Deformable wheel-wing composite robot and control method thereof

Abstract

The invention relates to a deformable wheel wing composite robot which comprises a deformable frame, at least two pairs of wheel wing composite structures, an attitude sensor and a control device. The two wheel wing composite structures in each pair of wheel wing composite structures are symmetrically installed on the left side and the right side of the deformable frame through the posture changing mechanisms, the posture changing mechanisms drive the wheel wing composite structures to be switched between the horizontal posture and the vertical posture through rotation of steering engines, and therefore switching of a running mode and a flight mode is achieved. The wheel wing composite structure comprises a rotor wing, a rotor wing motor, a wheel and a wheel wing composite support, the rotor wing motor is installed on the upper portion of the wheel wing composite support and drives the rotor wing to rotate, and the wheel is arranged in a cavity in the middle of the wheel wing composite support and rotationally connected with the wheel wing composite support or driven by the wheel motor to rotate; and at least one pair of the at least two pairs of wheel wing composite structures is provided with a wheel motor. The wheel wing composite robot is compact in structure, small in occupied space and high in adaptability to complex environments.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to a deformable wheel-wing composite robot and a control method thereof. Background Art

[0002] Traditional mobile robots have achieved many mature application cases. For example, drones have played a role in many fields such as aerial photography, power grid maintenance, forest and urban firefighting, and cargo logistics, but they lack the required mobility for narrow and tortuous environments. UGV unmanned vehicles have been applied in many aspects such as logistics transportation, automatic production line production, and line inspection, but they cannot effectively climb over obstacles on rugged and irregular ground. Replacing humans in dangerous, complex or inaccessible areas is an important significance of the development of mobile robot technology. The shortcomings of the single motion mode of existing mobile robots have become a limitation for the application of robots in complex scenes. For example, in the disaster area after an earthquake, the flat road may be destroyed and full of obstacles and is not suitable for the driving of land-based driving equipment. The collapsed building structure will also form a narrow space that cannot be explored by drones. Robots with only a single motion mode lack the ability to move in such an environment, so they cannot carry out tasks normally. In this case, the flexible decision-making of the robot's multiple motion modes has become a prerequisite for the robot to be able to be applied. Therefore, many amphibious or multi-amphibious robots have appeared in the prior art. However, most of the existing amphibious or multi-functional robots integrate multiple motion actuators on a robot body. This implementation structure occupies a large space and has limited adaptability to the environment. Summary of the invention

[0003] The object of the present invention is to provide a deformable wheel-wing composite robot and a control method thereof. The wheel-wing composite robot has a compact structure, occupies a small space, and has a strong adaptability to complex environments.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a deformable wheel-wing composite robot, comprising a deformable frame, at least two pairs of wheel-wing composite structures, a posture sensor and a control device, the deformable frame comprising a base and a posture change mechanism equivalent to the number of wheel-wing composite structures, the at least two pairs of wheel-wing composite structures are arranged front and back, and the two wheel-wing composite structures in each pair of wheel-wing composite structures are arranged symmetrically on the left and right and are installed on the left and right sides of the deformable frame through the posture change mechanism, the posture change mechanism drives the corresponding wheel-wing composite structure to switch between horizontal and vertical postures through the rotation of the steering gear, so that the wheel-wing composite structure The robot switches between driving and flying modes; the wheel-wing composite structure includes a rotor, a rotor motor, a wheel and a wheel-wing composite bracket, the rotor motor is installed on the upper part of the wheel-wing composite bracket and its output shaft is upwardly connected to the rotor to drive it to rotate, the wheel is arranged in the middle cavity of the wheel-wing composite bracket, and is rotatably connected to the wheel-wing composite bracket through a bearing or is driven to rotate by a wheel motor installed on the wheel-wing composite bracket; at least one pair of the at least two pairs of wheel-wing composite structures is provided with a wheel motor to serve as a driving source for wheel driving; the control device is electrically connected to the attitude sensor, the servo, the rotor motor and the wheel motor respectively.

[0005] Furthermore, the attitude transformation mechanism comprises a servo mounting frame, a servo, a steering wheel and a connecting arm, the servo mounting frame is fixedly connected to the deformable frame, the servo is installed on the servo mounting frame obliquely upward, the servo output shaft is obliquely outward and forms an angle of 45° with the vertical direction, the servo output shaft is fixedly connected to the connecting arm through the steering wheel, so that when the servo output shaft rotates 180°, the connecting arm is driven to transform from a horizontal attitude to a vertical attitude or from a vertical attitude to a horizontal attitude; the connecting arm is used to connect the wheel-wing composite structure.

[0006] Furthermore, it comprises n pairs of wheel-wing composite structures, wherein the n pairs of wheel-wing composite structures comprise m pairs of first wheel-wing composite structures and nm pairs of second wheel-wing composite structures, n≥2, n≥m≥1, the wheels on the first wheel-wing composite structures actively rotate when driven by wheel motors, and the wheels on the second wheel-wing composite structures passively rotate.

[0007] Furthermore, the first wheel-wing composite structure includes a rotor, a rotor motor, a driving wheel, a wheel motor and a wheel-wing composite bracket, the wheel-wing composite bracket includes a rotor motor mounting frame, a bracket base and an L-shaped connecting frame, the rotor motor mounting frame and the bracket base are both long strip structures, the left and right ends of the rotor motor mounting frame are respectively fixedly connected to the left and right ends of the bracket base by fasteners to form a middle cavity, the rotor motor is installed on the upper part of the rotor motor mounting frame and its output shaft is upwardly connected to the rotor, the driving wheel is arranged in the middle cavity, the wheel motor is installed on the bracket base and its output shaft penetrates into the middle cavity and is fixedly connected to the driving wheel through a coupling, and the bracket base is fixedly connected to the attitude change mechanism through an L-shaped connecting frame.

[0008] Furthermore, the second wheel-wing composite structure includes a rotor, a rotor motor, a passive wheel, a bearing, a fixed shaft and a wheel-wing composite bracket, the wheel-wing composite bracket includes a rotor motor mounting frame, a bracket base and an L-shaped connecting frame, the rotor motor mounting frame and the bracket base are both long strip structures, the left and right ends of the rotor motor mounting frame are respectively fixedly connected to the left and right ends of the bracket base by fasteners to form a middle cavity, the rotor motor is installed on the upper part of the rotor motor mounting frame and its output shaft is upwardly connected to the rotor, the passive wheel is arranged in the middle cavity, the fixed shaft is fixedly connected to the bracket base and penetrates into the middle cavity, and then is rotationally connected to the passive wheel through a bearing, and the bracket base is fixedly connected to the attitude change mechanism through an L-shaped connecting frame.

[0009] Furthermore, the rotor motor is a brushless DC motor, and the wheel motor is a DC reduction motor.

[0010] Furthermore, the posture sensor and the control device are arranged at the center of the base.

[0011] Furthermore, the control device includes a system board and a flight control board, and the system board communicates with the flight control board through a serial port; the system board is electrically connected to the attitude sensor, the servo, and the wheel motor respectively, so as to obtain the attitude data of the wheel-wing compound robot through the attitude sensor, and control the operation of the servo and the wheel motor; the flight control board is electrically connected to the rotor motor to control the operation of the rotor motor; the wheel-wing compound robot is also equipped with a remote control device, and the remote control device wirelessly communicates with the system board to send remote control instructions to the system board.

[0012] Furthermore, a driving control and mode switching program module is installed and run on the system board, and a flight control program module is installed and run on the flight control board; the driving control and mode switching program module is used to wirelessly communicate with the remote control device to achieve human-computer interaction, receive attitude data acquired by the attitude sensor, control the wheel-wing compound robot to switch between driving and flight modes, control the driving mode of the wheel-wing compound robot, and communicate with the flight control board to start the flight mode; the flight control program module is used to control the flight mode of the wheel-wing compound robot.

[0013] The present invention also provides a control method for the above-mentioned deformable wheel-wing composite robot, comprising the following steps:

[0014] S1, start the control of the steering gear, rotor motor and wheel motor;

[0015] S2, determine whether the remote control information of the remote control device is received, if yes, go to step S3, otherwise go to step S5;

[0016] S3, analyzing the received remote control information and parsing the instructions;

[0017] S4, controlling the steering gear, the rotor motor and the wheel motor to work accordingly based on the task data obtained by analyzing the command;

[0018] S5. Send the status information of the wheel-wing composite robot to the remote control device and control the operation of the corresponding indicator lights.

[0019] Compared with the prior art, the present invention has the following beneficial effects: the present invention provides a deformable wheel-wing composite robot and a control method thereof, the wheel-wing composite robot can realize component reuse and motion mode switching through deformation through the design of a deformable frame and a wheel-wing composite structure, and compared with the prior art, the structure is compact, the space occupied is small, and the robot has stronger adaptability to complex environments. Therefore, the present invention has strong practicality and broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 : is a schematic diagram of the structure of the wheel-wing composite robot according to an embodiment of the present invention (the posture sensor and the control device are not shown);

[0021] Figure 2 is a structural exploded diagram of the wheel-wing composite robot according to an embodiment of the present invention (without showing the posture sensor and the control device);

[0022] Figure 3 Schematic diagram of the station switching of the wheel-wing composite structure in an embodiment of the present invention;

[0023] Figure 4is a schematic diagram of a state in which the wheel-wing composite robot according to an embodiment of the present invention is in a driving mode;

[0024] Figure 5 is a schematic diagram of a wheel-wing composite robot in a flight mode according to an embodiment of the present invention;

[0025] Figure 6 is a structural schematic diagram of a base in an embodiment of the present invention;

[0026] Figure 7 is a schematic structural diagram of a rotor motor mounting bracket according to an embodiment of the present invention;

[0027] Figure 8 is a schematic structural diagram of a support base in an embodiment of the present invention;

[0028] Fig. 9 is a control logic implementation architecture diagram of a control device in an embodiment of the present invention;

[0029] Fig.10 is a flow chart of the control method of the wheel-wing composite robot in an embodiment of the present invention;

[0030] Fig.11 is a flowchart of unlocking the driving mode in an embodiment of the present invention;

[0031] Fig.12 is a state switching block diagram of the wheel-wing composite robot in an embodiment of the present invention;

[0032] Fig.13 It is a deformation test diagram of the wheel-wing composite robot in an embodiment of the present invention.

[0033] Fig.14 This is a moving test diagram of the wheel-wing composite robot in an embodiment of the present invention.

[0034] In the figure: 1-wheel wing; 2-wheel wing motor; 3-rotor motor mounting frame; 4-wheel; 5-bracket base; 6-connecting arm; 7-servo; 8-servo mounting frame; 9-base; 10-wheel motor; 11-bearing; 12-fastener; 13-L-shaped connecting frame; 14-coupling; 15-steering disc. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0037] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0038] like Figure 1-2 As shown, this embodiment provides a deformable wheel-wing composite robot, including a deformable frame, two pairs of wheel-wing composite structures, a posture sensor and a control device, wherein the deformable frame includes a base 9 and a posture change mechanism equal to the number of the wheel-wing composite structures, wherein the two pairs of wheel-wing composite structures are arranged front to back, and the two wheel-wing composite structures in each pair of wheel-wing composite structures are arranged symmetrically on the left and right and are installed on the left and right sides of the deformable frame through the posture change mechanism, and the posture change mechanism drives the corresponding wheel-wing composite structure to switch between the horizontal and vertical postures through the steering gear 7. Figure 3 As shown, the wheel-wing composite robot can be Figure 4 The driving mode shown is similar to Figure 5 The wheel-wing composite structure includes a rotor 1, a rotor motor 2, a wheel 4 and a wheel-wing composite bracket. The rotor motor 2 is mounted on the upper part of the wheel-wing composite bracket and its output shaft is upwardly connected to the rotor 1 to drive it to rotate. The wheel 4 is arranged in the middle cavity of the wheel-wing composite bracket and is rotatably connected to the wheel-wing composite bracket through a bearing 11 or driven to rotate by a wheel motor 10 mounted on the wheel-wing composite bracket. One pair of the two pairs of wheel-wing composite structures is provided with a wheel motor 10 as a driving source for wheel travel. The control device is electrically connected to the attitude sensor, the steering gear, the rotor motor and the wheel motor respectively. The attitude sensor is used to sense the attitude of the wheel-wing composite robot in flight control. The wheel-wing composite mechanism allows the actuator of land motion to be partially coupled with the actuator of flight motion, which reduces the mass of the robot to a certain extent.

[0039] The posture change mechanism includes a steering gear mounting frame 8, a steering gear 7, a steering wheel 15 and a connecting arm 6. The steering gear mounting frame 8 is fixedly connected to the deformable frame. The steering gear 7 is installed on the steering gear mounting frame 8 obliquely upward. The output shaft of the steering gear 7 is obliquely outward and forms an angle of 45° with the vertical direction. The output shaft of the steering gear 7 is fixedly connected to the connecting arm 6 through the steering wheel 15. The steering gear 7 can realize the switching of the wheel-wing composite robot between the driving posture and the flying posture. When the steering gear output shaft rotates 180°, the connecting arm is driven to change from the horizontal posture to the vertical posture or from the vertical posture to the horizontal posture. The connecting arm 6 is used to connect the wheel-wing composite structure.

[0040] The attitude change mechanism is an actuator used to achieve the robot's deformation to complete the mode switching. When driving on land, the wheels need to be in vertical contact with the ground, and when flying, the rotors need to remain parallel to the ground. The deformable frame can change the attitude of the wheel-wing composite mechanism through the attitude change mechanism to meet the above working conditions, achieving Figure 4 and 5 Switch between modes.

[0041] Preferably, the posture sensor and the control device are arranged at the center of the base 9. The structure of the base 9 is as follows: Figure 6 As shown, many slots are opened on it to facilitate the installation and fixation of subsequent circuit modules of various sizes, and at the same time, the weight of the components can be reduced. The four protruding structures in the circular hole hollowed out in the center of the bottom plate are used to install the flight control board, so that the flight control board can be arranged at the geometric center of the entire robot to improve the accuracy of the attitude sensor on the flight control board to collect attitude information. The four corners are provided with mounting holes for connection with the steering gear mounting frame 8. Because the overall shape of the component is long and flat, reinforcing ribs can be arranged at its bottom for the purpose of improving its rigidity.

[0042] The steering gear mounting frame 8 is used to install the steering gear 7 and support the robot when the robot is in flight mode. After the steering gear 7 is placed in the steering gear mounting frame 8, it needs to be connected by screws and nuts. From the perspective of easy assembly, the steering gear 7 occupies the space in the steering gear mounting frame 8 after being placed, which makes the installation of the nut cumbersome and even has the risk of being unable to complete the assembly. Therefore, a groove for accommodating the nut is designed at the mounting hole where the steering gear mounting frame 8 is connected to the steering gear 7. The nut only needs to be placed in the groove and the screw can be tightened to complete the assembly, which greatly facilitates the installation of the steering gear.

[0043] The connecting arm 6 is a component used to connect the wheel-wing composite structure to the deformable frame. One connecting surface is used to connect to the steering plate 15, and the other connecting surface is used to install the L-shaped connecting frame 13. The angle between the two connecting surfaces is 45°. When the steering gear rotates 180°, the connecting arm can drive the wheel-wing composite structure to complete a 90° flip, realizing the working position switching of the wheel-wing composite structure in the two motion modes of land driving and flying. Figure 3 shown.

[0044] In this embodiment, the wheel-wing composite robot includes two pairs of wheel-wing composite structures, including one pair of first wheel-wing composite structures and one pair of second wheel-wing composite structures. The wheels on the first wheel-wing composite structure rotate actively under the drive of the wheel motor, and the wheels on the second wheel-wing composite structure rotate passively. As an extension, the wheel-wing composite robot may include more n pairs of wheel-wing composite structures, including m pairs of first wheel-wing composite structures and nm pairs of second wheel-wing composite structures, n≥2, n≥m≥1, that is, the wheel-wing composite robot may be provided with more than 2 pairs of wheel-wing composite structures, and the wheel-wing composite structures may all be first wheel-wing composite structures, or part of the first wheel-wing composite structures and part of the second wheel-wing composite structures, but there must be at least one pair of first wheel-wing composite structures.

[0045] The first wheel-wing composite structure includes a rotor 1, a rotor motor 2, a driving wheel, a wheel motor 10 and a wheel-wing composite bracket. The wheel-wing composite bracket includes a rotor motor mounting frame 3, a bracket base 5 and an L-shaped connecting frame 13. The rotor motor mounting frame 3 and the bracket base 5 are both long strip structures. The left and right ends of the rotor motor mounting frame 3 are fixedly connected to the left and right ends of the bracket base 5 by fasteners 12 (in this embodiment, double-headed internal threaded cylindrical pins are used) to form a middle cavity. The rotor motor 2 is installed on the upper part of the rotor motor mounting frame 3 and its output shaft is upwardly connected to the rotor 1. The driving wheel is arranged in the middle cavity. The wheel motor 10 is installed on the bracket base 5 and its output shaft penetrates the middle cavity and is fixedly connected to the driving wheel through a coupling 14. The bracket base 5 is fixedly connected to the connecting arm 6 on the attitude change mechanism through the L-shaped connecting frame 13.

[0046] The second wheel-wing composite structure includes a rotor 1, a rotor motor 2, a passive wheel 4, a bearing 11, a fixed shaft and a wheel-wing composite bracket. The wheel-wing composite bracket includes a rotor motor mounting frame 3, a bracket base 5 and an L-shaped connecting frame 13. The rotor motor mounting frame 3 and the bracket base 5 are both long strip structures. The left and right ends of the rotor motor mounting frame 3 are fixedly connected to the left and right ends of the bracket base 5 by fasteners 12 (in this embodiment, double-headed internal threaded cylindrical pins are used) to form a middle cavity. The rotor motor 2 is installed on the upper part of the rotor motor mounting frame 3 and its output shaft is upwardly connected to the rotor 1. The passive wheel 4 is arranged in the middle cavity. The fixed shaft is fixedly connected to the bracket base 5 and penetrates into the middle cavity, and then is rotationally connected to the passive wheel 4 through the bearing 11. The bracket base 5 is fixedly connected to the connecting arm 6 on the attitude change mechanism through the L-shaped connecting frame 13.

[0047] In this embodiment, the rotor motor 2 is a brushless DC motor, and the wheel motor 10 is a DC reduction motor.

[0048] The basic requirement for the design of the wheel-wing composite mechanism is to ensure that the brushless motor that provides power for flight is located at the geometric center of the wheel while keeping the brushless motor fixed to the frame. The common design method is to add a transmission link, so that the part of the wheel that receives the torque of the motor does not have to be located at the geometric center of the wheel, thereby leaving installation space for the fixation of the brushless motor to the frame. This embodiment makes improvements on the basis of meeting the design requirements of the wheel-wing composite mechanism, and completes the fixation of the brushless motor to the frame through the wheel-wing composite bracket, so that the motor can directly drive the wheel under the condition of meeting the speed and torque requirements, omitting the complex transmission mechanism to greatly simplify the structure of the wheel-wing composite mechanism and reduce its weight.

[0049] The wheel-wing composite bracket is mainly composed of two parts: the rotor motor mounting frame 3 and the bracket base 5. Figure 7 As shown, the rotor motor mounting frame 3 is designed with reinforcing ribs and grooves to improve the strength and deformation resistance of the component while taking into account the need to reduce its weight. Figure 8 As shown, a groove is dug on the top of the bracket base 5 to accommodate the brushless DC motor, and space is reserved for the arrangement of the power supply wires of the brushless motor.

[0050] The bracket base 5 also reserves a mounting hole of the same specification as the L-shaped connecting frame, and the wheel motor 10, the L-shaped connecting frame 13, and the bracket base 5 are fixed together by screws. The rotor motor mounting frame 3 is connected to the bracket base 5 through a double-headed internal thread cylindrical pin 12, and the groove on the top is used to install the DC brushless motor.

[0051] The wheel-wing composite robot does not need all four wheels to be active wheels for land travel, so this embodiment adopts an arrangement in which two active wheels are located at the rear of the robot and two driven wheels are located at the front of the robot. The difference between the driven wheels and the active wheels is that the driven wheels do not need a power element to provide power for land travel, and the design requirements are to meet the smooth rotation of the wheels. The driven wheels are installed on the fixed shaft through the bearing 11.

[0052] like Fig. 9 As shown, the control device includes an STM32 minimum system board and a flight control board, and the system board communicates with the flight control board through a serial port; the system board is electrically connected to the attitude sensor, the servo, and the wheel motor respectively, so as to obtain the attitude data of the wheel-wing composite robot through the attitude sensor, and control the operation of the servo and the wheel motor; the flight control board is electrically connected to the rotor motor to control the operation of the rotor motor; the wheel-wing composite robot is also equipped with a remote control device, and the remote control device wirelessly communicates with the system board to send remote control instructions to the system board.

[0053] A driving control and mode switching program module is installed and run on the system board, and a flight control program module is installed and run on the flight control board; the driving control and mode switching program module is used to wirelessly communicate with the remote control device to achieve human-computer interaction, receive attitude data obtained by the attitude sensor, control the wheel-wing compound robot to switch between driving and flight modes, control the driving mode of the wheel-wing compound robot, and communicate with the flight control board to start the flight mode; the flight control program module is used to control the flight mode of the wheel-wing compound robot.

[0054] The tasks that the wheel-wing composite robot needs to complete are land driving and flying, and the switching between the two modes needs to be achieved through deformation. Land driving is achieved through 2 DC reduction motors, flying is achieved through 4 brushless DC motors, and deformation is achieved through 4 steering gears. These power modules constitute the underlying hardware layer of the entire control system and are also the most important controlled objects.

[0055] The STM32 minimum system board and the flight control board are the carriers of the control program module. They communicate with each other through the serial port and together constitute the control layer of the control system. They drive the movement of the underlying hardware by receiving the control intention from the operator and parsing it into specific control signals. The two DC reduction motors for land driving and the four servos for deformation are controlled by the system board, and the four brushless DC motors that provide power for flight are controlled by the flight control board. The operator transmits the control intention to the robot through the remote control device, which constitutes the top-level control layer of the control system. Fig. 9 shown.

[0056] Fig.10 The flowchart of the program running on the system board is shown. The main tasks are to process the received information, analyze the instructions in the information, control the steering gear and motor according to the instructions, and send status information and control indicator lights. Fig.10 As shown, this embodiment also provides a control method for the above-mentioned deformable wheel-wing composite robot, comprising the following steps:

[0057] S1, start the control of the steering gear, rotor motor and wheel motor;

[0058] S2, determine whether the remote control information of the remote control device is received, if yes, go to step S3, otherwise go to step S5;

[0059] S3, analyzing the received remote control information and parsing the instructions;

[0060] S4, controlling the steering gear, the rotor motor and the wheel motor to work accordingly based on the task data obtained by analyzing the command;

[0061] S5. Send the status information of the wheel-wing composite robot to the remote control device and control the operation of the corresponding indicator lights.

[0062] The information received by the system board includes remote control device information, including the remote control device joystick position value and each button status. These remote control device information can be parsed into task data to control the robot's land driving and mode switching. The control of the robot's land driving and mode switching is the control of the motor and servo, which is essentially achieved by adjusting the duty cycle of the PWM signal output by the microcontroller.

[0063] In order to prevent the robot from making unexpected movements when switching modes, the robot's lock state is designed to lock the robot's movement, and related operations such as unlocking are also required. For the sake of ease of operation, the same set of operating procedures are used for unlocking or locking, regardless of whether it is flight mode or land driving mode. The program automatically unlocks or locks the corresponding mode according to whether the robot is currently in a car posture or a quadcopter posture. The Allstate structure is used to store all the variables required for unlocking and locking, as shown in Table 1.

[0064] Table 1 Allstate structure

[0065]

[0066] The specific implementation is to detect the value of Posflag to determine whether the robot is in land driving or flying posture, and after reading the unlocking operation step, the corresponding unlocking flag is set to 1. The process of unlocking the land driving mode is as follows Fig.11 As shown, it should be pointed out that the logic of the land driving unlocking code is exactly the same as that of the flight mode unlocking code, but the land driving unlocking code runs on the system board, and the flight unlocking code runs on the flight control board. The two codes are coordinated through the variable Posflag. Posflag is updated by the system board every 1s according to the robot's posture, that is, the position set by the servo, and the updated value is sent to the flight control board through the serial port.

[0067] The robot unlocking can be divided into three stages. The first stage is the locked state, and the corresponding state flags are unlock=0 and isCarlock=1. At this time, the remote control device cannot operate the motor, and the robot's movement is locked, but the posture change can be controlled. The second stage is the unlocking state. When the operator performs the unlocking operation, the program automatically sets unlocking or Carunlocking to 1 according to the value of Posflag and enters this state. In this state, the remote control device cannot operate the motor, and the shape switching is also prohibited. The third stage is the unlocking state. According to the unlocking mode, isCarlock or unlock is automatically changed, and unlocking or Carlocking is set to 0. At this time, the remote control device can operate the robot normally. The state switching process is as follows: Fig.12 shown.

[0068] The servos and motors are controlled by PWM. In order to complete the control of the servos and motors, the data separation programming idea is adopted, and the control task of the single-chip microcomputer is separated into the execution function and the task data. The execution function generates a specific PWM waveform according to the task data. Changing the relevant variables in the task data can change the PWM waveform, and achieve the effect of changing the motor speed or the rotation angle of the servo. The servo can directly receive the PWM signal from the single-chip microcomputer to complete the action. The PWM signals required by the four servos are generated through the four output channels of TIM4. Because the servos do not need to switch angles frequently, the program is designed to execute the control task of the servo once every 100ms.

[0069] Robot deformation test

[0070] Deformation is an important step in the robot's mode switching. The deformation is completed by the servo driving the deformable frame to realize the switch of the wheel-wing composite structure between two working positions. Fig.13 As shown, (a) to (d) are the process of the robot transforming from a trolley posture when driving on land to a flying posture, and (e) to (h) are the process of the robot switching back to a trolley posture from a flying posture. The entire transformation process is completed in a locked state, and the movement of various power components of the robot is prohibited to avoid accidents caused by the movement of the robot during the transformation process.

[0071] Robot mobility test

[0072] The experiment of the robot's linear motion and steering motion on land is as follows Fig.14 As shown, the robot first moves forward a distance from position 1 to position 2 in the land driving mode. Fig.14As shown in (a), the steering gear then drives the wheel-wing composite structure of the robot to rotate at a certain angle, turning in situ, and returning to the normal land driving posture after the turning is completed, moving a short distance in the new direction, as shown in FIG. Fig.14 As shown in (b).

[0073] The robot's mobility also includes its flight capability. The brushless DC motor used for flight is driven by an electronic regulator, which needs to be connected to the PWM signal of the flight control board to adjust the speed of the brushless motor. The flight control board integrates the MPU6050 module, which calculates the flight attitude every 2ms and uses the attitude information to adjust the speed of the brushless motor through the PID algorithm. The PID algorithm has a certain range for adjusting the speed, which is 10% of the throttle size set by the remote control device. That is, the speed is mainly changed by the operator through the remote control device, and the PID algorithm is only adjusted to ensure the stability of the flight. The rotor can rotate normally and track the size of the throttle of the remote control device to adjust the speed.

[0074] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A deformable wheel-wing composite robot, characterized in that: The invention comprises a deformable frame, at least two pairs of wheel-wing composite structures, a posture sensor and a control device, wherein the deformable frame comprises a base and a posture change mechanism having the same number as the wheel-wing composite structures, wherein the at least two pairs of wheel-wing composite structures are arranged front and back, and the two wheel-wing composite structures in each pair of wheel-wing composite structures are arranged symmetrically on the left and right sides and installed on the left and right sides of the deformable frame through the posture change mechanism, wherein the posture change mechanism drives the corresponding wheel-wing composite structure to switch between the horizontal and vertical postures through the rotation of the steering gear, so that the wheel-wing composite robot switches between the driving mode and the flying mode; the wheel-wing composite structure comprises a rotor, a rotor motor, a wheel and a wheel-wing composite bracket, wherein the rotor motor is installed on the upper part of the wheel-wing composite bracket and its output shaft is upwardly connected to the rotor to drive it to rotate, wherein the wheel is arranged in a cavity in the middle part of the wheel-wing composite bracket and is rotationally connected to the wheel-wing composite bracket through a bearing or driven to rotate by a wheel motor installed on the wheel-wing composite bracket; at least one pair of the at least two pairs of wheel-wing composite structures is provided with a wheel motor as a driving source for the wheel to travel; and the control device is electrically connected to the posture sensor, the steering gear, the rotor motor and the wheel motor respectively.

2. A deformable wheel-wing composite robot according to claim 1, characterized in that: The attitude changing mechanism comprises a steering gear mounting frame, a steering gear, a steering wheel and a connecting arm, wherein the steering gear mounting frame is fixedly connected to the deformable frame, the steering gear is installed on the steering gear mounting frame obliquely upward, the steering gear output shaft is obliquely outward and forms an angle of 45° with the vertical direction, and the steering gear output shaft is fixedly connected to the connecting arm through the steering wheel, so that when the steering gear output shaft rotates 180°, the connecting arm is driven to change from a horizontal attitude to a vertical attitude or from a vertical attitude to a horizontal attitude; the connecting arm is used to connect the wheel-wing composite structure.

3. A deformable wheel-wing composite robot according to claim 1, characterized in that: It comprises n pairs of wheel-wing composite structures, wherein the n pairs of wheel-wing composite structures comprise m pairs of first wheel-wing composite structures and nm pairs of second wheel-wing composite structures, n≥2, n≥m≥1, the wheels on the first wheel-wing composite structures actively rotate under the drive of wheel motors, and the wheels on the second wheel-wing composite structures passively rotate.

4. A deformable wheel-wing composite robot according to claim 3, characterized in that: The first wheel-wing composite structure includes a rotor, a rotor motor, a driving wheel, a wheel motor and a wheel-wing composite bracket. The wheel-wing composite bracket includes a rotor motor mounting frame, a bracket base and an L-shaped connecting frame. The rotor motor mounting frame and the bracket base are both long strip structures. The left and right ends of the rotor motor mounting frame are fixedly connected to the left and right ends of the bracket base by fasteners to form a middle cavity. The rotor motor is installed on the upper part of the rotor motor mounting frame and its output shaft is upwardly connected to the rotor. The driving wheel is arranged in the middle cavity. The wheel motor is installed on the bracket base and its output shaft penetrates into the middle cavity and is fixedly connected to the driving wheel through a coupling. The bracket base is fixedly connected to the attitude change mechanism through an L-shaped connecting frame.

5. A deformable wheel-wing composite robot according to claim 3, characterized in that: The second wheel-wing composite structure includes a rotor, a rotor motor, a passive wheel, a bearing, a fixed shaft and a wheel-wing composite bracket. The wheel-wing composite bracket includes a rotor motor mounting frame, a bracket base and an L-shaped connecting frame. The rotor motor mounting frame and the bracket base are both long strip structures. The left and right ends of the rotor motor mounting frame are respectively fixedly connected to the left and right ends of the bracket base by fasteners to form a middle cavity. The rotor motor is installed on the upper part of the rotor motor mounting frame and its output shaft is upwardly connected to the rotor. The passive wheel is arranged in the middle cavity. The fixed shaft is fixedly connected to the bracket base and penetrates into the middle cavity, and then is rotationally connected to the passive wheel through a bearing. The bracket base is fixedly connected to the attitude change mechanism through an L-shaped connecting frame.

6. A deformable wheel-wing composite robot according to claim 1, characterized in that: The rotor motor is a brushless DC motor, and the wheel motor is a DC reduction motor.

7. The deformable wheel-wing composite robot according to claim 1, characterized in that: The posture sensor and the control device are arranged at the center of the base.

8. The deformable wheel-wing composite robot according to claim 1, characterized in that: The control device includes a system board and a flight control board, and the system board communicates with the flight control board through a serial port; the system board is electrically connected to the attitude sensor, the servo, and the wheel motor respectively, so as to obtain the attitude data of the wheel-wing compound robot through the attitude sensor, and control the operation of the servo and the wheel motor; the flight control board is electrically connected to the rotor motor to control the operation of the rotor motor; the wheel-wing compound robot is also equipped with a remote control device, and the remote control device wirelessly communicates with the system board to send remote control instructions to the system board.

9. A deformable wheel-wing composite robot according to claim 8, characterized in that: A driving control and mode switching program module is installed and run on the system board, and a flight control program module is installed and run on the flight control board; the driving control and mode switching program module is used to wirelessly communicate with the remote control device to achieve human-computer interaction, receive attitude data obtained by the attitude sensor, control the wheel-wing compound robot to switch between driving and flight modes, control the driving mode of the wheel-wing compound robot, and communicate with the flight control board to start the flight mode; the flight control program module is used to control the flight mode of the wheel-wing compound robot.

10. A control method for a deformable wheel-wing composite robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, start the control of the steering gear, rotor motor and wheel motor; S2, determine whether the remote control information of the remote control device is received, if yes, go to step S3, otherwise go to step S5; S3, analyzing the received remote control information and parsing the instructions; S4, controlling the steering gear, the rotor motor and the wheel motor to work accordingly based on the task data obtained by analyzing the command; S5. Send the status information of the wheel-wing composite robot to the remote control device and control the operation of the corresponding indicator lights.

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