32) is embedded in the regular tetrahedron shell (33).

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