Land-air combined mobile robot

Abstract

The invention provides an air-ground combined mobile robot which comprises a flying module, a ground moving module, a platform rack and a control system, the flying module is fixedly connected to one end of the platform rack, and the ground moving module is fixedly connected to the other end of the platform rack; the flight module comprises a multi-rotor structure, and the ground moving module has an advancing mode and a crossing mode; the control system comprises a master controller, a flight control system, a land motion control system, a sensor system and a power supply system, and adopts a master-slave control mode; a multi-rotor structure, a ground moving module with wheel type advancing and foot type obstacle crossing capabilities and a unified control system are highly integrated on a platform rack to form a real single-body land-air amphibious robot, the problems of complexity and reliability of multi-system collaboration are solved, all core function modules are clear in design, interfaces are clear, and the cost is low. And maintenance and upgrading are facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to a land-air combined mobile robot. Background Art

[0002] In special operations such as post-disaster search and rescue, mine exploration, space exploration, and complex environment testing, the operating environment is often highly complex and dangerous, which places stringent requirements on the operating equipment: it needs to have rapid air maneuvering, large-scale perception and monitoring capabilities to quickly locate targets or assess the overall situation; it also needs to have detailed ground exploration, flexible movement and obstacle crossing capabilities to perform close-range operations, sample collection, or operations in deep confined spaces.

[0003] Currently, there are two main types of solutions that meet the above needs: one is the collaborative operation of unmanned aerial vehicles (UAVs) and ground robots (UGVs), with the UAV providing aerial perspectives and guidance, and the ground robot performing ground tasks. Although this approach has complementary functions, it has problems such as complex system, high cost, strong dependence on communication, and collaborative efficiency that is greatly affected by environmental interference, and the overall performance drops sharply in the event of a single point failure or communication interruption; the second is a single-form amphibious robot. Fixed-wing / rotor flying cars are mainly used for manned transportation, with a large and complex structure, making it difficult to perform fine ground movement and obstacle crossing tasks in small spaces or complex terrain (such as ruins and tunnels); the installation of a flight module on a wheeled / tracked robot usually has problems such as low integration between the flight module and the ground module, unreasonable weight distribution, and a high center of gravity, resulting in poor flight stability and short endurance, and the ground movement capability (especially obstacle crossing capability) is often limited by the additional flight structure; the installation of a flight module on a legged robot, although the leg-based movement of this mechanism has strong obstacle crossing capability, generally has problems such as slow ground movement speed, high energy consumption, and complex control. After the flight module is installed, the structure of the entire machine is more complex, and the switching between flight and ground modes is often not smooth and efficient enough, and the leg-based structure becomes a burden in the air.

[0004] The main pain points of existing technologies are: first, the contradiction between integration and performance, making it difficult to truly integrate efficient and stable flight capabilities with flexible, fast, and strong obstacle-crossing ground mobility into a single platform; second, spatial layout conflicts: multi-rotor layouts are easily restricted by the space occupied by the underlying ground mobility mechanisms, affecting flight efficiency and stability; third, mode switching efficiency and reliability: the switching mechanisms between aerial flight mode and ground mobility (especially wheeled / legged modes) are complex, time-consuming, and unreliable, making it difficult to meet emergency response requirements; fourth, the balance between omnidirectional ground mobility and obstacle crossing capabilities: traditional wheeled robots have weak obstacle crossing capabilities, while legged robots move slowly and unevenly. Existing hybrid designs struggle to simultaneously achieve high-speed, flexible omnidirectional movement (such as lateral, diagonal, and on-the-spot rotations) and strong obstacle crossing capabilities.

[0005] Therefore, in response to the above-mentioned problems, the present invention proposes a land-air combined mobile robot. Summary of the Invention

[0006] In order to overcome the problems of existing technologies such as the contradiction between integration and performance, spatial layout conflict, low mode switching efficiency and reliability, and the inability to balance ground omnidirectional mobility and obstacle crossing capabilities, the present invention proposes an amphibious mobile robot with a compact structure, high integration, efficient and reliable mode switching, and both excellent aerial flight performance and diversified ground mobility capabilities.

[0007] The technical solution of the present invention is: a land-air combined mobile robot, comprising a flight module, a ground mobile module, a platform frame and a control system, wherein the flight module is fixedly connected to one end of the platform frame, and the ground mobile module is fixedly connected to the other end of the platform frame;

[0008] The flight module includes a multi-rotor structure, and the ground mobile module has a traveling mode and a leaping mode;

[0009] The control system includes a main controller, a flight control system, a land motion control system, a sensor system and a power supply system, and adopts a master-slave control method.

[0010] Preferably, the flight module includes a motor mounting base, a flight drive motor mounted on the motor mounting base, a rotor mounted on the output shaft of the flight drive motor, a connecting rod rotatably connected to the motor mounting base, an extension rod rotatably connected to the other end of the connecting rod, and a fixed rod rotatably connected to the other end of the extension rod.

[0011] Preferably, there are multiple extension rods, which are fixedly connected to each other to achieve a differentiated layout of the rotor installation height, and the fixed rods are fixedly connected to the platform frame.

[0012] As preferred, the ground moving module comprises a first mounting frame installed at the lower end of the platform frame, a first driving motor rotatably connected in the first mounting frame, a first motor connecting member installed on the output shaft of the first driving motor, a second driving motor, a first motor fixing member installed on the second driving motor, a third driving motor installed on the other side of the first motor fixing member, a second motor connecting member installed on the output shaft of the third driving motor, a second mounting frame installed at the other end of the second motor connecting member, a fourth driving motor installed in the second mounting frame, a conversion member installed on the output shaft of the fourth driving motor, a third motor connecting member and a fourth motor connecting member installed on the conversion member, a fifth driving motor, a second motor fixing member installed on the fifth driving motor, a sixth driving motor installed on the other side of the second motor fixing member, a foot end installed on the output shaft of the sixth driving motor, a seventh driving motor, a third motor fixing member installed on the seventh driving motor, an eighth driving motor installed on the other side of the third motor fixing member, and a roller installed on the output shaft of the eighth driving motor.

[0013] The output shaft of the second driving motor is fixedly connected with the first motor connecting member, the output shaft of the fifth driving motor is fixedly connected with the third motor connecting member, and the output shaft of the seventh driving motor is fixedly connected with the fourth motor connecting member.

[0014] As preferred, the robot realizes the switching between the wheeled movement and the foot-type crossing mode through the conversion member, the conversion member is driven to rotate by the fourth driving motor, and is used for switching the working states of the foot end and the roller.

[0015] As preferred, the flight module and the ground moving module are each provided with four groups.

[0016] As preferred, in the marching mode, the foot end is lifted, and the roller is in contact with the ground; in the crossing mode, the roller is lifted, and the foot end is in contact with the ground.

[0017] As preferred, the ground moving module realizes the lateral, longitudinal and oblique movements and the rotation in place by controlling the coordinated work of the first driving motor, the second driving motor and the third driving motor.

[0018] As preferred, in the crossing mode, the movement of the foot end adopts a multi-foot coordination strategy, including a three-support one-step gait mode, a two-support two-step gait mode or a four-step zero-support gait mode.

[0019] As preferred, when the flight module is flying, the ground moving module is in a retracted state, when taking off and landing, the foot end is used as a take-off frame, the roller is used for sliding deceleration, and the foot end is used for friction braking.

[0020] The present application has the following beneficial effects:

[0021] 1. This invention innovatively integrates a multi-rotor structure, a ground mobility module with both wheeled locomotion and foot-based obstacle-crossing capabilities, and a unified control system onto a single platform frame, creating a true single-unit land-air amphibious robot. This avoids the complexity and reliability issues of multi-system coordination. Each core functional module (flight, ground mobility wheels / foot units, control) is clearly designed with clear interfaces for easy maintenance and upgrades.

[0022] 2. The flight module of the present invention adopts a unique multi-level angle-adjustable mounting structure. By adjusting the angles between each motor mounting base and the connecting rod, the connecting rod and the extension rod, and the fixed rod and the extension rod, and by using multiple extension rods, the rotor installation height can be differentiated. This effectively avoids the spatial restrictions imposed by the lower ground mobile module on the upper rotor layout, optimizes the aerodynamic layout (such as the preferred X-shaped quadrotor), significantly improves flight stability, efficiency, and anti-interference capability, and solves the common problem of rotor susceptibility to interference in integrated platforms.

[0023] 3. The ground mobility module of the present invention integrates wheeled mobility and foot-based obstacle-crossing functions into the same set of drive structures, and realizes fast and reliable switching between the two modes through conversion components, so that the robot can achieve both high-speed, omnidirectional wheeled mobility and strong obstacle-crossing foot-based walking, greatly expanding its ground operation capabilities.

[0024] 4. The present invention uses four groups of symmetrically arranged ground mobile modules and the coordinated control of multiple drive motors to achieve all-round movement capabilities on the ground, including horizontal, vertical, and diagonal movement and rotation in place, meeting the flexible operation requirements under complex terrain and improving the efficiency and adaptability of ground movement.

[0025] 5. In the leaping mode, the present invention proposes clear quadruped coordinated motion strategies, such as "three supports and one step" and "two supports and two steps", and defines in detail the step-by-step execution process of the leaping gait (such as leg lifting, stepping, and landing) and the execution order of different wheel sets, thereby ensuring the stability and efficiency of the leaping motion, and optimizing the leg lifting and stepping movements through motor coordinated control, significantly reducing power requirements and improving the stability and energy efficiency of obstacle crossing motion.

[0026] 6. The present invention uses an independent flight control system and an independent land motion control system coordinated by a main controller, which improves the system's motion stability, control reliability and redundancy. When a subsystem fails, the other subsystem may still maintain basic functions or safely land and stop.

[0027] 7. During flight, the ground mobile module of the present invention is in a retracted state, thereby reducing wind resistance and center of gravity, thereby improving flight efficiency; during takeoff and landing, the foot end is cleverly used as a takeoff frame, the wheels glide for deceleration, and the foot end friction brakes, thereby improving takeoff and landing safety and reliability; Ground mode switching: The switching process between wheeled and foot modes is clear, the movements are coordinated, and the rollers and foot end do not interfere with each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Shown is a schematic diagram of the overall three-dimensional structure of the present invention;

[0029] Figure 2 Shown is a schematic diagram of the ground mobile module structure of the present invention;

[0030] Figure 3 Shown is a schematic diagram of the flight module structure of the present invention.

[0031] Explanation of the accompanying drawings: 1. Flight module; 101. Rotor; 102. Flight drive motor; 103. Motor mounting base; 104. Connecting rod; 105. Extension rod; 106. Fixing rod; 2. Ground mobile module; 201. First mounting frame; 202. First drive motor; 203. First motor connecting member; 204. Second drive motor; 205. First motor fixing member; 206. Third drive motor; 207. Second motor connecting member; 208. Second mounting frame; 209. Fourth drive motor; 210. Conversion member; 211. Third motor connecting member; 212. Fifth drive motor; 213. Second motor fixing member; 214. Sixth drive motor; 215. Foot end; 216. Fourth motor connecting member; 217. Seventh drive motor; 218. Third motor fixing member; 219. Eighth drive motor; 220. Roller; 3. Platform frame. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0033] See also Figure 1-Figure 3 The present invention provides an embodiment: a land-air combined mobile robot, comprising a flight module 1, a ground mobile module 2, a platform frame 3 and a control system, wherein the flight module 1 is fixedly connected to one end of the platform frame 3, and the ground mobile module 2 is fixedly connected to the other end of the platform frame 3;

[0034] The flight module 1 comprises a multi-rotor structure, and the ground moving module 2 has a marching mode and a striding mode.

[0035] The control system comprises a master controller, a flight control system, a land motion control system, a sensor system and a power supply system, and adopts a master-slave control mode.

[0036] The flight module 1 comprises a motor mounting base 103, a flight driving motor 102 mounted on the motor mounting base 103, a rotor 101 mounted on an output shaft of the flight driving motor 102, a connecting rod 104 rotatably connected to the motor mounting base 103, an extension rod 105 rotatably connected to the other end of the connecting rod 104, and a fixing rod 106 rotatably connected to the other end of the extension rod 105.

[0037] The number of the extension rods 105 is multiple, and the extension rods 105 are fixedly connected to each other, so as to realize the differential layout of the mounting height of the rotors 101.

[0038] Further, the flight module 1 of the present application adopts a multi-rotor structure, which can be two rotors, four rotors, six rotors, eight rotors, etc.

[0039] The ground mobile module 2 includes a first mounting frame 201 mounted at the lower end of the platform frame 3, a first drive motor 202 rotatably connected to the first mounting frame 201, a first motor connecting member 203 mounted on the output shaft of the first drive motor 202, a second drive motor 204, a first motor fixing member 205 mounted on the second drive motor 204, a third drive motor 206 mounted on the other side of the first motor fixing member 205, a second motor connecting member 207 mounted on the output shaft of the third drive motor 206, a second mounting frame 208 mounted at the other end of the second motor connecting member 207, a fourth drive motor 209 mounted in the second mounting frame 208, and a a conversion member 210 on the output shaft of the fourth drive motor 209, a third motor connecting member 211 and a fourth motor connecting member 216 mounted on the conversion member 210, a fifth drive motor 212, a second motor fixing member 213 mounted on the fifth drive motor 212, a sixth drive motor 214 mounted on the other side of the second motor fixing member 213, a foot end 215 mounted on the output shaft of the sixth drive motor 214, a seventh drive motor 217, a third motor fixing member 218 mounted on the seventh drive motor 217, an eighth drive motor 219 mounted on the other side of the third motor fixing member 218, and a roller 220 mounted on the output shaft of the eighth drive motor 219;

[0040] The output shaft of the second drive motor 204 is fixedly connected to the first motor connecting member 203 , the output shaft of the fifth drive motor 212 is fixedly connected to the third motor connecting member 211 , and the output shaft of the seventh drive motor 217 is fixedly connected to the fourth motor connecting member 216 .

[0041] Furthermore, the ground mobile module 2 of the land-air combined mobile robot has two movement modes: traveling and crossing. The traveling mode has functions such as on-site rotation, horizontal (X-direction) movement, lateral (Y-direction) movement, and oblique movement. The crossing mode has functions such as climbing over obstacles and moving on rugged land surfaces.

[0042] Among them, starting the first drive motor 202 can control the first motor connecting member 203 and all the parts at the lower end to rotate together, starting the second drive motor 204 can control the second drive motor 204 and all the parts at the lower end to swing together, starting the third drive motor 206 can drive the second motor connecting member 207 to swing, starting the fourth drive motor 209 can drive the first mounting frame 201 to rotate, starting the fifth drive motor 212 can control the fifth drive motor 212 and all the parts at the lower end to swing together, starting the sixth drive motor 214 can control the foot end 215 to swing, that is, lift and lower the legs, which can realize the ground crossing motion mode of the land-air combination mobile robot, starting the seventh drive motor 217 can control the seventh drive motor 217 and all the parts at the lower end to swing together, starting the eighth drive motor 219 can control the roller 220 to rotate, which can realize the ground wheel movement mode of the land-air combination mobile robot.

[0043] Further, the workflow of the present invention is described:

[0044] The land-air combined mobile robot has two states: flying and ground. In the flying state, the flight module 1 is used to realize the liftoff and landing of the mobile robot, and the ground mobile module 2 can provide support for the flight. Before starting work, the operator assembles and determines the various components of the flight module 1 according to the mission requirements, mainly determining the number of rotors 101, the installation angle between the motor mounting base 103 and the connecting rod 104, the number of connecting rods 104 and the installation angle between them and the extension rod 105, the installation angle between the extension rod 14 and the fixed rod 106, etc.; before takeoff, the foot end 215 of the mobile robot acts as a takeoff frame, and the flight control system controls the start and stop and speed of the flight drive motor to achieve air flight, and uses the sensor system to achieve reliable flight. During the flight, the ground mobile module 2 is in a retracted state to reduce the flight resistance and the center of gravity of the platform. When landing, the roller 220 is extended to play a sliding deceleration role, and then the third drive motor 206 is controlled to switch to the foot end 215 grounding, which plays a friction braking role.

[0045] Furthermore, the ground conditions of the land-air combined mobile robot are described as follows:

[0046] The ground conditions are divided into mobile mode and spanning mode. The mobile mode is mainly realized by the roller 220, and the spanning mode is mainly realized by the foot end 215. In the mobile mode, the foot end 215 needs to be retracted; in the spanning mode, the roller 220 needs to be lifted up and away from the ground.

[0047] Among them, the ground mobile module 2 can use one set of wheels, two sets of wheels, three sets of wheels, four sets of wheels, six sets of wheels, etc. The present invention prefers to use four sets of wheels, which can more easily realize all-round movement on the ground, and can more stably and reliably perform ground movement and crossing movement.

[0048] Taking four sets of wheel groups as an example, the four wheel groups are arranged symmetrically and are numbered as wheel 1, wheel 2, wheel 3, and wheel 4. Each wheel group has two situations: the roller 220 is on the ground and the foot end 215 is on the ground, thereby realizing the mobile mode and the crossing mode of the mobile robot; in the mobile mode, the fifth drive motor 212 of the ground mobile module 2 of the driving wheel 1 is operated, driving the second motor fixing component 213 and the following components to swing, lifting the foot end 215, driving the sixth drive motor 214 to work, further lifting the foot end 215, and further increasing the distance of the foot end 215 from the ground, providing convenience for the roller 220 to contact the ground, driving the fourth drive motor 209 to work, rotating the conversion component 210, and further lifting the roller 220 Approaching the ground, the seventh drive motor 217 is driven to work, the roller 220 is in close contact with the ground, and the eighth drive motor 219 is driven to work, thereby driving the roller 220 to rotate, realizing the mobile mode of the land-air combined mobile robot, and wheels 2, 3, and 4 perform actions in the manner of wheel 1. The four wheels cooperate to complete the mobile mode of the mobile robot. The first drive motor 202, the second drive motor 204, and the third drive motor 206 of the ground mobile module 2 of wheel 1 coordinate to adjust the direction of the roller 220, thereby realizing all-round movement on the ground, that is, horizontal, longitudinal, oblique and in-situ rotation, meeting the arbitrary motion trajectory requirements of ground operation tasks and realizing all-round movement on the ground.

[0049] In the crossing mode, the seventh drive motor 217 of the wheel 1 ground mobile module 2 works, driving the third motor fixing component 218 and the components below it to swing, lifting the roller 220, driving the sixth drive motor 214 to work, providing convenience for the foot end 215 to contact the ground, driving the fourth drive motor 209 to work, rotating the conversion component 210, and bringing the foot end 215 closer to the ground, driving the fifth drive motor 212 to work, and bringing the foot end 215 into close contact with the ground, driving the sixth drive motor 214 to work, and driving the foot end 215 to swing, realizing the crossing mode of the land and air combined mobile robot, and wheels 2, 3, and 4 perform actions in the same way as wheel 1, and the four wheels can cooperate to complete the crossing mode of the mobile robot.

[0050] Furthermore, in the striding mode, the movement of the foot end 215 of the ground moving module 2 of the mobile robot is divided into two forms: support and stepping, which can be divided into three supports and one step, two supports and two steps, and four steps and no support.

[0051] Taking wheel 1 as an example, the initial state of foot movement in ground mobility module 2 is when all components work together to maximize the distance between the mobile robot's platform frame 3 and the ground. First, the second drive motor 204 is driven to lift the lower component connected to it (away from platform frame 3), lifting the foot end 215 of wheel 1 off the ground. Second, the third drive motor 206 is driven to further increase the height of foot end 215 off the ground, simultaneously raising the center of gravity of wheel 1 and reducing the power demand on the second drive motor 204. Third, the fourth drive motor 209 is driven to rotate, driving foot end 215 to take a step. Fourth, the second and third drive motors 204 and 206 are driven in opposite directions to retract the lower component connected to it (away from platform frame 3). Fifth, the fifth drive motor 212 is driven in opposite directions to extend foot end 215 and place it on the ground, completing the entire operation. Wheels 2, 3, and 4 execute the same operation as wheel 1, achieving the ground-based straddling mode of motion for the combined land-air mobile robot. The working order of three supports and one step can be wheel 1, wheel 2, wheel 4, wheel 3, wheel 1, wheel 4, wheel 2, wheel 3, wheel 1, wheel 3, wheel 2, wheel 4, etc. The working order of two supports and two steps can be wheels 1 and 4, wheels 2 and 3, wheels 1 and 2, wheels 3 and 4, wheels 1 and wheel 3, wheels 2 and wheel 4, etc.

[0052] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0053] The above are merely preferred embodiments of the present invention and do not limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A combined land and air mobile robot, characterized by: The invention comprises a flight module (1), a ground mobile module (2), a platform frame (3) and a control system, wherein the flight module (1) is fixedly connected to one end of the platform frame (3), and the ground mobile module (2) is fixedly connected to the other end of the platform frame (3); The flight module (1) includes a multi-rotor structure, and the ground movement module (2) has a traveling mode and a leaping mode; The control system includes a main controller, a flight control system, a land motion control system, a sensor system and a power supply system, and adopts a master-slave control method.

2. The land-air combined mobile robot according to claim 1, characterized in that: The flight module (1) comprises a motor mounting base (103), a flight drive motor (102) mounted on the motor mounting base (103), a rotor (101) mounted on an output shaft of the flight drive motor (102), a connecting rod (104) rotatably connected to the motor mounting base (103), an extension rod (105) rotatably connected to the other end of the connecting rod (104), and a fixing rod (106) rotatably connected to the other end of the extension rod (105).

3. The land-air combined mobile robot according to claim 2, characterized in that: There are multiple extension rods (105), which are fixedly connected to each other to achieve a differentiated layout of the installation height of the rotor (101), and the fixing rod (106) is fixedly connected to the platform frame (3).

4. The land-air combined mobile robot according to claim 1, characterized in that: The ground mobile module (2) comprises a first mounting frame (201) mounted at the lower end of the platform frame (3), a first drive motor (202) rotatably connected to the first mounting frame (201), a first motor connecting member (203) mounted on the output shaft of the first drive motor (202), a second drive motor (204), a first motor fixing member (205) mounted on the second drive motor (204), a third drive motor (206) mounted on the other side of the first motor fixing member (205), a second motor connecting member (207) mounted on the output shaft of the third drive motor (206), a second mounting frame (208) mounted at the other end of the second motor connecting member (207), a fourth drive motor (209) mounted in the second mounting frame (208), and a fourth drive motor (209) mounted on the first motor fixing member (205). a conversion member (210) on the output shaft of the fourth drive motor (209), a third motor connecting member (211) and a fourth motor connecting member (216) mounted on the conversion member (210), a fifth drive motor (212), a second motor fixing member (213) mounted on the fifth drive motor (212), a sixth drive motor (214) mounted on the other side of the second motor fixing member (213), a foot end (215) mounted on the output shaft of the sixth drive motor (214), a seventh drive motor (217), a third motor fixing member (218) mounted on the seventh drive motor (217), an eighth drive motor (219) mounted on the other side of the third motor fixing member (218), and a roller (220) mounted on the output shaft of the eighth drive motor (219); The output shaft of the second drive motor (204) is fixedly connected to the first motor connecting member (203), the output shaft of the fifth drive motor (212) is fixedly connected to the third motor connecting member (211), and the output shaft of the seventh drive motor (217) is fixedly connected to the fourth motor connecting member (216).

5. The land-air combined mobile robot according to claim 4, characterized in that: The robot realizes switching between wheeled movement and foot-straddling mode through a conversion member (210), and the conversion member (210) is driven to rotate by a fourth drive motor (209) and is used to switch the working states of the foot end (215) and the roller (220).

6. The land-air combined mobile robot according to claim 1, characterized in that: The flying module (1) and the ground moving module (2) are both provided with four groups.

7. The land-air combined mobile robot according to claim 5, characterized in that: In the traveling mode, the foot end (215) is lifted and the roller (220) is in contact with the ground; in the striding mode, the roller (220) is lifted and the foot end (215) is in contact with the ground.

8. The land-air combined mobile robot according to claim 5, characterized in that: The ground moving module (2) realizes lateral, longitudinal, oblique movement and in-situ rotation by controlling the coordinated work of the first driving motor (202), the second driving motor (204) and the third driving motor (206).

9. The land-air combined mobile robot according to claim 5, characterized in that: In the striding mode, the movement of the foot end (215) adopts a multi-leg coordination strategy, including a gait pattern of three supports and one step, two supports and two steps, or four steps and zero support.

10. The land-air combined mobile robot according to claim 1, characterized in that: When the flight module (1) is flying, the ground mobile module (2) is in a retracted state. During takeoff and landing, the foot end (215) is used as a takeoff frame, the roller (220) is used for sliding deceleration, and the foot end (215) is used for friction braking.

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