Unmanned aerial vehicle system capable of being put in air and transformed into quadruped robot and method

Abstract

The invention discloses an unmanned aerial vehicle system and method capable of being put in the air and transformed into a quadruped robot, and the unmanned aerial vehicle system comprises a fuselage, a flight module, a walking module, a transformation driving mechanism, a control module, at least four rotor arms, rotors arranged at the tail ends of the rotor arms, and first driving motors, the flight module is used for providing flight lift force, is mounted on the fuselage and comprises four mechanical legs, each mechanical leg is provided with at least two joints, foot ends are arranged at the tail ends of the mechanical legs, and the mechanical legs are connected with the flight module and the walking module and drive the rotor arms to be switched between a flight unfolding state and a deformation folding state folded in the fuselage. The robot has the beneficial effects that the advantages of flight and four-foot walking are integrated, complex obstacles are quickly crossed to achieve deployment, long-term operation on rugged ground can be achieved, and the problems that a traditional aircraft is slow in deployment and poor in terrain adaptability are solved.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an unmanned aerial vehicle (UAV) system and method that can be deployed in the air and transform into a quadruped robot. Background Technology

[0002] In complex scenarios such as disaster relief and power line inspection, robots face extremely high performance requirements. Traditional robots, whether flying or ground-based, have significant limitations due to their single-mode movement. While flying robots can quickly reach target areas and achieve wide-area coverage, their short endurance and weak payload make them unsuitable for prolonged, continuous, large-area operations, especially lacking flexibility in complex, confined spaces. Conversely, while ground-based robots can perform ground operations for extended periods, their poor terrain adaptability makes them prone to getting stuck in complex terrain, and their relatively slow deployment speed makes them unable to meet the rapid response needs of emergency rescue.

[0003] To address the limitations of robots with only a single locomotion mode, researchers have primarily adopted design approaches that involve directly superimposing flight and ground modules or switching forms through internal mechanisms. However, regardless of the approach, both still face technical bottlenecks when it comes to achieving a complete process of aerial deployment, autonomous transformation, and quadrupedal locomotion, failing to adequately meet the demands of complex operational scenarios. The main problem lies in the simplistic transformation design of existing monolithic models, lacking a coordinated transformation mechanism that simultaneously folds the rotor arms and deploys the mechanical legs. This reliance on multiple independent drive systems results in high structural complexity and redundancy, making them prone to motion interference and jamming during rapid transformation.

[0004] Furthermore, existing designs often employ separate independent drives for the flight and ground modules. This redundancy in motors not only increases the robot's weight but also limits its endurance and flexibility. Consequently, existing models also fall short in terms of fully autonomous operation, relying heavily on manual intervention to complete the entire process from deployment to transformation and mode switching. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide an unmanned aerial vehicle system and method that can be deployed in the air and transform into a quadruped robot, so as to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: This invention provides an unmanned aerial vehicle (UAV) system that can be deployed in the air and transform into a quadruped robot. The system includes a fuselage, a flight module, a walking module, a transformation drive mechanism, and a control module. The fuselage includes at least four rotor arms, a rotor at the end of each rotor arm, and a first drive motor for providing lift. The control module also includes four mechanical legs, each with at least two joints and a foot end. These legs connect to the flight module and the walking module, driving the rotor arms to switch between a deployed flight state and a retracted state folded into the fuselage, and driving the mechanical legs to switch between a retracted state close to the fuselage and a standing, deployed state supporting the fuselage. The control module is communicatively connected to the flight module, the walking module, and the transformation drive mechanism, controlling the UAV system to perform an autonomous transformation process from flight to ground walking. The first drive motor and the hip joint drive motor of the mechanical legs are from the same group of motors. The transformation drive mechanism includes a clutch mechanism for switching the power output path of the same group of motors, enabling the reuse of flight and walking power.

[0007] In one or more embodiments of the present invention, a rotor arm folding mechanism and a leg deployment mechanism are included. The rotor arm folding mechanism connects the rotor arm to the fuselage and is used to drive the rotor arm to rotate around the fuselage to achieve deployment or retraction. The leg deployment mechanism connects the mechanical leg to the fuselage and is used to drive the mechanical leg to deploy or retract relative to the fuselage.

[0008] In one or more embodiments of the present invention, the control module includes a processor, an inertial measurement unit, an altitude sensor, and a wireless communication unit. The processor receives an aerial deployment command or determines that a predetermined altitude has been reached based on altitude sensor data. The processor controls the flight module to stabilize the aerial attitude of the UAV system and controls the deformation drive mechanism to perform deformation actions in a preset sequence. After the deformation actions are completed, the control mode is switched from flight mode to quadruped robot motion control mode.

[0009] In one or more embodiments of the present invention, the preset sequence includes: first controlling the landing gear to retract, then controlling the rotor arm folding mechanism to retract the rotor arm to a deformable retracted state, and then controlling the leg deployment mechanism to release the mechanical leg and extend it to a standing deployment state.

[0010] In one or more embodiments of the present invention, each mechanical leg of the walking module has three joints: a hip joint, a knee joint, and an ankle joint.

[0011] In one or more embodiments of the present invention, when the rotor arm is in a deformed and retracted state and the mechanical leg is in a standing and extended state, the rotation plane of the rotor is higher than the support plane of the foot.

[0012] In one or more embodiments of the present invention, the control module controls the rotor arm folding mechanism and the leg unfolding mechanism to operate sequentially in a coordinated manner, such that the mechanical leg begins to move to the standing unfolding state only after the rotor arm begins to move to the deformed and retracted state, so as to avoid motion interference.

[0013] In one or more embodiments of the present invention, the outlines of the fuselage, the rotor arm in the deformed and retracted state, and the mechanical leg in the retracted state together constitute an aerodynamic shell.

[0014] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: This invention provides a method for aerial deployment and transformation into a quadruped robot, used in the aforementioned unmanned aerial vehicle (UAV) system. The method includes the following steps: S1. Control the flight module to enable the UAV system to fly in flight configuration or be airdropped under control; at the same time, continuously acquire attitude and altitude data of the UAV system through the inertial measurement unit and altitude sensor. S2. The processor generates a deformation trigger command based on the received external delivery command or based on the height data to determine that the predetermined delivery height has been reached. S3. In response to the deformation trigger command, the processor first controls the flight module to stabilize the air attitude of the UAV system based on attitude data; after the attitude is stabilized, it sends control commands to the deformation drive mechanism and the clutch mechanism in a preset sequence to drive the rotor arm to switch from the flight deployment state to the deformation retracted state, and to drive the mechanical leg to switch from the retracted state to the standing deployment state, while completing the switching of the power path. S4. The processor confirms that the deformation action has been completed based on preset motion feedback or sensor signals, and generates a deformation completion confirmation signal. Based on the confirmation signal that the deformation is complete, the working mode of the control module is switched from flight control mode to quadruped robot motion control mode. In the quadruped robot motion control mode, S5 controls the walking module to perform ground movement tasks.

[0015] In one or more embodiments of the present invention, the deformation execution step specifically includes: S4.1 The processor processes the attitude data fed back in real time by the inertial measurement unit and drives the flight module through a closed-loop control algorithm to stabilize the attitude angle and angular velocity of the UAV system within a preset threshold range. S4.2 After the attitude is stabilized, the processor sends a first action command to the rotor arm folding mechanism to drive each rotor arm to retract synchronously. Simultaneously or subsequently, a first switching command is issued to the clutch mechanism to cut off the power output from the same set of motors to the rotor; S4.3 After receiving the position feedback signal that the rotary arm folding mechanism has completed its retraction, the processor sends a second action command to the leg unfolding mechanism to drive each mechanical leg to extend. Simultaneously or prior to this, a second switching command is issued to the clutch mechanism to connect the power output of the same set of motors to the hip joint of the mechanical leg; S4.4 The processor receives the deployment signal from the leg deployment mechanism and, in conjunction with the attitude change data fed back by the inertial measurement unit, the UAV system changes from a hovering posture to a standing posture stably supported by the mechanical legs, and comprehensively judges and generates a deformation completion confirmation signal.

[0016] The beneficial effects of this invention are as follows: 1) It combines the advantages of flight and quadrupedal walking, enabling rapid deployment across complex obstacles and long-term operation on rugged terrain, thus solving the problems of slow deployment and poor terrain adaptability of traditional aircraft models; 2) The layout of the upper retracting and lower extending and the timing control are adopted. The movement trajectories of the rotor arm and the mechanical leg are staggered. Combined with state machine logic, deformation and jamming are eliminated, and reliability is improved. 3) By reusing the drive motor through the clutch, the independent travel motor is eliminated, reducing system weight and redundancy, extending range, and enhancing flexibility; 4) The streamlined fuselage improves flight efficiency, and the rotors provide natural protection when retracted, eliminating the need for additional shields, simplifying the structure and improving durability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of an unmanned aerial vehicle system that can be deployed in the air and transform into a quadruped robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the flight module in one embodiment of the present invention; Figure 3 This is a schematic diagram of the walking module in one embodiment of the present invention; Figure 4 This is a schematic diagram of a mechanical actuation component in one embodiment of the present invention; Figure 5 This is a schematic diagram of the power reuse system in one embodiment of the present invention; Figure 6 This is a schematic diagram of the control module and a modified timing flowchart in one embodiment of the present invention; Figure 7 This is a flowchart illustrating the flight data acquisition and transformation triggering process of a method for aerial deployment and transformation into a quadruped robot according to an embodiment of the present invention. Figure 8 This is a flowchart of the attitude stabilization and dynamic preprocessing of a method for aerial deployment and transformation into a quadruped robot according to an embodiment of the present invention. Figure 9 This is a flowchart illustrating the transformation execution and control mode switching of a method for aerial deployment and transformation into a quadruped robot according to an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: 1. Fuselage; 2. Flight module; 3. Walking module; 4. Transformation drive mechanism; 5. Control module. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example 1: like Figures 1-6 As shown, an embodiment of the present invention discloses an unmanned aerial vehicle (UAV) system that can be deployed in the air and transform into a quadruped robot, comprising a fuselage 1, which serves as the core structural carrier of the UAV system. The fuselage 1 is equipped with a flight module 2 and a walking module 3, allowing the fuselage 1 to switch between flight and walking modes using the flight module 2 and the walking module 3.

[0022] The flight module 2 includes at least four movable rotor arms and a rotor and its first drive motor located at the end of each rotor arm. The flight module 2 drives the rotor to rotate through the first drive motor to generate lift and thrust, thereby realizing the flight and aerial attitude control of the system.

[0023] The walking module 3 includes four mechanical legs with at least two active joints. Each mechanical leg has a foot end for walking on the ground. The walking module 3 drives the joints of each mechanical leg to move in a coordinated manner, so as to realize the four-legged walking movement of the system on the ground.

[0024] Each robotic leg of the walking module 3 has three active rotational joints, which are, from the foot end near the main body 1 to the foot end, the hip joint (tilt / pitch), the knee joint (tilt / pitch), and the ankle joint (tilt / pitch). Each joint is driven by an independent servo motor or by a multiplexed motor through a transmission mechanism and clutch. This three-joint structure gives each robotic leg three degrees of freedom in the sagittal plane, enabling it to simulate the lifting, extending, and cushioning landing movements of an animal's leg. This supports various quadrupedal gaits such as walking, trotting, and climbing, greatly enhancing its adaptability to complex and uneven terrain.

[0025] The foot is connected to the lower leg of the mechanical leg via the ankle joint. Its bottom contact surface is made of a material with a high coefficient of friction and a certain degree of elasticity to increase adhesion to different surfaces and cushion impacts.

[0026] Optionally, force or torque sensors can be integrated inside the foot or at the connection with the ankle joint to sense the contact state and support force between the foot and the ground in real time, providing key feedback information for the gait planning and balance control of the quadruped robot.

[0027] Flight module 2 and walking module 3 are switched through deformation drive mechanism 4. Deformation drive mechanism 4 mechanically connects the rotor arm of flight module 2 and the mechanical leg of walking module 3 to fuselage 1. Deformation drive mechanism 4 can drive the rotor arm to rotate and switch between the deployed state for flight and the deformed and retracted state folded into fuselage 1, and can drive the mechanical leg to switch between the retracted state close to fuselage 1 and the standing state of extending downward to support fuselage 1.

[0028] Specifically, the morphing drive mechanism 4 includes a rotor arm folding mechanism and a leg deployment mechanism. The rotor arm folding mechanism is implemented using a servo-driven hinge linkage mechanism. The fixed part of the hinge is connected to the fuselage 1, and the movable part is connected to the root of the rotor arm. When a retraction command is received, the servo drives the hinge to rotate, causing the rotor arm to rotate and fold inward, ultimately causing the rotor arm and its rotor to lie flat against or embed into the reserved groove on the side of the fuselage 1, forming a streamlined retracted state.

[0029] The leg deployment mechanism is achieved by a combination of a lead screw, slider, and connecting rod driven by a small motor. The slider is slidably mounted on a guide groove inside the body 1 and is hinged to the thigh portion of the mechanical leg via the connecting rod. Upon receiving a deployment command, the motor drives the lead screw to rotate, pushing the slider to move linearly. This, in turn, pushes the mechanical leg out of its retracted position inside or to the side of the body 1 via the connecting rod, causing it to swing downwards until the foot touches the ground and lifts the body 1 off the ground, forming a stable standing position.

[0030] More specifically, the first drive motor in flight module 2 that drives at least part of the rotor is physically the same set of motors as the drive motor in walking module 3 that drives the hip joint movement of the corresponding mechanical leg. The transformation drive mechanism 4 integrates a clutch mechanism, which is controlled by control module 5. This clutch mechanism is used to transmit the output power of the same set of motors to the rotor during the flight phase, and to switch the output power of the same set of motors and transmit it to the corresponding mechanical leg hip joint during the transformation into a ground robot phase. This allows for the reuse of power from a single drive unit in both flight and walking modes, effectively reducing the total system weight and the number of components.

[0031] The clutch mechanism is preferably an electromagnetic or electromechanical servo-driven shift fork clutch, which is mounted on the output shaft of the same set of motors and has two output ends: the first output end is connected to the rotor drive shaft via a transmission shaft or gear train, and the second output end is connected to the hip joint input shaft of the mechanical leg via another set of transmission shafts or gear trains. The control module 5 switches the engagement state between the output ends by controlling the energization of the clutch electromagnet or the operation of the servo motor, thereby achieving rapid and reliable switching of the power path.

[0032] When the rotor arm is retracted, its structural design integrates with the shape of the fuselage 1, raising the rotation plane of all rotor blades above the support plane formed by the mechanical legs when standing. This geometry ensures that when the system walks on the ground in quadruped robot mode, even if the fuselage 1 tilts due to terrain or the feet sink into soft ground, the rotors and blades, located at a higher position, will never collide or scrape with the ground. This achieves passive protection for the delicate and fragile rotor components without the need for additional protective shields.

[0033] Furthermore, the retracted position of the rotor arm and the standing and deployed position of the mechanical leg are spatially staggered: the rotor arm mainly retracts towards the upper and upper sides of the fuselage 1, while the mechanical leg mainly deploys towards the lower and lower sides of the fuselage 1. This spatial separation layout of retracting above and deploying below can largely reduce motion interference between the flight module 2 and the walking module 3.

[0034] The fuselage 1 is also equipped with a control module 5, which is electrically connected to and controls the flight module 2, the walking module 3 and the transformation drive mechanism 4. The control module 5 is programmed to autonomously manage the complete form transformation process from flight state to ground walking state.

[0035] Specifically, control module 5 includes a processor, an inertial measurement unit, a height sensor, a motor driver, and a wireless communication unit; The processor's execution logic is as follows: First, it receives airdrop commands from external sources via the wireless communication unit or continuously monitors data from the altitude sensor. Upon determining that the system has reached the preset drop or transition altitude, it automatically initiates the transformation program. Then, the processor reads real-time triaxial acceleration and triaxial angular velocity data measured by the inertial measurement unit, runs attitude calculation and control algorithms, and dynamically adjusts the speed of each first drive motor via the motor driver to maintain a stable hovering or slow descent attitude in the air, providing a smooth platform for the transformation action. After confirming attitude stability, the processor sends a series of action commands to the transformation drive mechanism 4 according to a preset strict timing sequence. Finally, after all transformation actions are completed and confirmed by sensor feedback, the processor switches its internal core control algorithm from a rotor aerodynamics-based flight control mode to a quadruped robot motion control mode based on foot contact mechanics.

[0036] The specific logic of the pre-defined strict timing is as follows: The first step is to control flight module 2 to reduce rotor speed, so that the system descends slowly or touches the ground gently, and send a command to make the clutch mechanism start to perform the disengagement action, gradually cutting off the power transmission from the same set of motors to the rotor. The second step is to synchronously or sequentially control all the servo motors in the rotor arm folding mechanism after confirming that the rotor power has been basically cut off, drive all rotor arms to rotate and fold synchronously in the direction of fuselage 1 until they reach the mechanical limit, and the position sensor will give feedback that the rotor arms have been retracted. The third step is to immediately control the operation of each motor in the leg deployment mechanism after receiving the signal that the rotor arm has retracted. The slider is pushed by the lead screw, and then the four mechanical legs are deployed downward and outward in sync by the connecting rod. During this process, the processor sends instructions to make the clutch mechanism engage and connect the output shaft of the same set of motors to the transmission gearbox of the hip joint. In the fourth step, the mechanical legs extend until the feet touch the ground and generate a certain supporting force. The inertial measurement unit detects that the body 1's posture changes from hovering and swaying to a stable state supported by the legs. Combined with the position feedback from the leg joint encoder, the processor determines that the legs have been fully extended and the system officially enters the quadruped robot state.

[0037] The pre-set deformation control program in control module 5 includes a state machine-based collaborative motion management logic: the release command of the leg deployment mechanism is only allowed to be issued after the folding and retraction motion of the rotor arm has started and reached a preset safe angle. This sequential control based on motion process feedback physically avoids the risk of mechanical collision or motion interference between the mechanical leg in the initial stage of deployment and the rotor arm that is still rotating and retracting, thus ensuring a high success rate and high reliability of autonomous deformation.

[0038] In this embodiment, the fuselage 1 is designed as an aerodynamically oriented flattened ellipse or streamlined polyhedron. In the flight preparation state, the rotor arms are fully extended, and the mechanical legs are fully retracted and close to or partially retracted into the slots below the sides of the fuselage 1. At this time, the entire outer surface of the system, including the main body of the fuselage 1, the retracted mechanical legs, and the roots of the extended rotor arms, together constitute a complete outer shell with low aerodynamic drag, which is beneficial for efficient flight.

[0039] During the flight or gliding phase after deployment and before deformation, even as the rotor begins to decelerate, this streamlined shell can still provide a certain glide ratio, increasing the controllability and accuracy of deployment.

[0040] In this embodiment, the working principle of the unmanned aerial vehicle system is as follows: After the UAV system is started, it initially enters multi-rotor flight mode: control module 5 drives the first drive motor of flight module 2, causing the rotors to rotate at high speed to generate lift, enabling flight, cruising, or controlled airdrop. During this period, the inertial measurement unit (IMU) and altitude sensor continue to operate, providing real-time data for flight control.

[0041] When a ground mission is required, the UAV system enters an autonomous transformation process: First, control module 5 determines the target area based on received wireless commands or altitude sensor data and generates transformation commands. Then, the processor prioritizes control of flight module 2, using IMU data for closed-loop attitude calculation and adjustment, enabling the UAV to hover stably and creating stable conditions for subsequent mechanical transformation. Next, this is the core stage of power reuse and mechanism linkage. Control module 5 issues commands to the transformation drive mechanism 4 according to a strict logical sequence of separation before engagement and retraction before extension: The clutch mechanism is activated to cut off power transmission from the first drive motor to the rotor. Immediately afterwards, the rotor arm folding mechanism is activated, causing all rotor arms to rotate and fold inward synchronously, fitting snugly against or embedding into the fuselage 1, completely avoiding the working space below.

[0042] After confirming that the rotor arms are retracted, the control module 5 triggers two actions simultaneously: first, it drives the leg deployment mechanism to push and lower the four mechanical legs out of the fuselage 1 in a synchronized manner through a screw-slider-connector combination; second, it controls the clutch mechanism to engage, switching the power output path of the same set of motors to the hip joint drive shaft of the mechanical legs.

[0043] Once all the robotic legs have touched the ground and IMU data confirms that the robot body 1 is stably supported by the legs, the control module 5 determines that the deformation is complete. Immediately, the system software's core algorithm switches completely from flight control mode to quadruped robot motion control mode. The reusable motor unit then provides power to the hip joints, which, in conjunction with the knee and ankle joints, drive the robotic legs to perform stable gait movements, enabling ground movement and operations in complex terrain.

[0044] In this embodiment, the beneficial effects of the unmanned aerial vehicle (UAV) system include at least the following: It combines the rapid arrival capabilities of an aircraft with the precise ground operations of a quadruped robot. Through air deployment or autonomous flight, the system can directly traverse geographical obstacles such as mountains and ruins, quickly entering disaster sites, battlefields, or complex industrial environments that are difficult for vehicles and personnel to access. It can then immediately switch to ground mode to perform reconnaissance, inspection, or rescue missions, greatly improving emergency response speed and mission reach.

[0045] By reusing the motor unit that drives the rotor to drive the hip joint of the mechanical leg through a clutch mechanism, a separate walking drive motor and matching reducer are eliminated, which significantly reduces the overall weight and hardware complexity of the system and directly improves the energy efficiency of flight endurance and ground movement.

[0046] It adopts a spatial separation design with the rotor arms retracting upwards and the mechanical legs extending downwards. The movement trajectories of the two are completely offset in space, which not only completely avoids mechanical interference during the transformation process, but also naturally raises the rotor disk plane in the retracted state, making it higher than the foot support plane in the standing state. This geometric feature forms a natural physical protection for the rotor components, eliminating the need for additional protective covers, thus reducing weight and simplifying the structure.

[0047] Example 2: like Figures 7-9 As shown, an embodiment of the present invention provides a method for aerial deployment and transformation into a quadruped robot, used in the unmanned aerial vehicle system of Embodiment 1. The specific steps of the method include: S1. During the flight and deployment phase, the flight control algorithm is continuously run to control the flight module 2 to maintain stable flight or controlled descent; in parallel, the body attitude angle and angular velocity data from the inertial measurement unit, the relative altitude data from the altitude sensor, and the command data from the wireless communication unit are collected and processed at a fixed frequency. S2. The processor performs real-time judgment on the height data obtained in step S1. If the data is less than the preset deformation trigger height threshold, or if an immediate deformation command from wireless communication is directly parsed, a system-level deformation enable signal is immediately generated to trigger the subsequent deformation sequence. S3. Once the transformation process begins, the processor switches the current flight control target from waypoint tracking to attitude stability priority. It uses the real-time attitude data obtained in step S1 as feedback, and uses proportional, integral, and derivative control algorithms to quickly calculate the power adjustment required for each rotor. The adjustment is then executed by the motor driver, enabling the UAV to reach and maintain a hovering preparatory attitude with pitch and roll angles close to zero and yaw angle stable within 3 to 5 seconds. S4. After confirming that the system attitude is stable within the preset tolerance range, the processor sends high-priority control commands to the clutch mechanism, the rotor arm folding mechanism, and the leg deployment mechanism in sequence according to a preset, irreversible instruction sequence. This command sequence logically requires each mechanism to execute in the order of first separating the rotor power, then retracting the rotor arm, and finally deploying the mechanical leg and engaging the walking power. Furthermore, the sensor feedback of the completion of the previous mechanism is a necessary condition for triggering the next mechanism action.

[0048] Specifically, in S4.1, the processor sends instructions to gradually reduce the speed of all first drive motors to idle speed; at the same time, it sends instructions to the solenoid valve or servo mechanism of the clutch mechanism to start the process of moving from the flight coupling position to the travel coupling position. S4.2 After receiving the feedback signal from the clutch mechanism indicating that the aircraft has disengaged from the flight end, the processor synchronously sends a position command to the servos of all rotor arm folding mechanisms to rotate to the retracted angle; each servo drives the rotor arm to rotate, and when the magnetic encoder on the rotor arm detects that the angle has reached the preset retracted position, it sends a feedback signal to the processor that the arm has been retracted. S4.3 After receiving the signal that all rotor arms have retracted to their final position, the processor performs two operations simultaneously: first, it sends pulse commands to each drive motor of the leg deployment mechanism to drive the lead screw to extend the mechanical leg; second, it sends a final engagement command to the clutch mechanism to lock it completely in the walking coupling position and rigidly connect the output shaft of the first drive motor to the hip joint reduction gearbox. S4.4 During the unfolding process of the mechanical legs, the ground contact switch at the foot end or the torque sensor on the leg will sense the contact force; when the ground contact signal of all four legs is triggered, and the processor detects through the inertial measurement unit that the change in the height of the body 1 has stopped and the posture is stable, it is determined that the transformation into a stable ground standing state has been successfully completed. This determination result serves as the core basis for the completion of deformation in step S5.

[0049] S5. The processor continuously monitors the deployment switch signal from the leg deployment mechanism and whether the inertial measurement unit data changes from dynamic fluctuations to static stability, and sets a short time window for confirmation. When all judgment conditions are met within the time window, the processor confirms that the deformation is complete, then terminates all flight control algorithm processes, loads and starts the quadruped robot motion control algorithm, and completes the software-level switch from the aircraft to the walking robot.

[0050] Example 3: The difference from Example 2 is: S4.4 During the unfolding and lowering of the mechanical legs, the processor reads the force sensor signal integrated into the foot or ankle joint in real time; when it detects that the foot of any leg generates a contact force exceeding the preset threshold, it immediately stops the lowering action of that leg and may finely adjust the unfolding speed of the other legs to ensure that the four legs touch the ground at basically the same time and smoothly, and avoid the body (1) from being violently tilted or impacted due to a single leg touching the ground first.

[0051] S5. After switching to the quadruped robot motion control mode, the processor first performs a safety self-check of the walking system, including checking the status of the motor drivers of all leg joints, the encoder readings of each joint, and the zero point of the foot sensors. Then, it initializes a default standing balance control algorithm, enabling the system to autonomously adjust the torque of each leg joint to resist slight external disturbances when standing still, in preparation for the subsequent execution of walking commands.

[0052] Obviously, the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A drone system that can be air-deployed and transform into a quadruped robot, characterized in that, include: fuselage (1); The flight module (2), installed on the fuselage (1), includes at least four rotor arms and a rotor and a first drive motor located at the end of each rotor arm, for providing lift for flight; The walking module (3) is installed on the body (1) and includes four mechanical legs, each of which has at least two joints and a foot end at the end of the mechanical leg; The deformation drive mechanism (4) connects the flight module (2) and the walking module (3), drives the rotor arm to switch between the flight deployment state and the deformation retracted state folded into the fuselage (1), and drives the mechanical leg to switch between the retracted state close to the fuselage (1) and the standing deployment state supporting the fuselage (1). The control module (5) is communicatively connected to the flight module (2), the walking module (3) and the deformation drive mechanism (4), and is used to control the UAV system to perform the autonomous deformation process from flying in the air to walking on the ground; The first drive motor and the hip joint drive motor of the mechanical leg are the same group of motors. The deformation drive mechanism (4) includes a clutch mechanism for switching the power output path of the same group of motors so as to realize the reuse of flight power and walking power.

2. The unmanned aerial vehicle system as described in claim 1, which can be deployed in the air and transform into a quadruped robot, is characterized in that... include: The rotor arm folding mechanism connects the rotor arm to the fuselage (1) and is used to drive the rotor arm to rotate around the fuselage (1) to unfold or retract; The leg unfolding mechanism connects the mechanical leg to the body (1) and is used to drive the mechanical leg to unfold or retract relative to the body (1).

3. The unmanned aerial vehicle system as described in claim 1, which can be deployed in the air and transform into a quadruped robot, is characterized in that... The control module (5) includes a processor, an inertial measurement unit, a height sensor, and a wireless communication unit. The processor receives the air drop command or determines the predetermined altitude based on the altitude sensor data. The processor controls the flight module (2) to stabilize the air attitude of the UAV system and controls the deformation drive mechanism (4) to perform deformation actions in a preset sequence. After the deformation action is completed, the control mode is switched from the flight mode to the quadruped robot motion control mode.

4. The unmanned aerial vehicle system as described in claim 3, which can be deployed in the air and transform into a quadruped robot, is characterized in that... The preset sequence includes: first, controlling the landing gear to retract; then, controlling the rotor arm folding mechanism to retract the rotor arm to a deformable retracted state; and finally, controlling the leg deployment mechanism to release the mechanical leg and extend it to a standing deployed state.

5. The unmanned aerial vehicle system as described in claim 1, which can be deployed in the air and transform into a quadruped robot, is characterized in that... Each mechanical leg of the walking module (3) has three joints: the hip joint, the knee joint, and the ankle joint.

6. A drone system capable of being air-deployed and transforming into a quadruped robot as described in any one of claims 1 to 5, characterized in that, When the rotor arm is in the deformed and retracted state and the mechanical leg is in the standing and extended state, the rotation plane of the rotor is higher than the support plane of the foot.

7. The unmanned aerial vehicle system as described in claim 1, which can be deployed in the air and transform into a quadruped robot, is characterized in that... The control module (5) controls the rotor arm folding mechanism and the leg unfolding mechanism to move in a coordinated manner in sequence, so that the mechanical leg only begins to move to the standing unfolding state after the rotor arm begins to move to the deformed and retracted state, so as to avoid motion interference.

8. The unmanned aerial vehicle system as described in claim 1, which can be air-deployed and transform into a quadruped robot, is characterized in that... The fuselage (1), the outline of the rotor arm in the deformed and retracted state, and the outline of the mechanical leg in the retracted state together constitute an aerodynamic shell.

9. A method for aerial deployment and transformation into a quadruped robot, used in an unmanned aerial vehicle system as claimed in any one of claims 1 to 8, characterized in that, Includes the following steps: S1. The flight control module (2) operates to enable the UAV system to fly in flight configuration or be airdropped under control; at the same time, the attitude and altitude data of the UAV system are continuously acquired through the inertial measurement unit and altitude sensor. S2. The processor generates a deformation trigger command based on the received external delivery command or based on the height data to determine that the predetermined delivery height has been reached. S3. In response to the deformation trigger command, the processor first controls the flight module (2) to stabilize the air attitude of the UAV system based on the attitude data; after the attitude is stabilized, it sends control commands to the deformation drive mechanism (4) and the clutch mechanism in a preset order to drive the rotor arm to switch from the flight deployment state to the deformation retracted state, and drive the mechanical leg to switch from the retracted state to the standing deployment state, while completing the switching of the power path. S4. The processor confirms that the deformation action has been completed based on preset motion feedback or sensor signals, and generates a deformation completion confirmation signal. Based on the confirmation signal of deformation completion, the working mode of the control module (5) is switched from flight control mode to quadruped robot motion control mode; In the quadruped robot motion control mode, S5 controls the walking module (3) to perform ground movement tasks.

10. A method for aerial deployment and transformation into a quadruped robot as claimed in claim 9, characterized in that, The specific steps for performing the deformation include: S4.1 The processor processes the attitude data fed back in real time by the inertial measurement unit and drives the flight module (2) through a closed-loop control algorithm to stabilize the attitude angle and angular velocity of the UAV system within a preset threshold range; S4.2 After the attitude is stabilized, the processor sends a first action command to the rotor arm folding mechanism to drive each rotor arm to retract synchronously. Simultaneously or subsequently, a first switching command is issued to the clutch mechanism to cut off the power output from the same set of motors to the rotor; S4.3 After receiving the position feedback signal that the rotary arm folding mechanism has completed its retraction, the processor sends a second action command to the leg unfolding mechanism to drive each mechanical leg to extend. Simultaneously or prior to this, a second switching command is issued to the clutch mechanism to connect the power output of the same set of motors to the hip joint of the mechanical leg; S4.4 The processor receives the deployment signal from the leg deployment mechanism and, in conjunction with the attitude change data fed back by the inertial measurement unit, the UAV system changes from a hovering posture to a standing posture stably supported by the mechanical legs, and comprehensively judges and generates a deformation completion confirmation signal.

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